Pile driving apparatus and method of controlling a power mechanism

Abstract

This disclosure presents an embodiment of a precast pile driving device and a control method for its power mechanism. One specific embodiment of the precast pile driving device includes a driving assembly and a precast pile assembly. The driving assembly includes a pile driver body and a power assembly, which includes a main control unit and a power mechanism. The precast pile assembly includes a precast pile body, a detection assembly, and a transmission assembly. The detection assembly includes a height detection assembly and an inclination angle detection assembly. The height detection assembly is configured to detect the height of the precast pile body to obtain precast pile height information. The inclination angle detection assembly is configured to detect the inclination angle of the precast pile body to obtain precast pile inclination angle information. The main control unit is configured to determine the impact information of the corresponding power mechanism based on the received precast pile height information and the received precast pile inclination angle information, and control the power mechanism to perform the corresponding impact operation based on the impact information. This embodiment can reduce working hours and improve work efficiency.

Description

Technical Field

[0001] The embodiments disclosed herein relate to the field of precast pile technology, specifically to precast pile driving devices and power mechanism control methods. Background Technology

[0002] Precast reinforced concrete piles refer to piles that are prefabricated in a precast component processing plant, cured to the design strength, transported to the construction site, driven into the soil using a pile driver, and then have a foundation beam cast on top of the pile. The typical pile driving method involves ensuring the pile frame is vertical and stable before driving, adjusting the pile hammer to align its centerline with the centerline of the precast pile, and then controlling the pile driver to perform the driving operation.

[0003] However, the inventors discovered that the following technical problems often arise when using the above method for pile driving:

[0004] First, precast piles are prone to tilting during the piling process, resulting in a large deviation between the angle of the precast pile after piling and the expected angle. This necessitates re-piling, leading to longer working hours and lower work efficiency.

[0005] Second, the operating parameters of the pile driver were not updated based on the historical operating parameters and historical pile driving depths, resulting in a large deviation between the final pile driving depth and the preset pile driving depth, leading to low pile driving accuracy.

[0006] The information disclosed in this background section is only intended to enhance the understanding of the background of the inventive concept, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] The summary section of this disclosure is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions. Some embodiments of this disclosure propose precast pile driving devices and power mechanism control methods to address the technical problems mentioned in the background section above.

[0008] In a first aspect, some embodiments of this disclosure provide a precast pile driving device, which includes a pile driving assembly and a precast pile assembly. The pile driving assembly includes a pile driver body and a power assembly. The power assembly includes a main control unit and a power mechanism. The main control unit is communicatively connected to the power mechanism, and the power mechanism is configured to drive the pile driver body to move. The precast pile assembly includes a precast pile body, a detection assembly, and a transmission assembly. The detection assembly is connected to the transmission assembly, and the transmission assembly is communicatively connected to the main control unit. The detection assembly includes a height detection assembly and an inclination angle detection assembly. The height detection assembly is configured to detect the height of the precast pile body. The system obtains the height information of the precast pile and sends it to the transmission component. The tilt angle detection component is configured to detect the tilt angle of the precast pile body, obtain the tilt angle information, and send it to the transmission component. The transmission component is configured to send the received precast pile height information and the received precast pile tilt angle information to the main control unit. The main control unit is configured to determine the impact information corresponding to the power mechanism based on the received precast pile height information and the received precast pile tilt angle information, wherein the impact information includes impact weight, impact kinetic energy, and impact frequency, and control the power mechanism to perform the corresponding impact operation based on the impact information.

[0009] Optionally, the detection component further includes a camera component configured to capture an image of the target environment, obtain an environmental image, and send the environmental image to the transmission component; the transmission component is configured to send the environmental image to the main control unit; the main control unit is configured to perform human detection on the environmental image to determine whether the environmental image includes a region representing a human body, and in response to determining that the environmental image includes a region representing a human body, control the power mechanism to perform a stop operation.

[0010] Optionally, the aforementioned camera assembly includes a camera and a moving mechanism, the moving mechanism being mounted on the outside of the aforementioned precast pile body, and the moving mechanism being configured to move the aforementioned camera.

[0011] Optionally, the precast pile body includes a screw-type connector, wherein the screw-type connector includes a plug rod, a screw locking plate assembly, a nut assembly, and a spring. The plug rod includes a plug rod head and a plug rod tail, and the outer rings of the plug rod head and the outer rings of the plug rod tail are both provided with threads. The nut assembly includes a first external nut, an intermediate nut, and a second external nut. The inner rings of the first external nut and the second external nut are provided with threads, and the intermediate nut is provided with internal threads and external threads.

[0012] Optionally, the aforementioned screw locking plate assembly includes a first screw locking plate and a second screw locking plate. The inner rings of both the first and second screw locking plates are provided with threads. The screw locking plate assembly is shaped like a frustum cone and has a boss at its bottom.

[0013] Optionally, the head of the insert rod is inserted into the inner ring of the first external nut, the tail of the insert rod is inserted into the inner ring of the screw locking plate assembly, the intermediate nut is sleeved on the outer ring of the screw locking plate assembly, the intermediate nut and the screw locking plate are locked in the inner ring of the second external nut, and the spring is locked between the second external nut and the screw locking plate assembly, wherein one end of the spring is connected to the inner bottom of the second external nut, and the other end of the spring is connected to the screw locking plate assembly.

[0014] Secondly, some embodiments of this disclosure provide a power mechanism control method applied to a precast pile driving device as described in the first aspect. The precast pile driving device includes a driving assembly and a precast pile assembly. The driving assembly includes a pile driver body and a power assembly. The precast pile assembly includes a precast pile body, a detection assembly, and a transmission assembly. The detection assembly includes a height detection assembly and an inclination angle detection assembly. The method includes: detecting the height of the precast pile body using the height detection assembly to obtain precast pile height information; detecting the inclination angle of the precast pile body using the inclination angle detection assembly to obtain precast pile inclination angle information; determining impact information corresponding to the power mechanism based on the precast pile height information and the precast pile inclination angle information, wherein the impact information includes impact weight, impact kinetic energy, and impact frequency; and controlling the power mechanism to perform a corresponding impact operation based on the impact information.

[0015] Optionally, in response to determining that the aforementioned inclination angle difference satisfies the aforementioned preset inclination angle difference condition, the absolute value of the difference between the aforementioned precast pile height and the historical precast pile height is determined as the height difference; the absolute value of the difference between the aforementioned precast pile height and the target precast pile height is determined as the target height difference; the aforementioned height difference, the aforementioned target height difference, and the historical impact information are input into a pre-trained impact information generation model to obtain the impact information corresponding to the aforementioned power mechanism, wherein the aforementioned impact information generation model is generated in the following manner: obtaining a sample set, wherein the samples in the aforementioned sample set include sample height difference, sample target height difference, and sample historical impact information, as well as sample impact information corresponding to the sample height difference, sample target height difference, and sample historical impact information; performing the following training steps based on the sample set: taking at least one sample from the sample set... The sample height difference, sample target height difference, and historical impact information are input into the initial impact information generation model to obtain the impact information corresponding to each sample in the sample set. The impact information corresponding to each sample in the sample set is compared with the impact information of the corresponding sample. Based on the comparison results, it is determined whether the initial impact information generation model has reached the preset optimization objective. In response to the determination that the initial impact information generation model has reached the above optimization objective, the initial impact information generation model is determined as the trained impact information generation model. In response to the determination that the initial impact information generation model has not reached the above optimization objective, the network parameters of the initial impact information generation model are adjusted. Using an unused sample set and the adjusted initial impact information generation model as the initial impact information generation model, the above training steps are executed again.

[0016] The above-described embodiments of this disclosure have the following beneficial effects: The precast pile driving device of some embodiments of this disclosure can reduce working time and improve work efficiency during pile driving. Specifically, the reason for long working time and low work efficiency is that precast piles are prone to tilting during the pile driving process, resulting in a large deviation between the angle of the precast pile after driving and the expected angle, thus requiring re-driving. Based on this, the precast pile driving device of some embodiments of this disclosure includes a pile driving component and a precast pile component. The pile driving component includes a pile driver body and a power component. The power component includes a main control unit and a power mechanism. The main control unit is communicatively connected to the power mechanism, and the power mechanism is configured to drive the pile driver body to move. The precast pile component includes a precast pile body, a detection component, and a transmission component. The detection component is connected to the transmission component, and the transmission component is communicatively connected to the main control unit. The detection component includes a height detection component and an inclination angle detection component. The height detection component is configured to detect the height of the precast pile body, obtain precast pile height information, and send the precast pile height information to the transmission component. The tilt angle detection component is configured to detect the tilt angle of the precast pile body, obtain precast pile tilt angle information, and send the precast pile tilt angle information to the transmission component. The transmission component is configured to send the received precast pile height information and the received precast pile tilt angle information to the main control unit. The main control unit is configured to determine the impact information corresponding to the power mechanism based on the received precast pile height information and the received precast pile tilt angle information. The impact information includes impact weight, impact kinetic energy, and impact frequency, and the main control unit controls the power mechanism to perform the corresponding impact operation based on the impact information. Because the height and tilt angle detection components can detect the driving depth and tilt angle of the precast piles, it's possible to determine if the pile angle deviates from the expected angle during driving. If the deviation exceeds a preset threshold, driving is stopped, and the tilt angle is corrected, thus avoiding re-driving, reducing working hours, and improving efficiency. Therefore, this precast pile driving device can reduce working hours and increase efficiency. Attached Figure Description

[0017] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.

[0018] Figure 1 This is a structural schematic diagram of some embodiments of the precast pile driving device according to the present disclosure;

[0019] Figure 2This is a flowchart of some embodiments of the power mechanism control method according to the present disclosure. Detailed Implementation

[0020] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0021] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0022] It should also be noted that, for ease of description, only the parts relevant to the disclosure are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0023] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0024] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0025] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0026] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] Figure 1 This is a structural schematic diagram of some embodiments of the precast pile driving device according to the present disclosure. Figure 1The system includes a precast pile driving device 1. The precast pile driving device 1 includes a driving assembly 2 and a precast pile assembly 3. The driving assembly 2 includes a pile driver body 201 and a power assembly 202. The power assembly 202 includes a main control unit 2021 and a power mechanism 2022. The precast pile assembly 3 includes a precast pile body 301, a detection assembly 302, and a transmission assembly 303. The detection assembly 302 includes a height detection assembly 3021 and an inclination angle detection assembly 3022.

[0028] In some embodiments, the precast pile driving device 1 may include a pile driving assembly 2 and a precast pile assembly 3. The pile driving assembly 2 may be a pile driver including a pile frame. The pile driving assembly 2 may include a pile driver body 201 and a power assembly 202. The power assembly 202 may be a component of the pile driver used to move the pile hammer included in the pile driver body 201. The power assembly 202 may include a main control unit 2021 and a power mechanism 2022. The main control unit 2021 may be a microcontroller used to control various information and components. For example, the main control unit 2021 may include, but is not limited to, any of the following: SoC (System on Chip), MCU (Microcontroller Unit), and DSP (Digital Signal Processor). The power mechanism 2022 may be a mechanism that provides power for the movement of the pile driver body 201. For example, the power mechanism 2022 may be a cylinder. The main control unit 2021 and the power mechanism 2022 may be communicatively connected. Specifically, the main control unit 2021 can be electrically connected to the power mechanism 2022 via a connecting cable. The power mechanism 2022 can be configured to drive the pile driver body 201 to move. Specifically, the power mechanism 2022 can be configured to drive the pile hammer included in the pile driver body 201 to move.

[0029] In some embodiments, the precast pile assembly 3 may include a precast pile body 301, a detection assembly 302, and a transmission assembly 303. The transmission assembly 303 may be a component for transmitting information. For example, the transmission assembly 303 may be a wireless transmission module. The detection assembly 302 may be connected to the transmission assembly 303. The transmission assembly 303 may be communicatively connected to the main control unit 2021. The communication connection between the transmission assembly 303 and the main control unit 2021 may be wireless. It should be noted that the wireless connection method may include, but is not limited to, 3G / 4G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection, and other currently known or future known wireless connection methods. The detection assembly 302 may include a height detection assembly 3021 and an inclination detection assembly 3022. The height detection assembly 3021 may be disposed at the top of the precast pile body 301. The inclination detection assembly 3022 may be disposed on the side of the precast pile body 301. The height detection component 3021 can be used to detect the height of the precast pile body 301 above the ground. For example, the height detection component 3021 can be a distance sensor. The tilt angle detection component 3022 can be used to detect the tilt angle of the precast pile body 301. The tilt angle detection component 3022 can be an inclinometer.

[0030] In some embodiments, the height detection component 3021 can be configured to detect the height of the precast pile body 301 to obtain precast pile height information, and then send the precast pile height information to the transmission component 303. The precast pile height information can be information characterizing the height of the height detection component 3021 above the ground.

[0031] In some embodiments, the tilt angle detection component 3022 can be configured to detect the tilt angle of the precast pile body 301, obtain precast pile tilt angle information, and send the precast pile tilt angle information to the transmission component 303. The precast pile tilt angle information can be information characterizing the tilt angle of the precast pile body 301.

[0032] In some embodiments, the transmission component 303 may be configured to send the received precast pile height information and the received precast pile inclination angle information to the main control unit 2021.

[0033] In some embodiments, the main control unit 2021 can be configured to determine the impact information corresponding to the power mechanism 2022 based on the received precast pile height information and the received precast pile inclination angle information. The impact information can be various basic parameters of the power mechanism 2022. Specifically, the impact information can include impact weight, impact kinetic energy, and impact frequency. The main control unit 2021 controls the power mechanism 2022 to perform the corresponding impact operation based on the impact information. In practice, the main control unit 2021 can set the various basic parameters of the power mechanism 2022 to the impact weight, impact kinetic energy, and impact frequency included in the impact information, and control the power mechanism 2022 to perform the pile driving operation according to the set parameters.

[0034] Optionally, the detection component 302 may further include a camera component. The camera component can be a component for capturing images of the target environment. For example, the camera component can be a webcam. The camera component can be configured to capture images of the target environment to obtain an environmental image. The target environment can be the environment within a preset range of the pile driver. The environmental image is then sent to the transmission component 303. The transmission component 303 can be configured to send the environmental image to the main control unit 2021. The main control unit 2021 can be configured to perform human detection on the environmental image to determine whether the environmental image includes an area representing a human body. In practice, the main control unit 2021 can perform human detection on the environmental image using a personnel intrusion detection algorithm to determine whether the environmental image includes an area representing a human body. And in response to determining that the environmental image includes an area representing a human body, it controls the power mechanism 2022 to perform a stop operation. Therefore, by detecting whether a human body is present near the pile driver and controlling the pile driver to stop when a human body is present, harm to personnel caused by the pile driver can be avoided, improving worker safety.

[0035] Optionally, the aforementioned camera assembly may include a camera and a moving mechanism. The moving mechanism may be a mechanism for moving the camera. As an example, the moving mechanism may be an electric cylinder. The moving mechanism may be engaged with the exterior of the precast pile body 301. A clamp may be provided on the back of the moving mechanism. The clamp on the back of the moving mechanism may engage with the precast pile body. The moving mechanism may be configured to move the camera.

[0036] Optionally, the precast pile body 301 may include a screw-type connector. The screw-type connector may include a plug rod, a screw locking plate assembly, a nut assembly, and a spring. The plug rod may include a plug rod head and a plug rod tail. The radius of the plug rod head is larger than the radius of the plug rod tail. Both the outer rings of the plug rod head and the outer rings of the plug rod tail may be threaded. The nut assembly may include a first external nut, an intermediate nut, and a second external nut. The inner rings of the first and second external nuts may be threaded. The intermediate nut may have both internal and external threads.

[0037] Optionally, the aforementioned screw locking plate assembly may include a first screw locking plate and a second screw locking plate. The inner rings of both the first and second screw locking plates may be threaded. The shape of the screw locking plate assembly may be a frustum conical. Specifically, the combined shape of the first and second screw locking plates may be a frustum conical. Both the first and second screw locking plates may be semi-frustum conicals. A boss may be provided at the bottom of the screw locking plate assembly. This can be understood as both the first and second screw locking plates having a boss at their bottom.

[0038] Optionally, the head of the aforementioned insert rod can be inserted into the inner ring of the aforementioned first external nut. The tail of the aforementioned insert rod can be inserted into the inner ring of the aforementioned screw-locking plate assembly. The aforementioned intermediate nut can be sleeved on the outer ring of the aforementioned screw-locking plate assembly. The aforementioned intermediate nut and the aforementioned screw-locking plate can be locked in the inner ring of the aforementioned second external nut. The aforementioned spring can be locked between the aforementioned second external nut and the aforementioned screw-locking plate assembly. One end of the aforementioned spring can be connected to the inner bottom of the aforementioned second external nut. The other end of the aforementioned spring can be connected to the aforementioned screw-locking plate assembly. In practice, the aforementioned first external nut can be connected to the aforementioned precast pile body. The aforementioned second external nut can be connected to other precast piles. Furthermore, multiple screw-locking connectors can be provided between two precast piles. Thus, two precast piles can be connected through the aforementioned screw-locking connectors. And when the insert rod moves along the direction of the precast pile, the aforementioned screw-locking plate assembly will expand outward, thereby causing the intermediate nut to expand outward. At this time, the boss at the bottom of the aforementioned screw locking plate assembly can abut against the bottom of the aforementioned intermediate nut, and the outward expansion force will be transformed into an upward and downward tightening force, thereby achieving a tight connection between the two precast piles and preventing the connection between the two precast piles from breaking.

[0039] Optionally, the height detection component 3021 can be a height sensor. The tilt detection component 3022 can be a tilt sensor.

[0040] The various embodiments disclosed above have the following beneficial effects: The precast pile driving device of some embodiments of this disclosure can reduce working time and improve work efficiency during pile driving. Specifically, the reason for long working time and low work efficiency is that the precast pile is prone to tilting during the pile driving process, resulting in a large deviation between the angle of the precast pile after pile driving and the expected angle, thus requiring re-pile driving. Based on this, the precast pile driving device of some embodiments of this disclosure includes a pile driving component and a precast pile component. The pile driving component includes a pile driver body and a power component. The power component includes a main control unit and a power mechanism. The main control unit is communicatively connected to the power mechanism, and the power mechanism is configured to drive the pile driver body to move. The precast pile component includes a precast pile body, a detection component, and a transmission component. The detection component is connected to the transmission component, and the detection component includes a height detection component and an inclination angle detection component. The height detection component is configured to detect the height of the precast pile body, obtain precast pile height information, and send the precast pile height information to the transmission component. The aforementioned tilt angle detection component is configured to detect the tilt angle of the precast pile body, obtain the precast pile tilt angle information, and send the precast pile tilt angle information to the aforementioned transmission component. The aforementioned transmission component is configured to send the received precast pile height information and the received precast pile tilt angle information to the aforementioned main control unit. The aforementioned main control unit is configured to determine the impact information corresponding to the aforementioned power mechanism based on the received precast pile height information and the received precast pile tilt angle information, wherein the impact information includes impact weight, impact kinetic energy, and impact frequency, and control the aforementioned power mechanism to perform the corresponding impact operation based on the impact information. Because the pile driving depth and tilt angle of the precast pile can be checked by the height detection component and the tilt angle of the precast pile, it is possible to determine whether the angle of the precast pile deviates from the expected angle during the pile driving process. If the deviation exceeds a preset deviation threshold, pile driving is stopped, and the tilt angle of the precast pile is corrected, thereby avoiding re-pile driving, reducing working time, and improving work efficiency. Therefore, this precast pile driving device can reduce working time and improve work efficiency.

[0041] Continue to refer to Figure 2 The diagram illustrates a flow 200 of some embodiments of a power mechanism control method according to the present disclosure. This power mechanism control method includes the following steps:

[0042] Step 201: The height of the precast pile body is detected by the height detection component to obtain the height information of the precast pile.

[0043] In some embodiments, the executor of the power mechanism control method (e.g., Figure 1The precast pile driving device shown can detect the height of the precast pile body through the height detection component to obtain the precast pile height information. The precast pile height information can be information representing the height of the height detection component from the ground. For example, the precast pile height information can be "5 meters high". The precast pile driving device can include a driving component and a precast pile component. The driving component can include a pile driver body and a power component. The precast pile component can include a precast pile body, a detection component, and a transmission component. The detection component can include a height detection component and an inclination angle detection component. In practice, the executing entity can determine the height of the height detection component from the ground as the precast pile height information.

[0044] Step 202: The tilt angle of the precast pile body is detected by the tilt angle detection component to obtain the tilt angle information of the precast pile.

[0045] In some embodiments, the execution entity can detect the tilt angle of the precast pile body using the tilt angle detection component to obtain precast pile tilt angle information. This precast pile tilt angle information can be information characterizing the tilt angle of the precast pile body. For example, the precast pile tilt angle information can be "tilt angle 89°". In practice, the execution entity can determine the tilt angle detected by the tilt angle detection component as the precast pile height information.

[0046] Step 203: Determine the impact information of the corresponding power mechanism based on the precast pile height information and precast pile inclination angle information.

[0047] In some embodiments, the execution entity can determine the impact information corresponding to the power mechanism based on the precast pile height information and the precast pile inclination angle information. The impact information may include impact weight, impact kinetic energy, and impact frequency.

[0048] In some alternative embodiments, the aforementioned precast pile inclination information may include the precast pile inclination angle.

[0049] Optionally, based on the aforementioned precast pile height information and precast pile inclination angle information, the aforementioned execution entity can determine the impact information corresponding to the aforementioned power mechanism through the following steps:

[0050] The first step is to determine the absolute value of the difference between the inclination angle of the precast pile and the target inclination angle as the inclination angle difference.

[0051] The second step involves determining that the aforementioned tilt angle difference does not meet the preset tilt angle difference condition, and then defining the preset stop impact information as the impact information. The preset tilt angle difference condition can be that the tilt angle difference is greater than a preset tilt angle difference threshold. This preset tilt angle difference threshold can be a pre-set tilt angle difference threshold. For example, the preset tilt angle difference condition can be that the tilt angle difference is greater than 5°. The preset stop impact information can be that all basic parameters of the piling machine (impact weight, impact kinetic energy, and impact frequency) are zero. In practice, in response to determining that the aforementioned tilt angle difference does not meet the preset tilt angle difference condition, the executing entity can adjust all basic parameters of the piling machine to zero.

[0052] In some alternative embodiments, the precast pile height information may include the precast pile height.

[0053] Optionally, based on the aforementioned precast pile height information and precast pile inclination angle information, the aforementioned execution entity can determine the impact information corresponding to the aforementioned power mechanism through the following steps:

[0054] The first step, in response to determining that the aforementioned inclination angle difference satisfies the aforementioned preset inclination angle difference condition, is to determine the absolute value of the difference between the aforementioned precast pile height and the historical precast pile height as the height difference. The aforementioned historical precast pile height can be the precast pile height historically detected by the aforementioned height detection component.

[0055] The second step is to determine the absolute value of the difference between the aforementioned precast pile height and the target precast pile height as the target height difference. The aforementioned target precast pile height can be a pre-set height for the aforementioned precast pile. As an example, the aforementioned target precast pile height can be 1 meter.

[0056] The third step involves inputting the aforementioned height difference, target height difference, and historical impact information into a pre-trained impact information generation model to obtain the impact information corresponding to the aforementioned power mechanism. The aforementioned historical impact information can be various parameters from the previous operation of the aforementioned power mechanism. The aforementioned impact information generation model can be generated in the following way:

[0057] The fourth step is to obtain the sample set. The samples in the sample set may include sample height difference, sample target height difference, and historical impact information, as well as the impact information corresponding to the sample height difference, sample target height difference, and historical impact information.

[0058] Fifth, perform the following training steps based on the sample set:

[0059] The first training step involves inputting at least one sample height difference, sample target height difference, and historical impact information from the sample set into the initial impact information generation model to obtain the impact information corresponding to each sample in the sample set. In practice, firstly, the execution entity can input at least one sample from the sample set into the input layer of the initial impact information generation model to obtain the feature vector corresponding to each of the at least one sample. Then, the feature vectors corresponding to each of the at least one sample are input into the first, second, and third classification models of the initial impact information generation model to obtain the first, second, and third impact information corresponding to each of the at least one sample. Finally, the first, second, and third impact information corresponding to each of the at least one sample are input into the output layer of the initial impact information generation model to obtain the impact information corresponding to each of the at least one sample.

[0060] The second training step involves comparing the impact information corresponding to each sample in the sample set with the impact information of the corresponding sample.

[0061] The third training step involves determining whether the initial impact information generation model has achieved the preset optimization objective based on the comparison results. For example, when the difference between the impact information corresponding to a sample and the impact information of the corresponding sample is less than a preset difference threshold, the impact information is considered accurate. In this case, the aforementioned optimization objective could mean that the accuracy of the impact information generated by the initial impact information generation model is greater than a preset accuracy threshold.

[0062] The fourth training step involves determining the initial impact information generation model as the trained impact information generation model in response to the aforementioned optimization objective.

[0063] In the fifth training step, in response to the determination that the initial impact information generation model has not achieved the above optimization objective, the network parameters of the initial impact information generation model are adjusted. Using an unused sample set and the adjusted initial impact information generation model as the initial impact information generation model, the above training steps are executed again.

[0064] The aforementioned impact information generation model and its related content, as an inventive point of this disclosure, solves the second technical problem mentioned in the background art: "The operating parameters of the pile driver are not updated according to the historical operating parameters and historical pile driving depths, resulting in a large deviation between the final achieved pile driving depth and the preset pile driving depth, leading to low pile driving accuracy." The reason for the low pile driving accuracy is as follows: the operating parameters of the pile driver are not updated according to the historical operating parameters and historical pile driving depths, resulting in a large deviation between the final achieved pile driving depth and the preset pile driving depth. If the above factors are resolved, the pile driving accuracy can be improved. To achieve this effect, this disclosure firstly, in response to the aforementioned inclination angle difference satisfying the aforementioned preset inclination angle difference condition, determines the absolute value of the difference between the aforementioned precast pile height and the historical precast pile height as the height difference. Secondly, determines the absolute value of the difference between the aforementioned precast pile height and the target precast pile height as the target height difference. Then, the aforementioned height difference, the aforementioned target height difference, and historical impact information are input into a pre-trained impact information generation model to obtain the impact information corresponding to the aforementioned power mechanism. The aforementioned impact information generation model is generated in the following manner: First, a sample set is acquired. This sample set includes sample height differences, sample target height differences, and historical impact information, as well as impact information corresponding to these factors. Second, the following training steps are performed based on the sample set: First training step: At least one of the sample height differences, sample target height differences, and historical impact information from the sample set is input into the initial impact information generation model to obtain impact information corresponding to each sample in the sample set. Second training step: The impact information corresponding to each sample in the sample set is compared with the corresponding sample impact information. Third training step: Based on the comparison results, it is determined whether the initial impact information generation model has reached the preset optimization objective. Fourth training step: In response to determining that the initial impact information generation model has reached the optimization objective, the initial impact information generation model is designated as the trained impact information generation model. Fifth training step: In response to determining that the initial impact information generation model has not reached the optimization objective, the network parameters of the initial impact information generation model are adjusted. Sixth training step: Using an unused sample set and the adjusted initial impact information generation model as the initial impact information generation model, the above training steps are executed again. Therefore, by using samples in the training sample set, it can be determined whether the difference between the impact information generated by the initial impact information generation model and the corresponding sample impact information meets the preset difference threshold, and then it can be determined whether the initial impact information generation model has achieved the optimization objective. This yields an impact information generation model that characterizes the operating parameters of historical pile drivers and the driving depth and impact information of historical pile drivers. Thus, the operating parameters of the pile driver can be updated based on the operating parameters and driving depth of historical pile drivers.Because the operating parameters of the piling machine can be updated based on the historical operating parameters and piling depth of the piling machine, the deviation in the final piling depth can be reduced, thereby improving the accuracy of piling.

[0065] Step 204: Control the power mechanism to perform the corresponding impact operation based on the impact information.

[0066] In some embodiments, the aforementioned execution entity can control the aforementioned power mechanism to perform corresponding impact operations based on the aforementioned impact information. In practice, the aforementioned main control unit can set the values ​​of various basic parameters of the aforementioned power mechanism to the impact weight, impact kinetic energy, and impact frequency included in the aforementioned impact information, and control the aforementioned power mechanism to perform pile driving operations according to the set parameters.

[0067] In some alternative embodiments, the detection component may further include a camera component.

[0068] Optionally, the aforementioned implementing entity may also perform the following steps:

[0069] The first step is to capture images of the target environment using the aforementioned camera components, thereby obtaining environmental images. The target environment can be the environment within a preset range of the pile driver.

[0070] The second step is to perform human detection on the aforementioned environmental image to determine whether the environmental image includes regions representing human bodies. In practice, the main control unit can use a human detection algorithm to perform human detection on the aforementioned environmental image to determine whether the environmental image includes regions representing human bodies.

[0071] Third, in response to determining that the above-mentioned environmental image includes a region representing a human body, the above-mentioned power mechanism is controlled to perform a stop operation.

[0072] Therefore, by detecting whether there are human beings near the pile driver and stopping the pile driver when human beings are present, it is possible to avoid injury to personnel from the pile driver and improve the safety of workers.

[0073] The various embodiments disclosed above have the following beneficial effects: the power mechanism control method of some embodiments of this disclosure can reduce working time and improve work efficiency during pile driving. Specifically, the reason for the long working time and low work efficiency is that the precast pile is prone to tilting during the pile driving process, resulting in a large deviation between the angle of the precast pile after pile driving and the expected angle, so that pile driving needs to be repeated. Based on this, the power mechanism control method of some embodiments of this disclosure includes detecting the height of the precast pile body through the height detection component to obtain the precast pile height information. The tilt angle of the precast pile body is detected through the tilt angle detection component to obtain the precast pile tilt angle information. Based on the precast pile height information and the precast pile tilt angle information, the impact information corresponding to the power mechanism is determined, wherein the impact information includes impact weight, impact kinetic energy, and impact frequency. Based on the impact information, the power mechanism is controlled to perform the corresponding impact operation. Because the height and tilt detection components can detect the driving depth and tilt angle of the precast piles, it's possible to determine if the pile angle deviates from the expected angle during driving. If the deviation exceeds a preset threshold, driving is stopped, and the tilt angle is corrected, thus avoiding re-driving, reducing working hours, and improving efficiency. Therefore, this power mechanism control method can reduce working hours and improve work efficiency.

[0074] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A precast pile driving device, wherein, The precast pile driving device includes a driving assembly and a precast pile assembly, wherein... The piling assembly includes a piling machine body and a power assembly. The power assembly includes a main control unit and a power mechanism. The main control unit is communicatively connected to the power mechanism, and the power mechanism is configured to drive the piling machine body to move. The precast pile assembly includes a precast pile body, a detection assembly, and a transmission assembly. The detection assembly is connected to the transmission assembly, and the transmission assembly is communicatively connected to the main control unit. The detection assembly includes a height detection assembly and an inclination angle detection assembly. The height detection component is disposed at the top of the precast pile body and is configured to detect the height of the precast pile body, obtain the precast pile height information, and send the precast pile height information to the transmission component; The tilt angle detection component is disposed on the side of the precast pile body and is configured to detect the tilt angle of the precast pile body, obtain the precast pile tilt angle information, and send the precast pile tilt angle information to the transmission component. The transmission component is configured to send the received precast pile height information and the received precast pile inclination angle information to the main control unit; The main control unit is configured to determine the impact information corresponding to the power mechanism based on the received precast pile height information and the received precast pile inclination angle information, wherein the impact information includes impact weight, impact kinetic energy, and impact frequency, and to control the power mechanism to perform corresponding impact operations based on the impact information, including: The absolute value of the difference between the inclination angle of the precast pile and the target inclination angle is defined as the inclination angle difference. In response to the determination that the inclination angle difference meets the preset inclination angle difference condition, the absolute value of the difference between the precast pile height and the historical precast pile height is determined as the height difference; the absolute value of the difference between the precast pile height and the target precast pile height is determined as the target height difference; the height difference, the target height difference, and the historical impact information are input into a pre-trained impact information generation model to obtain the impact information corresponding to the power mechanism, wherein the impact information generation model is generated in the following way: Obtain a sample set, wherein the samples in the sample set include sample height difference, sample target height difference and sample historical impact information, as well as sample impact information corresponding to sample height difference, sample target height difference and sample historical impact information; Perform the following training steps based on the sample set: Input at least one of the sample height difference, sample target height difference and sample historical impact information from the sample set into the initial impact information generation model to obtain the impact information corresponding to each sample in the sample set. Compare the impact information corresponding to each sample in the sample set with the impact information of the corresponding sample. Based on the comparison results, determine whether the initial impact information generation model has achieved the preset optimization objective; In response to the determination that the initial impact information generation model has reached the optimization objective, the initial impact information generation model is determined as the trained impact information generation model; In response to the determination that the initial impact information generation model has not achieved the optimization objective, the network parameters of the initial impact information generation model are adjusted. Using an unused sample set and an adjusted initial impact information generation model as the initial impact information generation model, the above training steps are executed again. The precast pile body includes a screw-type connector, wherein the screw-type connector includes a plug rod, a screw locking plate assembly, a nut group and a spring, the nut group includes a first external nut, an intermediate nut and a second external nut, and the bottom of the screw locking plate assembly is provided with a boss, the boss abuts against the bottom of the intermediate nut, and the outward expansion force is transformed into an up-and-down tightening force to achieve a tight connection between the two precast piles; Multiple screw-type connectors are provided between the two precast pile bodies.

2. The precast pile driving device according to claim 1, wherein, The detection component further includes a camera component, which is configured to capture images of the target environment to obtain an environmental image and send the environmental image to the transmission component; The transmission component is configured to send the environmental image to the main control unit; The main control unit is configured to perform human detection on the environmental image to determine whether the environmental image includes a region representing a human body, and in response to determining that the environmental image includes a region representing a human body, control the power mechanism to perform a stop operation.

3. The precast pile driving device according to claim 2, wherein, The camera assembly includes a camera and a moving mechanism. The moving mechanism is mounted on the outside of the precast pile body and is configured to move the camera.

4. The precast pile driving device according to claim 1, wherein, The insertion rod includes an insertion rod head and an insertion rod tail, and the outer rings of the insertion rod head and the outer rings of the insertion rod tail are both provided with threads; The inner rings of the first and second external nuts are threaded, and the intermediate nut is provided with internal and external threads.

5. The precast pile driving device according to claim 4, wherein, The screw locking plate assembly includes a first screw locking plate and a second screw locking plate. The inner rings of both the first and second screw locking plates are provided with threads. The screw locking plate assembly is shaped like a frustum of a cone.

6. The precast pile driving device according to claim 5, wherein, The head of the insert rod is inserted into the inner ring of the first external nut, and the tail of the insert rod is inserted into the inner ring of the screw locking plate assembly; The intermediate nut is sleeved on the outer ring of the screw locking plate assembly, and the intermediate nut and the screw locking plate are locked on the inner ring of the second external nut; The spring is positioned between the second external nut and the screw locking plate assembly, wherein one end of the spring is connected to the inner bottom of the second external nut, and the other end of the spring is connected to the screw locking plate assembly.

7. The precast pile driving device according to any one of claims 1-6, wherein, The height detection component is a height sensor, and the tilt angle detection component is a tilt angle sensor.

8. A power mechanism control method, applied to the precast pile driving device as described in any one of claims 1-7, wherein, The precast pile driving device includes a driving assembly and a precast pile assembly. The driving assembly includes a pile driver body and a power assembly. The precast pile assembly includes a precast pile body, a detection assembly, and a transmission assembly. The detection assembly includes a height detection assembly and an inclination angle detection assembly. The method includes: The height of the precast pile body is detected by the height detection component to obtain the precast pile height information; The tilt angle of the precast pile body is detected by the tilt angle detection component to obtain the tilt angle information of the precast pile. Based on the precast pile height information and the precast pile inclination angle information, the impact information corresponding to the power mechanism is determined, wherein the impact information includes impact weight, impact kinetic energy, and impact frequency, including: The absolute value of the difference between the inclination angle of the precast pile and the target inclination angle is defined as the inclination angle difference. In response to the determination that the inclination angle difference meets the preset inclination angle difference condition, the absolute value of the difference between the precast pile height and the historical precast pile height is determined as the height difference; the absolute value of the difference between the precast pile height and the target precast pile height is determined as the target height difference; the height difference, the target height difference, and the historical impact information are input into a pre-trained impact information generation model to obtain the impact information corresponding to the power mechanism, wherein the impact information generation model is generated in the following way: Obtain a sample set, wherein the samples in the sample set include sample height difference, sample target height difference and sample historical impact information, as well as sample impact information corresponding to sample height difference, sample target height difference and sample historical impact information; Perform the following training steps based on the sample set: Input at least one of the sample height difference, sample target height difference and sample historical impact information from the sample set into the initial impact information generation model to obtain the impact information corresponding to each sample in the sample set. Compare the impact information corresponding to each sample in the sample set with the impact information of the corresponding sample. Based on the comparison results, determine whether the initial impact information generation model has achieved the preset optimization objective; In response to the determination that the initial impact information generation model has reached the optimization objective, the initial impact information generation model is determined as the trained impact information generation model; In response to the determination that the initial impact information generation model has not achieved the optimization objective, the network parameters of the initial impact information generation model are adjusted. Using an unused sample set and an adjusted initial impact information generation model as the initial impact information generation model, the above training steps are executed again. The power mechanism is controlled to perform the corresponding impact operation based on the impact information.

9. The method according to claim 8, wherein, The detection component further includes a camera component; and The method further includes: The camera component captures images of the target environment to obtain environmental images; Human detection is performed on the environmental image to determine whether the environmental image includes a region representing a human body; In response to determining that the environmental image includes a region representing a human body, the power mechanism is controlled to perform a stop operation.

10. The method according to claim 8, wherein, The precast pile inclination information includes the precast pile inclination angle; as well as The step of determining the impact information corresponding to the power mechanism based on the precast pile height information and the precast pile inclination angle information includes: The absolute value of the difference between the inclination angle of the precast pile and the target inclination angle is defined as the inclination angle difference. In response to determining that the tilt angle difference does not meet the preset tilt angle difference condition, the preset stop impact information is determined as impact information.

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