Photovoltaic pile driver and pile sinker control system and method based on double compensation system

Abstract

The present application relates to offshore photovoltaic technology field, specifically relates to a kind of photovoltaic pile driver and pile driver control system and method based on double compensation system.The present application includes double compensation system, photovoltaic pile driver and pile driver, double compensation system drives pile hammer on photovoltaic pile driver and pile foundation embraced by pile driver to collide, double compensation system includes three-dimensional compensation system I located at the bottom of photovoltaic pile driver, and three-dimensional compensation system II located at the bottom of pile driver, double compensation system is through adjusting the relative position of three-dimensional compensation system I and three-dimensional compensation system II, ensure the precision controllable of pile hammer and pile foundation collision;The present application can adjust the distance between pile driving vessel and pile foundation by improved pile driver;Through the new double compensation system and hydraulic pump station, the linkage control base of double compensation system is realized, and manual compensation mode, active compensation mode and passive compensation mode can also be realized, and the effect is more prominent, timely and efficient by establishing prediction model mode combined with double compensation system comprehensive adjustment.

Description

Technical Field

[0001] This invention relates to the field of marine photovoltaic technology, specifically to a control system and method for a photovoltaic piling machine and pile driver based on a dual compensation system. Background Technology

[0002] With the development of offshore photovoltaic (PV) pile foundations, site selection has shifted from nearshore to offshore areas with water depths reaching approximately 15 meters. The pile driving construction for offshore PV projects has gradually shifted from nearshore equipment to construction vessels. Due to the influence of marine environmental conditions such as waves and wind, construction vessels experience various movements in different directions during pile driving (rolling, swaying, pitching, bow rolling, heaving), which can affect the accuracy of pile driving. These movements can lead to: impaired pile positioning, preventing accurate pile feeding; reduced pile driving stability and accuracy; and collisions between the construction vessel and the pile foundation.

[0003] For example, Chinese patent CN113624124A discloses a pile stabilization system and its correction method with automatic correction function. This system monitors and automatically corrects the verticality deviation angle of the pile foundation throughout the entire pile driving process by detecting and calculating the deviation angle during pile driving, thus optimizing single-pile stabilization measures and improving the stability and efficiency of construction operations. However, this solution uses a single compensation system, which can only ensure a relatively constant relationship between the pile driver and the pile foundation. This patent lacks a pile driver to fix the pile foundation, which could still lead to collisions between construction vessels and the pile foundation. Adding a pile driver would cause the pile driver to sway, further affecting the pile foundation. Finding a balance between the pile driver and the pile foundation, and between the pile driver and the pile foundation, is a problem that urgently needs to be solved. Summary of the Invention

[0004] The technical problem to be solved by this invention is to overcome the shortcomings of the prior art and provide a control system and method for a photovoltaic piling machine and pile driver based on a dual compensation system. Through the improved pile driver, the distance between the pile driving vessel and the pile foundation can be adjusted. By adding a dual compensation system and a hydraulic pump station, the three-dimensional compensation system I and the three-dimensional compensation system II can perform reverse compensation. On the basis of linkage control, manual compensation mode, active compensation mode and passive compensation mode can also be realized. The prediction model method combined with the dual compensation system for comprehensive adjustment results in more prominent, timely and efficient effects.

[0005] The technical solution of this invention is as follows:

[0006] A control system for a photovoltaic piling machine and pile driver based on a dual compensation system includes a dual compensation system, a photovoltaic piling machine, and a pile driver. The dual compensation system drives the pile hammer on the photovoltaic piling machine to collide with the pile foundation held by the pile driver. The dual compensation system includes a three-dimensional compensation system I located at the bottom of the photovoltaic piling machine and a three-dimensional compensation system II located at the bottom of the pile driver. The dual compensation system ensures controllable accuracy of the collision between the pile hammer and the pile foundation by adjusting the relative positions of the three-dimensional compensation system I and the three-dimensional compensation system II.

[0007] The three-dimensional compensation system I is used to detect the status of the photovoltaic piling machine and compensate for it to ensure the stability of the photovoltaic piling machine's position relative to the ship.

[0008] The three-dimensional compensation system II is used to detect the state of the pile driver and compensate for it to ensure the stability of the pile driver's position relative to the pile foundation.

[0009] The dual compensation system also includes a hydraulic pump station, which is connected to the three-dimensional compensation system I and the three-dimensional compensation system II respectively, and drives the photovoltaic pile driver and the pile driver to stabilize their relative positions.

[0010] This technical solution incorporates a dual compensation system to adjust both the photovoltaic piling machine and the pile driver, avoiding the unsatisfactory results of adjusting only the photovoltaic piling machine or the pile driver alone. Since external excitation causes changes in the position and pressure of the piling vessel, while the pile insertion position into the seabed remains relatively constant, the key challenge is ensuring the stability of the pile driver's position while preventing violent shaking of the pile hammer suspended above the pile. The dual compensation system uses a three-dimensional compensation system (I) to adjust the relative position of the photovoltaic piling machine, applying compensation opposite to the external excitation to prevent the pile hammer from shaking and maintain a fixed relative position, thus preventing misalignment with the pile and failure to impact it upon descent. The dual compensation system also uses a three-dimensional compensation system (II) to adjust the relative position of the pile driver, ensuring it remains firmly attached to the pile and preventing displacement of the pile insertion position due to pile driver instability. Through dual compensation of the top pile hammer and the bottom pile, relatively stable linkage control is achieved.

[0011] In some embodiments, the photovoltaic piling machine includes a body and a pile hammer mounted on the body via slings, wherein:

[0012] The main body is installed on the pile-driving vessel through a three-dimensional compensation system I, and the pile hammer is adjusted in relative position under the action of the three-dimensional compensation system I;

[0013] The pile hammer, under its own control, freely strikes the pile foundation below, ensuring that the relative position of each impact with the pile foundation is precise and controllable.

[0014] In this technical solution, the purpose of the photovoltaic piling machine is to provide a power source for the pile hammer, while the purpose of the three-dimensional compensation system I is to provide a compensating action for the pile hammer that is opposite to the external excitation. This ensures that regardless of sea surface fluctuations, the relative position of the pile hammer will not waver and its coordinates will remain relatively unchanged. Otherwise, if wavering occurs, it will be unable to accurately land on the pile foundation, thus failing to achieve the desired piling effect. Work can only proceed after the sea surface has calmed, significantly reducing the construction efficiency. The entire photovoltaic piling machine adopts a modular design of pile frame units, which can be combined according to requirements, offering good adaptability. The three-dimensional compensation system I has position and pressure compensation functions, further enhancing its adaptability.

[0015] In some embodiments, the pile driver includes a tower mechanism, a telescopic mechanism mounted on the tower mechanism, and a clamping arm mechanism mounted at the end of the telescopic mechanism, wherein:

[0016] The tower mechanism is installed on the pile-driving vessel through the three-dimensional compensation system II, and the telescopic mechanism is adjusted in relative position under the action of the three-dimensional compensation system II;

[0017] The telescopic mechanism includes a telescopic hydraulic cylinder, one end of which is fixed to the top of the tower mechanism, and the other end of which is connected to the boom mechanism, thereby driving the boom mechanism to extend and retract relative to the tower mechanism.

[0018] The arm clamping mechanism includes a top support, and rear arm cylinders and front arm cylinders located on both sides of the top support. The arm clamping units are respectively clamped and fixed to the periphery of the pile foundation.

[0019] In this technical solution, the pile driver can move back and forth and clamp, achieving a stable connection with the pile foundation without external excitation, thus preventing the pile foundation from tilting and allowing the pile hammer to land smoothly on the pile foundation, enabling the pile foundation to gradually sink into the seabed. When there is external excitation, the three-dimensional compensation system II provides a compensation action opposite to the external excitation, ensuring that the relative position of the pile driver will not sway and the coordinates remain relatively unchanged regardless of sea surface fluctuations. Otherwise, any swaying will affect the pile foundation already inserted into the seabed. At best, the pile foundation will sway with the pile driver; at worst, it will be pulled directly out of the seabed by the violently swaying pile driver, which not only fails to stabilize the pile foundation but also has the opposite effect. The clamping arm mechanism designed in this invention meets the requirements of a wide range of pile foundation diameters and has good versatility. After the clamping arm mechanism clamps with the pile foundation, the safe distance between the pile foundation and the pile driving vessel is adjustable, ensuring good safety. The compact design of the entire pile driver saves space.

[0020] In some embodiments, the hydraulic pump station controls the three-dimensional compensation system I through solenoid valve group I and the three-dimensional compensation system II through solenoid valve group II. Solenoid valve group I is used to adjust the movement of the receiving part of the three-dimensional compensation system I relative to the sliding platform to ensure that the spatial position of the pile hammer remains stationary. Solenoid valve group II adjusts the movement of the arm mechanism of the three-dimensional compensation system II relative to the tower mechanism to ensure that the control position of the pile foundation remains stationary. The hydraulic pump station coordinates the control of solenoid valve group I and solenoid valve group II to control the extension and contraction of the hydraulic cylinder in a linkage manner to ensure the stability of the relative position of the pile hammer and the pile foundation.

[0021] In this technical solution, the hydraulic pump station is a key component for linkage control. It needs to take into account both the position of the photovoltaic piling machine and the position of the pile driver. Whether adjusting the three-dimensional supplement system I or the three-dimensional compensation system II first, or adjusting both simultaneously, the position of the pile hammer and the pile foundation must remain relatively constant. In addition to being directly connected to the hydraulic cylinders of the corresponding compensation system, the hydraulic pump station is also controlled by the start-up timing of the different compensation mechanisms of the two systems through the solenoid valve group. Closed-loop control is performed through pressure sensors and position sensors to adjust in real time. The entire adjustment process is timely, closed-loop, and stable.

[0022] In some embodiments, the three-dimensional compensation system I includes a receiving part, a mounting base, a movable frame, and a sliding platform, wherein:

[0023] The receiving part is columnar and located below the main body. It is used to connect to the main body located above and drive the main body to move relative to it.

[0024] The mounting base is rectangular in shape, with a receiving part installed on its top. It is connected to the receiving part through a roller guide rail mechanism, and is interactively set on a sliding platform below.

[0025] The movable frame, which is rectangular in shape, is fixed around the mounting base to limit the range of motion of the piling machine.

[0026] The sliding platform, used on ships that support pile driving, has a steel plate surface that undergoes special surface treatment and material coating to reduce the coefficient of friction.

[0027] In this technical solution, the three-dimensional compensation system I is a compensation system specifically designed for large photovoltaic piling machines. It utilizes a receiving section on the photovoltaic piling machine, and a mounting base is designed to facilitate the movement of this section. Hydraulic cylinders are installed around the mounting base, allowing for lateral and longitudinal movement along the surrounding movable frame. Vertical lifting hydraulic cylinders are installed within the receiving section. The overall movement is relative to the sliding platform, which is specifically designed for large equipment and features a special surface treatment for ship decks, making the entire equipment move more smoothly. A gear set is installed between the mounting base and the movable frame, used to lock the position after it has been fixed.

[0028] In some embodiments, the three-dimensional compensation system II includes an X-axis compensation mechanism, a Y-axis compensation mechanism, a Z-axis compensation mechanism, and a sliding track, wherein:

[0029] The sliding track is installed on the pile-driving vessel and has an internal X-axis compensation mechanism to limit the range of motion of the pile driver.

[0030] The X-axis compensation mechanism includes an X-axis hydraulic cylinder and an X-axis slider. The X-axis slider moves relative to the sliding track under the drive of the X-axis hydraulic cylinder to adjust the front and rear distance between the pile driver and the pile foundation.

[0031] The Y-axis compensation mechanism includes a Y-axis hydraulic cylinder, a Y-axis track, and a Y-axis slider. The Y-axis slider moves relative to the Y-axis track under the drive of the Y-axis hydraulic cylinder to adjust the left and right distance between the pile driver and the pile foundation.

[0032] The Z-axis compensation mechanism includes a Z-axis hydraulic cylinder, a Z-axis track, and a Z-axis slider. The Z-axis slider moves relative to the Z-axis track under the drive of the Z-axis hydraulic cylinder to adjust the vertical distance between the pile driver and the pile foundation.

[0033] In this technical solution, the three-dimensional compensation system II serves as a supplementary adjustment for the pile driver. The telescopic mechanism of the pile driver is a coarse adjustment mechanism, which can quickly adjust the distance between the pile driver vessel and the pile foundation. The three-dimensional compensation system II is a fine adjustment mechanism. In addition to further adjustments via the X-axis compensation system, it can also correct lateral deviations of the pile driver vessel via the Y-axis compensation system and vertical fluctuations via the Z-axis compensation system. This ensures that the pile driver and the pile foundation remain relatively stable and highly adaptable.

[0034] In some embodiments, the dual compensation system includes the following modes:

[0035] In manual compensation mode, position and pressure sensors are used to collect relevant information from the dual compensation system, and the hydraulic pump station is driven by a handle to perform reverse compensation, thereby ensuring that the collision between the pile hammer and the pile foundation remains relatively constant.

[0036] The active compensation mode includes the following steps: using historical data from the dual compensation system, a prediction model is established; based on real-time feedback of position and pressure information, and the position and pressure changes caused by external excitation predicted by the prediction model at the next moment, the thrust of the output hydraulic cylinder is calculated, thereby controlling the position of the photovoltaic piling machine and the pile driver, and actively driving the switching of solenoid valve group I and solenoid valve group II, thereby adjusting the three-dimensional compensation system I and the three-dimensional compensation system II for active compensation;

[0037] The passive compensation mode includes the following steps: using historical data from the dual compensation system, a predictive model is established; based on real-time feedback of position and pressure information, the thrust of the output hydraulic cylinder is calculated, thereby controlling the position of the photovoltaic piling machine and the pile driver; and using solenoid valve group I and solenoid valve group II to adjust the three-dimensional compensation system I and the three-dimensional compensation system II for reverse compensation, thereby ensuring that the collision between the pile hammer and the pile foundation remains relatively constant.

[0038] In this technical solution, the aforementioned functions are not found in existing technologies. The manual compensation mode is designed for quick adjustments by skilled operators. After a period of operation, with sufficient historical data and a relatively complete predictive model established, either an active or passive compensation mode can be adopted. Both modes can compensate in reverse based on external excitations from the sea surface, offsetting the instability of the pile hammer and pile foundation caused by the excitations. The compensation effect of the active compensation mode is derived from prediction, resulting in a more prominent compensation effect; while the passive compensation mode provides more timely compensation, allowing for the selection of different modes based on different scenarios.

[0039] In some embodiments, the photovoltaic piling machine and the pile driver are assembled on-site from assembly components. All assembly components are placed in containers and loaded and unloaded using containerization for standardized management and transportation.

[0040] In this technical solution, the containerized control system enables economical and efficient transportation, ensuring the construction progress of offshore photovoltaic projects and allowing sufficient time for the subsequent installation of photovoltaic piling machines, pile drivers, and dual compensation systems, thus reducing the inconvenience caused by the transportation of large equipment.

[0041] The technical solution of this invention is as follows:

[0042] A control method for a photovoltaic piling machine and pile driver based on a dual compensation system, employing the aforementioned control system for a photovoltaic piling machine and pile driver based on a dual compensation system, includes the following steps:

[0043] S1. The pile-driving vessel is in place, and the pile foundation is hoisted to the front of the pile driver;

[0044] S2. Fully open the arm mechanism of the pile driver and move it to the corresponding position of the pile location in parallel.

[0045] S3. Tighten the arm mechanism of the pile driver, and accurately position and straighten the pile foundation by adjusting the extension cylinder, rear arm cylinder, front arm cylinder and top support of the pile driver, and lock the deck rail brake to fix the position of the pile driver and make the pile foundation move vertically up and down.

[0046] S4. The pile-driving vessel releases the slings to allow the pile hammer to sit firmly on the pile and carry out the pile-driving operation.

[0047] S5. During the pile driving process, the dual compensation system simultaneously compensates for the movement of the pile driving vessel to ensure the stability of the pile hammer and pile foundation position; the precision monitoring system monitors the construction precision in real time to ensure the quality of pile driving construction.

[0048] S6. After completing the current pile foundation, move the pile driver to the next pile driving position and repeat the above steps.

[0049] This technical solution, through an improved pile driver, allows for preliminary coarse adjustments to the distance between the pile driving vessel and the pile foundation. During the pile driving process, external disturbances such as excitations are detected in real time by position and pressure sensors, and a dual-compensation system with linkage control is used for reverse compensation. This ensures that while the entire pile driving vessel moves up and down with the waves on the sea surface, the pile hammer and pile driver remain stationary. This allows the pile foundation to be held securely in place by the pile driver, waiting for the pile hammer, positioned at a predetermined location above, to fall precisely and gradually impact the seabed, thus completing the installation of the pile foundation.

[0050] In some embodiments, step S5, where the dual compensation system simultaneously compensates for the motion of the pile-driving vessel, includes the following sub-steps:

[0051] S51. The hydraulic pump station controls the three-dimensional compensation system I through the solenoid valve group I. By adjusting the three-dimensional compensation system I, the position of the body relative to the pile hammer is adjusted to ensure that the position of the pile hammer remains unchanged.

[0052] S52. The hydraulic pump station controls the three-dimensional compensation system II through the solenoid valve group II. By adjusting the three-dimensional compensation system II, the position of the tower mechanism relative to the pile foundation is adjusted to ensure that the position of the pile foundation remains unchanged.

[0053] This technical solution uses a hydraulic pump station for linkage control. The ultimate goal is to ensure that no matter how the pile-driving vessel moves, the pile foundation will not shake with the pile driver and the pile hammer will not shake with the photovoltaic pile driver. With both pile-driving actions continuing, the falling pile hammer can accurately land on the pile foundation.

[0054] Compared with the prior art, the present invention has the following advantages:

[0055] With the improved pile driver, coarse adjustments can be made in advance to adjust the distance between the pile driving vessel and the pile foundation;

[0056] By adding a dual compensation system, adjustments are made to both the photovoltaic piling machine and the pile driver, ensuring that the pile foundation will not shake with the pile driver and the pile hammer will not shake with the photovoltaic piling machine, regardless of the movement of the piling vessel. With both piling actions continuing, the falling pile hammer can accurately land on the pile foundation.

[0057] By adding a new hydraulic pump station, the three-dimensional compensation system I and the three-dimensional compensation system II can perform reverse compensation. Based on the linkage control, manual compensation mode, active compensation mode and passive compensation mode can also be realized. The prediction model method combined with the dual compensation system for comprehensive adjustment results in more prominent, timely and efficient effects. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram of the structure of the present invention.

[0060] Figure 2 This is a schematic diagram of the three-dimensional compensation system structure of a photovoltaic piling machine.

[0061] Figure 3 This is a schematic diagram of the three-dimensional compensation system structure of the pile driver.

[0062] Figure 4 This is a schematic diagram of the structure of the pile driver's arm mechanism.

[0063] Figure 5 This is one of the structural schematic diagrams of the pile driving tower mechanism.

[0064] Figure 6 This is the second schematic diagram of the pile driving tower mechanism.

[0065] Figure 7 This is the electrical control schematic diagram of the present invention.

[0066] In the diagram: 1. Piling vessel; 2. Three-dimensional compensation system I; 21. Receiving part; 22. Mounting base; 23. Movable frame; 24. Sliding platform; 3. Three-dimensional compensation system II; 31. X-axis compensation mechanism; 32. Y-axis compensation mechanism; 33. Z-axis compensation mechanism; 34. Sliding track; 4. Pile foundation; 5. Photovoltaic piling machine; 6. Pile driver; 61. Tower mechanism; 62. Arm clamp mechanism; 63. Telescopic mechanism. Detailed Implementation

[0067] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0068] Example 1

[0069] like Figures 1 to 7 As shown, this embodiment provides a control system for a photovoltaic piling machine and pile driver based on a dual compensation system, including a dual compensation system, a photovoltaic piling machine 5, and a pile driver 6. The dual compensation system drives the pile hammer on the photovoltaic piling machine 5 to collide with the pile foundation 4 held by the pile driver 6. The dual compensation system includes a three-dimensional compensation system I2 located at the bottom of the photovoltaic piling machine 5 and a three-dimensional compensation system II3 located at the bottom of the pile driver 6. The dual compensation system ensures that the accuracy of the collision between the pile hammer and the pile foundation 4 is controllable by adjusting the relative positions of the three-dimensional compensation system I2 and the three-dimensional compensation system II3.

[0070] The three-dimensional compensation system I2 is used to detect the status of the photovoltaic piling machine 5 and compensate for the photovoltaic piling machine 5 to ensure the stability of the photovoltaic piling machine 5 relative to the ship.

[0071] The three-dimensional compensation system II3 is used to detect the state of the pile driver 6 and compensate for the pile driver 6 to ensure that the position of the pile driver 6 relative to the pile foundation 4 is stable.

[0072] The dual compensation system also includes a hydraulic pump station, which is connected to the three-dimensional compensation system I2 and the three-dimensional compensation system II3 respectively, and drives the photovoltaic pile driver 5 and the pile driver 6 to stabilize their relative positions.

[0073] Working Principle: By adding a dual compensation system, both the photovoltaic piling machine 5 and the pile driver 6 are adjusted, avoiding the unsatisfactory results of adjusting only the photovoltaic piling machine 5 or only the pile driver 6. Due to external excitation causing changes in the position and pressure of the pile driving vessel 1, while the insertion position of the pile foundation 4 into the seabed remains relatively constant, the key issue to be addressed by this invention is how to ensure the relatively stable position of the pile driver 6, which holds the pile foundation 4, while also preventing the pile hammer, which is suspended above the pile foundation 4 by a cable, from shaking violently. The dual compensation system adjusts the relative position of the photovoltaic piling machine 5 through the three-dimensional compensation system I2, applying compensation opposite to the external excitation to prevent the pile hammer from shaking and to fix its relative position, thus avoiding situations where it does not correspond to the pile foundation 4 and fails to hit the pile foundation 4 upon descent. The dual compensation system also adjusts the relative position of the pile driver 6 through the three-dimensional compensation system II3, ensuring that the pile driver 6 does not shake and always holds the pile foundation 4 tightly, preventing the pile foundation 4 from shifting its insertion position on the seabed due to instability of the pile driver 6. Through dual compensation of the top pile hammer and the bottom pile foundation 4, relatively stable linkage control is achieved.

[0074] In some of these embodiments, such as Figure 2As shown, the photovoltaic piling machine 5 includes a main body and a pile hammer mounted on the main body via slings. The main body is mounted on the piling vessel 1 via a three-dimensional compensation system I2, and the pile hammer's relative position is adjusted under the action of the three-dimensional compensation system I2. The pile hammer, under the control of the main body, freely impacts the pile foundation 4 below, ensuring that the relative position of each impact with the pile foundation 4 is precise and controllable. In this technical solution, the purpose of the photovoltaic piling machine 5 is to provide a power source for the pile hammer, while the purpose of the three-dimensional compensation system I2 is to provide a compensation action to the pile hammer opposite to the external excitation. Therefore, regardless of sea surface fluctuations, the relative position of the pile hammer will not shake, and its coordinates will remain relatively unchanged. Otherwise, if shaking occurs, it will not be able to accurately land on the pile foundation 4, and the piling effect cannot be achieved. Work can only be carried out after the sea surface is calm, significantly reducing the construction effect. The entire structure of the photovoltaic piling machine 5 adopts a modular design of pile frame units, which can be combined according to needs, providing good adaptability. The three-dimensional compensation system I2 has position and pressure compensation functions, offering strong adaptability. The pile driver 6 includes a tower mechanism 61, a telescopic mechanism 63 mounted on the tower mechanism 61, and a clamping arm mechanism 62 mounted at the end of the telescopic mechanism 63. The tower mechanism 61 is mounted on the pile-driving vessel 1 via a three-dimensional compensation system II3, and the telescopic mechanism 63 is adjusted relative to the tower mechanism 63 under the action of the three-dimensional compensation system II3. The telescopic mechanism 63 includes a telescopic cylinder, one end of which is fixed to the top of the tower mechanism 61, and the other end is connected to the clamping arm mechanism 62, causing the clamping arm mechanism 62 to extend and retract relative to the tower mechanism 61. The clamping arm mechanism 62 includes a top support, and rear and front arm cylinders located on both sides of the top support. The clamping arm units are respectively clamped and fixed to the periphery of the pile foundation 4. The pile driver 6 can achieve forward and backward movement and clamping actions, and can achieve a stable connection with the pile foundation 4 without external excitation. To prevent the pile foundation 4 from tilting, the pile hammer is allowed to land smoothly on the pile foundation 4, allowing the pile foundation 4 to gradually sink into the seabed. When there is an external excitation, the purpose of the three-dimensional compensation system II3 is to provide a compensation action opposite to the external excitation for the pile driver 6. So that no matter how the sea surface fluctuates, the relative position of the pile driver 6 will not shake and the coordinates will remain relatively unchanged. Otherwise, once shaking occurs, it will affect the pile foundation 4 that has been inserted into the seabed. At best, the pile foundation 4 will shake with the pile driver 6. At worst, it will be directly pulled out of the seabed by the violent shaking of the pile driver 6. Not only will it fail to stabilize the pile foundation 4, but it will also have the opposite effect. The arm-holding mechanism 62 designed in this invention meets the requirements of a wide range of pile foundation 4 diameters and has good versatility. After the arm-holding mechanism 62 holds the pile foundation 4 tightly, the safe distance between the pile foundation 4 and the pile driving vessel 1 is adjustable, which has good safety. The compact design of the entire pile driver 6 saves space.

[0075] In some of these embodiments, such as Figure 7As shown, the hydraulic pump station controls the three-dimensional compensation system I2 via solenoid valve group I and the three-dimensional compensation system II3 via solenoid valve group II. Solenoid valve group I is used to adjust the movement of the receiving part 21 of the three-dimensional compensation system I2 relative to the sliding platform 24, ensuring that the spatial position of the pile hammer remains stationary. Solenoid valve group II adjusts the movement of the arm-holding mechanism 62 of the three-dimensional compensation system II3 relative to the tower mechanism 61, ensuring that the control position of the pile foundation 4 remains stationary. The hydraulic pump station coordinates the control of solenoid valve group I and solenoid valve group II, and links the extension and retraction of the hydraulic cylinder to ensure the stability of the relative position of the pile hammer and the pile foundation 4. The hydraulic pump station is a key component for linkage control. It needs to consider the position of both the photovoltaic piling machine 5 and the pile driver 6. Whether adjusting the three-dimensional supplement system I or the three-dimensional compensation system II 3 first, or adjusting both simultaneously, the positions of the pile hammer and pile foundation 4 must remain relatively constant. In addition to being directly connected to the hydraulic cylinders of the corresponding compensation system, the hydraulic pump station is also controlled by the start-up timing of the different compensation mechanisms of the two systems through the solenoid valve group. Closed-loop control is performed through pressure sensors and position sensors to adjust in real time. The entire adjustment process is timely, closed-loop, and stable.

[0076] In some of these embodiments, such as Figure 2 As shown, the three-dimensional compensation system I2 includes a receiving part 21, a mounting base 22, a movable frame 23, and a sliding platform 24. The receiving part 21 is columnar and located below the main body, connecting to the main body above and driving relative movement between them. The mounting base 22 is cuboid, with the receiving part 21 mounted on top and connected to it via a roller guide mechanism. It is also mounted on the sliding platform 24 below. The movable frame 23 is rectangular and fixed around the mounting base 22, limiting the range of motion of the pile driver. The sliding platform 24, which supports the pile-driving vessel 1, has a steel plate surface that has undergone special surface treatment and material coating to reduce the coefficient of friction. The three-dimensional compensation system I2 is a compensation system specifically designed for large photovoltaic piling machines 5. The photovoltaic piling machine 5 is equipped with a receiving part 21, and a mounting base 22 is designed for the movement of the receiving part 21. Hydraulic cylinders are set around the mounting base 22, and the hydraulic cylinders move laterally and longitudinally along the surrounding movable frame 23. A vertical lifting hydraulic cylinder is set inside the receiving part 21. The overall movement is relative to the sliding platform 24, which is specially designed for large equipment and has a special surface treatment for ship decks to make the entire equipment move more smoothly. A gear set is set between the mounting base 22 and the movable frame 23, and the gear set is used to lock the state after the position is fixed.

[0077] In some of these embodiments, such as Figures 3 to 6As shown, the three-dimensional compensation system II3 includes an X-axis compensation mechanism 31, a Y-axis compensation mechanism 32, a Z-axis compensation mechanism 33, and a sliding track 34. The sliding track 34 is installed on the pile-driving vessel 1, and its interior is equipped with the X-axis compensation mechanism 31, which limits the range of motion of the pile driver 6. The X-axis compensation mechanism 31 includes an X-axis hydraulic cylinder and an X-axis slider. The X-axis slider moves relative to the sliding track 34 under the drive of the X-axis hydraulic cylinder, and is used to adjust the front-to-back distance between the pile driver 6 and the pile foundation 4. The Y-axis compensation mechanism 32 includes a Y-axis hydraulic cylinder, a Y-axis track, and a Y-axis slider. The Y-axis slider moves relative to the Y-axis track under the drive of the Y-axis hydraulic cylinder, and is used to adjust the left-to-right distance between the pile driver 6 and the pile foundation 4. The Z-axis compensation mechanism 33 includes a Z-axis hydraulic cylinder, a Z-axis track, and a Z-axis slider. The Z-axis slider moves relative to the Z-axis track under the drive of the Z-axis hydraulic cylinder, and is used to adjust the vertical distance between the pile driver 6 and the pile foundation 4. The three-dimensional compensation system II3 serves as a supplementary adjustment to the pile driver 6. The telescopic mechanism 63 of the pile driver 6 is a coarse adjustment, which can quickly adjust the distance between the pile driving vessel 1 and the pile foundation 4. The three-dimensional compensation system II3 is a fine adjustment. In addition to being able to continue adjusting forward and backward through the X-axis compensation system, it can also correct the lateral deviation of the entire pile driving vessel 1 through the Y-axis compensation system; and it can also correct the vertical fluctuation of the entire pile driving vessel 1 through the Z-axis compensation system. This ensures that the pile driver 6 and the pile foundation 4 remain relatively stable and has strong adaptability.

[0078] In some embodiments, the dual compensation system includes the following modes: manual compensation mode, which uses position and pressure sensors to collect relevant information of the dual compensation system and uses a handle to drive the hydraulic pump station for reverse compensation, thereby ensuring that the collision between the pile hammer and the pile foundation 4 remains relatively constant; active compensation mode, which includes the following steps: using historical data of the dual compensation system to establish a prediction model, calculating the thrust of the hydraulic cylinder based on real-time feedback of position and pressure information, and the position and pressure changes caused by external excitation predicted by the prediction model at the next moment, thereby controlling the position of the photovoltaic pile driver 5 and the pile driver 6, and actively driving the switching of solenoid valve group I and solenoid valve group II, thereby adjusting the three-dimensional compensation system I2 and three-dimensional compensation system II3 for active compensation; passive compensation mode, which includes the following steps: using historical data of the dual compensation system to establish a prediction model, calculating the thrust of the hydraulic cylinder based on real-time feedback of position and pressure information, thereby controlling the position of the photovoltaic pile driver 5 and the pile driver 6, thereby using solenoid valve group I and solenoid valve group II to adjust the three-dimensional compensation system I2 and three-dimensional compensation system II3 for reverse compensation, thereby ensuring that the collision between the pile hammer and the pile foundation 4 remains relatively constant. The existing technology lacks the aforementioned functions. The manual compensation mode is designed for skilled operators to make quick adjustments. After a period of operation, with sufficient historical data and a relatively complete predictive model established, either an active or passive compensation mode can be adopted. Both modes can compensate in reverse based on external excitations from the sea surface, offsetting the instability of the pile hammer and pile foundation 4 caused by the excitations. The compensation effect of the active compensation mode is derived from prediction, resulting in a more prominent compensation effect. The passive compensation mode provides more timely compensation. Selecting different modes according to different scenarios can ensure the stability of the pile driver 6 and reduce control difficulty. Both the photovoltaic piling machine 5 and the pile driver 6 are assembled on-site from assembly components. All assembly components are placed in containers, using containerized loading and unloading for standardized management and transportation. The containerized control system enables economical and efficient transportation, ensuring the construction progress of offshore photovoltaic projects and allowing sufficient time for the subsequent construction of the photovoltaic piling machine 5, pile driver 6, and dual compensation system, reducing the inconvenience caused by transporting large equipment.

[0079] Example 2

[0080] Based on Example 1, this example provides a control method for a photovoltaic piling machine and pile driver based on a dual compensation system. The control system for the photovoltaic piling machine and pile driver based on the dual compensation system includes the following steps:

[0081] S1. The pile-driving vessel 1 is in place, and the pile foundation 4 is hoisted to the front of the pile driver 6;

[0082] S2. Fully open the arm mechanism 62 of the pile driver 6 and move it to the corresponding position of the pile location in parallel.

[0083] S3. Hold the arm mechanism 62 of the pile driver 6 tightly, and adjust the extension cylinder, rear arm cylinder, front arm cylinder and top support of the pile driver 6 to accurately position and straighten the pile foundation 4, and lock the deck rail brake to fix the position of the pile driver 6 and make the pile foundation 4 only move vertically up and down.

[0084] S4. The pile driving vessel 1 releases the slings to allow the pile hammer to sit firmly on the pile and carry out the pile driving operation.

[0085] S5. During the pile driving process, the dual compensation system simultaneously compensates for the movement of the pile driving vessel 1 to ensure the stability of the position of the pile hammer and the pile foundation 4; the precision monitoring system detects the construction precision in real time to ensure the quality of pile driving construction.

[0086] S6. After completing the current pile foundation 4, move the pile driver 6 to the next pile driving position and repeat the above steps.

[0087] This technical solution, through the improved pile driver 6, allows for preliminary coarse adjustments to the distance between the pile driving vessel 1 and the pile foundation 4. During the pile driving process, external disturbances such as excitations are detected in real time by position and pressure sensors, and a dual compensation system with linkage control is used for reverse compensation. This ensures that the entire pile driving vessel 1 moves up and down with the waves on the sea surface, while the pile hammer and pile driver 6 remain in place. This allows the pile foundation 4 to be held securely by the pile driver 6, waiting for the pile hammer, which is positioned above, to fall precisely and gradually impact the seabed, thus completing the installation of the pile foundation 4.

[0088] In some embodiments, step S5, where the dual compensation system simultaneously compensates for the motion of the pile-driving vessel 1, includes the following sub-steps:

[0089] S51. The hydraulic pump station controls the three-dimensional compensation system I2 through the solenoid valve group I. By adjusting the three-dimensional compensation system I2, the position of the body relative to the pile hammer is adjusted to ensure that the position of the pile hammer remains unchanged.

[0090] S52. The hydraulic pump station controls the three-dimensional compensation system II3 through the solenoid valve group II. By adjusting the three-dimensional compensation system II3, the position of the tower mechanism 61 relative to the pile foundation 4 is adjusted to ensure that the position of the pile foundation 4 remains unchanged. The hydraulic pump station is used for linkage control. The ultimate goal is to ensure that no matter how the pile driving vessel 1 moves, the pile foundation 4 will not shake with the pile driver 6 and the pile hammer will not shake with the photovoltaic pile driver 5. With the pile driving action of both not stopping, the falling pile hammer can be accurately placed on the pile foundation 4.

[0091] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the invention should also be covered within the protection scope of the invention. Therefore, the protection scope of the invention should be determined by the scope of the claims.

Claims

1. A control system for a photovoltaic piling machine and a pile driver based on a dual compensation system, comprising a dual compensation system, a photovoltaic piling machine (5), and a pile driver (6), wherein the dual compensation system drives the pile hammer on the photovoltaic piling machine (5) to collide with the pile foundation (4) held by the pile driver (6), characterized in that, The dual compensation system includes a three-dimensional compensation system I (2) located at the bottom of the photovoltaic piling machine (5) and a three-dimensional compensation system II (3) located at the bottom of the pile driver (6). The dual compensation system ensures that the accuracy of the collision between the pile hammer and the pile foundation (4) is controllable by adjusting the relative positions of the three-dimensional compensation system I (2) and the three-dimensional compensation system II (3). The three-dimensional compensation system I (2) is used to detect the status of the photovoltaic piling machine (5) and compensate for the photovoltaic piling machine (5) to ensure that the photovoltaic piling machine (5) is stable relative to the ship. The three-dimensional compensation system II (3) is used to detect the state of the pile driver (6) and compensate for the pile driver (6) to ensure that the position of the pile driver (6) relative to the pile foundation (4) is stable. The dual compensation system also includes a hydraulic pump station, which is connected to the three-dimensional compensation system I (2) and the three-dimensional compensation system II (3) respectively, and drives the photovoltaic pile driver (5) and the pile driver (6) to stabilize their relative positions. The photovoltaic piling machine (5) includes a main body and a pile hammer mounted on the main body via slings, wherein: The main body is installed on the pile driving vessel (1) through the three-dimensional compensation system I (2), and the pile hammer is adjusted in relative position under the action of the three-dimensional compensation system I (2); The pile hammer, under the control of the main body, freely impacts the pile foundation (4) below, ensuring that the relative position of each impact with the pile foundation (4) is precisely controllable; The pile driver (6) includes a tower mechanism (61), a telescopic mechanism (63) mounted on the tower mechanism (61), and a clamping arm mechanism (62) mounted at the end of the telescopic mechanism (63), wherein: The tower mechanism (61) is installed on the pile-driving vessel (1) through the three-dimensional compensation system II (3), and the telescopic mechanism (63) is adjusted in relative position under the action of the three-dimensional compensation system II (3); The telescopic mechanism (63) includes a telescopic cylinder, one end of which is fixed to the top of the tower mechanism (61), and the other end is connected to the arm clamping mechanism (62), which drives the arm clamping mechanism (62) to extend and retract relative to the tower mechanism (61). The arm-holding mechanism (62) includes a top support, and a rear arm cylinder and a front arm cylinder located on both sides of the top support. The arm-holding units are respectively clamped and fixed to the periphery of the pile foundation (4). The hydraulic pump station controls the three-dimensional compensation system I (2) through solenoid valve group I and the three-dimensional compensation system II (3) through solenoid valve group II. Solenoid valve group I is used to adjust the movement of the receiving part (21) of the three-dimensional compensation system I (2) relative to the sliding platform (24) to ensure that the spatial position of the pile hammer remains unchanged; Solenoid valve group II adjusts the movement of the arm mechanism (62) of the three-dimensional compensation system II (3) relative to the tower mechanism (61) to ensure that the control position of the pile foundation (4) remains unchanged; The hydraulic pump station coordinates the control of solenoid valve group I and solenoid valve group II, and controls the extension and contraction of the hydraulic cylinder in a linkage manner to ensure the stability of the relative position of the pile hammer and the pile foundation (4); The three-dimensional compensation system I (2) includes a receiving part (21), a mounting base (22), a movable frame (23), and a sliding platform (24), wherein: The receiving part (21) is columnar and located below the main body. It is used to connect the main body located above and drive the main body to move relative to it. The mounting base (22) is rectangular in shape, with a receiving part (21) mounted on its top. It is connected to the receiving part (21) through a roller guide mechanism, and is interactively mounted on the sliding platform (24) below. The movable frame (23) is a rectangular frame that is fixed around the mounting base (22) to limit the range of motion of the pile driver; The sliding platform (24), which supports the pile-driving vessel (1), has a steel plate surface that has undergone special surface treatment and material coating to reduce the coefficient of friction. The three-dimensional compensation system II (3) includes an X-axis compensation mechanism (31), a Y-axis compensation mechanism (32), a Z-axis compensation mechanism (33), and a sliding track (34), wherein: The sliding track (34) is installed on the pile driving vessel (1), and its interior is equipped with an X-axis compensation mechanism (31) to limit the range of motion of the pile driver (6); The X-axis compensation mechanism (31) includes an X-axis hydraulic cylinder and an X-axis slider. The X-axis slider moves relative to the sliding track (34) under the drive of the X-axis hydraulic cylinder to adjust the front-to-back distance between the pile driver (6) and the pile foundation (4). Y-axis compensation mechanism (32) includes Y-axis hydraulic cylinder, Y-axis track and Y-axis slider. The Y-axis slider moves relative to the Y-axis track under the drive of Y-axis hydraulic cylinder to adjust the left and right distance between the pile driver (6) and the pile foundation (4). The Z-axis compensation mechanism (33) includes a Z-axis hydraulic cylinder, a Z-axis track and a Z-axis slider. The Z-axis slider moves relative to the Z-axis track under the drive of the Z-axis hydraulic cylinder to adjust the vertical distance between the pile driver (6) and the pile foundation (4).

2. The control system for the photovoltaic piling machine and pile driver based on a dual compensation system as described in claim 1, characterized in that, The dual compensation system includes the following modes: In manual compensation mode, the position sensor and pressure sensor are used to collect relevant information of the dual compensation system, and the hydraulic pump station is driven by the handle to perform reverse compensation, so as to ensure that the collision between the pile hammer and the pile foundation (4) remains relatively constant. The active compensation mode includes the following steps: using the historical data of the dual compensation system, a prediction model is established, and the thrust of the hydraulic cylinder is calculated based on the real-time feedback of position and pressure information, as well as the position and pressure changes caused by the external excitation predicted by the prediction model at the next moment. This controls the position of the photovoltaic pile driver (5) and the pile driver (6), and actively drives the switching of solenoid valve group I and solenoid valve group II, thereby adjusting the three-dimensional compensation system I (2) and the three-dimensional compensation system II (3) for active compensation. The passive compensation mode includes the following steps: using historical data from the dual compensation system, a prediction model is established, and the thrust of the hydraulic cylinder is calculated based on the real-time feedback of position and pressure information, thereby controlling the position of the photovoltaic pile driver (5) and the pile driver (6). Then, the electromagnetic valve group I and electromagnetic valve group II are used to adjust the three-dimensional compensation system I (2) and the three-dimensional compensation system II (3) for reverse compensation, thereby ensuring that the collision between the pile hammer and the pile foundation (4) remains relatively constant.

3. The control system for the photovoltaic piling machine and pile driver based on a dual compensation system as described in claim 1, characterized in that, The photovoltaic piling machine (5) and the pile driver (6) are both assembled on-site by assembly components. All assembly components are placed in containers and loaded and unloaded in a containerized manner for standardized management and transportation.

4. A control method for a photovoltaic piling machine and pile driver based on a dual-compensation system, employing the control system for a photovoltaic piling machine and pile driver based on a dual-compensation system as described in any one of claims 1-3, characterized in that, Includes the following steps: S1. The pile-driving vessel (1) is in place, and the pile foundation (4) is hoisted to the front of the pile driver (6); S2. Fully open the arm mechanism (62) of the pile driver (6) and move it to the corresponding position of the pile location in parallel. S3. Hold the arm mechanism (62) of the pile driver (6) tightly, and adjust the extension cylinder, rear arm cylinder, front arm cylinder and top support of the pile driver (6) to accurately position and straighten the pile foundation (4), and lock the deck rail brake to fix the position of the pile driver (6) and make the pile foundation (4) only move vertically up and down. S4. The pile driving vessel (1) releases the slings to make the pile hammer sit firmly on the pile and carry out the pile driving operation. S5. During the pile driving process, the dual compensation system simultaneously compensates for the movement of the pile driving vessel (1) to ensure the stability of the position of the pile hammer and the pile foundation (4); the precision monitoring system detects the construction precision in real time to ensure the quality of pile driving construction. S6. After completing the current pile foundation (4), move the pile driver (6) to the next pile driving position and repeat the above steps.

5. The control method for a photovoltaic piling machine and pile driver based on a dual compensation system as described in claim 4, characterized in that, In S5, the dual compensation system simultaneously compensates for the motion of the pile-driving vessel (1) by the following steps: S51. The hydraulic pump station controls the three-dimensional compensation system I (2) through the solenoid valve group I. By adjusting the three-dimensional compensation system I (2), the position of the body relative to the pile hammer is adjusted to ensure that the position of the pile hammer remains unchanged. S52. The hydraulic pump station controls the three-dimensional compensation system II (3) through the solenoid valve group II. By adjusting the three-dimensional compensation system II (3), the position of the tower mechanism (61) relative to the pile foundation (4) is adjusted to ensure that the position of the pile foundation (4) remains unchanged.

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