Pile driving vessel operation procedure automatic identification method and identification system

Abstract

The present application relates to the technical field of ship monitoring control, and particularly relates to a piling ship operation procedure automatic identification method and an identification system. The piling process of a fixed pile frame piling ship is divided into a ship moving and pile taking procedure, a pile turning and entering a mouth procedure, a pile positioning and bedding procedure and a hammering piling procedure according to procedure characteristics; data signals are collected; based on the collected data signals, the start time and the end time of the ship moving and pile taking procedure, the pile turning and entering a mouth procedure, the pile positioning and bedding procedure and the hammering piling procedure are automatically identified, and the piling ship piling operation flow is divided into the set procedures. The present application can automatically identify the piling ship piling operation procedure, greatly facilitates data collection and subsequent data analysis, avoids the tedious operation of manual procedure identification, improves the data processing efficiency, and has great popularization value.

Description

Technical Field

[0001] This invention relates to the field of ship monitoring and control technology, specifically to an automatic identification method and system for piling vessel operation procedures. Background Technology

[0002] Piling vessels are the dominant equipment for pile foundation construction in bridge, wharf, and water conservancy projects. A piling vessel typically consists of a hull and a piling system; the piling system comprises a pile frame and a winch. Generally, the piling operation process for a fixed-boom piling vessel includes moving the vessel, hooking the piling hook, retrieving the pile, hoisting the pile, turning the pile into the slab, holding the pile, setting the hammer, precise positioning, pressing the hammer, and driving the pile. The start and end times of these processes in the construction log usually need to be manually recorded by operators, resulting in a large amount of data and a high risk of omissions and errors. The entire operation process has a low level of informatization and digitization, and manually recorded data is not conducive to conducting efficiency statistics and energy consumption analysis for each process, making it impossible to conduct targeted efficiency improvements and energy-saving optimizations based on manually recorded data. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide an automatic identification method and system for piling vessel operation procedures.

[0004] The technical solution of this invention is: an automatic identification method for piling vessel operation procedures, comprising,

[0005] The pile driving process of the fixed pile frame pile driving vessel is divided into the following steps according to the process characteristics: moving the vessel to retrieve the pile, turning the pile into the slab, positioning the pile and placing it on the bed, and driving the pile with a pressure hammer.

[0006] The planar coordinates of the piling vessel are obtained based on the positioning system, the tilt angle of the piling frame is recorded based on the piling frame tilt meter, the main hook, auxiliary hook, and hammer winch weight of the piling frame are measured based on the lifting weight sensor, and the lifting height of the main hook, auxiliary hook, and hammer hook head of the piling frame is measured based on the encoder.

[0007] The start time of the piling vessel is taken as the start time of the ship-moving and piling process, and the time when the first main hook and auxiliary hook meet the first set condition after the start time of the ship-moving and piling process is taken as the end time of the ship-moving and piling process.

[0008] The end time of the ship-moving and pile-taking process is taken as the start time of the pile-turning and dragon-entry process. The time when the first change in the main hook and auxiliary hook lifting weight and the pile frame tilt angle simultaneously meet the second set condition after the start time of the pile-turning and dragon-entry process is taken as the end time of the pile-turning and dragon-entry process.

[0009] The end time of the pile turning and entering the dragon mouth process is taken as the start time of the pile positioning and bed-laying process, and the time when the first change in the main hook lifting weight after the start time of the pile positioning and bed-laying process meets the third set condition is taken as the end time of the pile positioning and bed-laying process.

[0010] The end time of the pile positioning and bed-laying process is taken as the start time of the hammer pile driving process, and the start time of the hammer pile driving process is taken as the time when the first load of the hammer winch meets the fourth set condition.

[0011] According to the automatic identification method for piling vessel operation procedures provided in this application, the first setting condition is that the lifting weight of both the main hook and the auxiliary hook is increased to the first setting value for the first time.

[0012] According to the automatic identification method for piling vessel operation procedures provided in this application, the second setting condition is that the pile frame inclination angle is 0° and the auxiliary hook lifting weight is reduced to the second setting value.

[0013] According to the automatic identification method for piling vessel operation procedures provided in this application, the third setting condition is that the main hook lifting weight is reduced to a third setting value.

[0014] According to the automatic identification method for piling vessel operation procedures provided in this application, the fourth setting condition is that the weight of the hoisting winch is increased to the weight of the hydraulic impact hammer itself.

[0015] According to the automatic identification method for pile driving vessel operation procedures provided in this application, the method for dividing the pile driving process of a fixed pile frame pile driving vessel into a ship-moving and pile-taking procedure, a pile-turning and pile-entry procedure, a pile-positioning and bed-setting procedure, and a hammer-driven pile driving procedure includes: according to the pile driving process of the fixed pile frame pile driving vessel, setting the ship-moving, pile frame forward tilting, hooking, and lifting procedures after the start as the ship-moving and pile-taking procedure; setting the pile-turning and pile frame verticalization procedures after the ship-moving and pile-taking procedure as the pile-turning and pile-entry procedure; setting the pile-hugging, pile capping, pile frame adjustment, ship-moving and positioning, and pile-bed-setting procedures after the pile-turning and pile-entry procedure as the pile-positioning and bed-setting procedure; and setting the hammer-driven, main hook-release, and pile-driving procedures after the pile-positioning and bed-setting procedure as the hammer-driven pile driving procedure.

[0016] This application also provides an automatic identification system for piling vessel operation procedures, wherein the identification system operates according to the aforementioned automatic identification method for piling vessel operation procedures, including...

[0017] The process division module is used to divide the pile driving process of the fixed pile frame pile driving vessel into the following processes according to the process characteristics: moving the vessel and taking out the pile, turning the pile and putting it into the dragon mouth, positioning the pile and placing it on the bed, and driving the pile with a pressure hammer.

[0018] The data acquisition module, the data acquisition system is used to obtain the planar coordinates of the piling vessel based on the positioning system, record the inclination angle of the piling frame based on the piling frame tilt meter, measure the main hook, auxiliary hook, and hammer winch lifting weight of the piling frame based on the lifting weight sensor, and measure the lifting height of the main hook, auxiliary hook, and hammer hook head of the piling frame based on the encoder;

[0019] The ship-moving and pile-retrieving process identification module is used to take the start time of the pile-driving vessel as the start time of the ship-moving and pile-retrieving process, and take the time when the first main hook and auxiliary hook meet the first set condition after the start time of the ship-moving and pile-retrieving process as the end time of the ship-moving and pile-retrieving process.

[0020] The pile-turning and pile-entry process identification module is used to take the end time of the ship-moving and pile-taking process as the start time of the pile-turning and pile-entry process, and take the time when the first change in the main hook and auxiliary hook lifting weight and the pile frame tilt angle simultaneously meet the second set condition after the start time of the pile-turning and pile-entry process as the end time of the pile-turning and pile-entry process.

[0021] The pile positioning and bed-landing process identification module is used to take the end time of the pile turning and entering the dragon mouth process as the start time of the pile positioning and bed-landing process, and take the time when the first change in the main hook lifting weight after the start time of the pile positioning and bed-landing process meets the third set condition as the end time of the pile positioning and bed-landing process.

[0022] The hammer pile driving process identification module is used to take the end time of the pile positioning and landing process as the start time of the hammer pile driving process, and take the time when the first time the weight of the hammer hoisting winch meets the fourth set condition as the end time of the hammer pile driving process.

[0023] According to the automatic identification system for pile driving vessel operation procedures provided in this application, the procedure division module is used to set the following procedures after the start of the operation as the ship moving, pile frame tilting, hooking, and lifting as the ship moving and pile taking procedure; set the following procedures after the ship moving and pile taking procedure as the pile turning and pile frame verticalization procedure; set the following procedures after the pile turning and pile taking procedure as the pile clamping, pile cap fitting, pile frame adjustment, ship moving and positioning, and pile placement procedure as the pile positioning and placement procedure; and set the following procedures after the pile positioning and placement procedure as the hammer pressing, main hook release, and pile driving procedure as the hammer driving procedure.

[0024] According to the automatic identification system for piling vessel operation procedures provided in this application, the vessel relocation and pile removal procedure identification module is used to take the start time of the piling vessel as the start time of the vessel relocation and pile removal procedure, and take the time when the lifting weight of the main hook and the auxiliary hook both increase to a first set value for the first time after the start time of the vessel relocation and pile removal procedure as the end time of the vessel relocation and pile removal procedure.

[0025] According to the automatic identification system for pile driving vessel operation procedures provided in this application, the pile turning and entering the dragon mouth procedure identification module is used to take the end time of the pile moving and pile taking procedure as the start time of the pile turning and entering the dragon mouth procedure, and take the time when the first pile frame inclination angle is 0° and the auxiliary hook lifting weight is reduced to a second set value after the start time of the pile turning and entering the dragon mouth procedure as the end time of the pile turning and entering the dragon mouth procedure.

[0026] According to the automatic identification system for pile driving vessel operation procedures provided in this application, the pile positioning and landing procedure identification module is used to take the end time of the pile turning and entering the dragon mouth procedure as the start time of the pile positioning and landing procedure, and take the time when the main hook lifting weight is reduced to the third set value for the first time after the start time of the pile positioning and landing procedure as the end time of the pile positioning and landing procedure.

[0027] According to the automatic identification system for pile driving vessel operation procedures provided in this application, the pile driving procedure identification module is used to take the end time of the pile positioning and landing procedure as the start time of the pile driving procedure, and take the time when the weight of the first hoisting winch is increased to the self-weight of the hydraulic impact hammer as the end time of the pile driving procedure.

[0028] This application also provides a data analysis method for pile driving vessel operations. The method identifies the pile driving vessel operation procedures according to the above-mentioned automatic identification method for pile driving vessel operation procedures, and records the start and end times of the following procedures: moving the vessel to retrieve the pile, turning the pile into the slab, positioning the pile and placing it on the bed, and driving the pile with a hammer, as well as the duration of each procedure.

[0029] Record the power generation of the main engine, the fuel consumption of the main engine, and the power consumption of each electrical device during the time from the start time to the end time of each of the following processes: moving the ship to pick up the pile, turning the pile into the slab, positioning the pile and placing it on the bed, and driving the pile with a pressure hammer.

[0030] Enter the above data into a data table that includes project name, pile number, pile parameters and soil layer distribution data. Match the process, process time and the power generation of the main unit of the process, the fuel consumption of the main unit and the power consumption of each electrical device to form a data analysis table.

[0031] The advantages of this application are: 1. By collecting data from the piling vessel operation process and combining it with the characteristics of the piling vessel operation process, this application can automatically obtain the start and end times of the piling vessel operation process and automatically identify the piling vessel operation process, avoiding the tedious operation that requires manual identification, greatly improving the efficiency of data processing, and facilitating subsequent energy consumption analysis during the piling vessel operation process. By collecting and integrating the piling efficiency and energy consumption data of several piles of different construction sea areas and different specifications, a large database of piling vessel operation efficiency and energy consumption can be constructed.

[0032] 2. The method for identifying the ship-moving and pile-taking process in this application is very simple. This process includes ship-moving, pile frame tilting, hooking, and lifting. The ship-moving process begins when the pile-driving vessel starts operating. After the ship-moving, pile frame tilting, hooking, and lifting processes are completed in sequence, the lifting weight of the pile by the main hook and auxiliary hook increases significantly. At this point, it can be determined that the lifting of the pile has begun, and this can be considered the end time of the ship-moving and pile-taking process. The overall identification method is very simple and the process judgment is very accurate.

[0033] 3. The identification method for the pile turning and pile entry process in this application is very simple. The pile turning and pile entry process includes pile turning and pile frame erection. After the pile driving vessel completes the ship-moving and pile-retrieving process, it directly enters the pile turning and pile entry process. Therefore, the end time of the ship-moving and pile-retrieving process is the start time of the pile turning and pile entry process. When the pile turning and pile frame erection are carried out sequentially from the start time of the pile turning and pile entry process, the inclination angle of the pile frame becomes 0, which proves that the pile frame is vertical at this time. Because the pile frame becomes vertical, the lifting weight of the auxiliary hook controlling the pile body is significantly reduced. At this time, it can be judged that the pile turning is completed, which is considered to be the end time of the pile turning and pile entry process. The overall identification of the pile turning and pile entry process is very accurate, fully considers the process flow of the pile turning and pile entry process, and the identification scheme is very simple.

[0034] 4. The method for identifying the pile positioning and landing process in this application is very simple. The pile positioning and landing process includes pile clamping, pile cap installation, pile frame adjustment, vessel positioning, and pile landing. After the pile driving vessel completes the pile turning and entering the sluice gate process, it directly enters the pile positioning and landing process. Therefore, the end time of the pile turning and entering the sluice gate process is the start time of the pile positioning and landing process. When the pile clamping, pile cap installation, pile frame adjustment, vessel positioning, and pile landing processes are carried out sequentially from the start time of the pile positioning and landing process, the main hook and auxiliary hook are always suspending the pile body during the pile positioning and landing process. When the pile is fully landed, the lifting weight of the main hook is greatly reduced. Therefore, it can be determined that the pile landing has been completed at this time, which is considered the end time of the pile positioning and landing process. The identification and judgment of the pile positioning and landing process is very simple and very accurate. The start and end times of the pile positioning and landing process can be accurately obtained without any personnel operation.

[0035] 5. The identification method for the hydraulic hammer piling process in this application is very simple. Because the hydraulic hammer piling process includes hammering, releasing the main hook, and driving the pile, the piling vessel directly enters the hydraulic hammer piling process after completing the pile positioning and landing process. Therefore, the end time of the pile positioning and landing process is the start time of the hydraulic hammer piling process. After the hammering, releasing the main hook, and driving the pile are carried out sequentially from the start time of the hydraulic hammer piling process, the weight of the hammer of the piling equipment will support the pile and hammer the pile body. Therefore, the weight of the hammer winch will change. When the pile is driven, the weight of the hammer winch is completely equal to the weight of the hydraulic impact hammer. At this time, the piling can be judged to be completed, which is the end time of the hydraulic hammer piling process. The overall identification of the hydraulic hammer piling process is very accurate, fully considers the process flow of the hydraulic hammer piling process, and the identification scheme is very simple.

[0036] 6. This application divides the work process based on the piling vessel's piling operation flow. The processes of moving the vessel, tilting the pile frame forward, hooking, and lifting are defined as the "moving vessel and retrieving piles" process, arranged chronologically. The subsequent processes of turning the pile and verticalizing the pile frame are defined as the "turning pile into the pile head" process. The processes following the "turning pile into the pile head" process—including pile clamping, installing pile caps, adjusting the pile frame, moving the vessel for positioning, and placing the pile on the bed—are defined as the "pile positioning and bed-setting" process. The processes following the "pile positioning and bed-setting" process—including hammering, releasing the main hook, and driving the pile—are defined as the "hammer driving" process. This overall division is very simple and closely aligns with the entire work flow. This division method facilitates data collection, and the resulting database is also easier to analyze.

[0037] 7. This application also constructs an automatic identification system for piling vessel operation procedures. The identification system of this application can form a program for automatically identifying operation procedures within the control system of the piling vessel. When the piling vessel is carrying out pile driving operations, it can automatically collect data for analysis and identify the start and end times of the following procedures: moving the vessel to pick up the pile, turning the pile into the slab, positioning the pile and placing it on the bed, and driving the pile with a hammer. This completely eliminates the need for human operation, greatly improves the efficiency and accuracy of piling vessel operation data collection, and provides great convenience for subsequent data analysis.

[0038] 8. This application has designed corresponding automatic identification modules for each process in the piling vessel operation. Through the identification modules for the piling vessel moving and piling process, piling turning and entering the slab, piling positioning and bed-mounting process, and hammer piling process, the piling vessel piling operation process can be accurately and quickly divided into different data collection and identification processes. The whole process is fully automated and does not require personnel to identify and distinguish, which greatly facilitates data collection and subsequent analysis and processing.

[0039] 9. This application also provides a data analysis method. The data analysis method of this application identifies the process of the pile driving operation of the pile driving vessel, collects data according to the process, and groups the data in the same process to form a data analysis table, which greatly facilitates the subsequent analysis of the energy consumption of the pile driving vessel.

[0040] 10. The data acquisition system of this application, including the satellite positioning system required for measuring the planar position, the pile frame tilt meter required for measuring the pile frame inclination angle, the load sensor for measuring the main hook, auxiliary load and the load of the hammer winch, and the encoder for measuring the lifting height of the main hook, auxiliary hook and hammer hook, etc., does not need to be installed separately. These are the necessary equipment for the pile driving vessel to meet the pile driving function.

[0041] This application enables automated identification of piling operations by piling vessels, greatly facilitating data collection and subsequent data analysis, avoiding the tedious manual identification of operations, improving data processing efficiency, and possessing significant promotional value. Attached Figure Description

[0042] Figure 1 This application presents a schematic diagram of the process division for pile driving operations using a pile driving vessel. Detailed Implementation

[0043] Embodiments of the present invention are described in detail below, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0044] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0047] This application relates to an automatic identification method for piling vessel operation procedures. The identification method of this application collects signals from the main equipment in the piling operation process of the piling vessel. Based on the collected signals and the characteristics of each procedure, it automatically identifies the start and end times of each procedure. According to the time, the piling operation process of the piling vessel is divided into the procedures of moving the vessel and picking up the pile, turning the pile and inserting it into the slab, positioning the pile and placing it on the bed, and driving the pile with a hammer. Then, based on the automatically identified procedures, the data collected in the operation process is divided into time periods corresponding to each procedure to form a data analysis table, which facilitates data analysis of the piling vessel operation process.

[0048] Specifically, such as Figure 1 As shown, the automatic identification method for piling vessel operation procedures in this application operates as follows:

[0049] S1. The pile driving process of the fixed pile frame pile driving vessel is divided into the following steps according to the process characteristics: moving the vessel to retrieve the pile, turning the pile into the slab, positioning the pile and placing it on the bed, and driving the pile with a pressure hammer.

[0050] In fact, it is based on the process of pile driving operation of pile driving vessel to divide the operation of pile driving into procedures. Each procedure has multiple sub-procedures. Specifically, according to the pile driving process of fixed pile frame pile driving vessel, the procedures of moving the vessel, tilting the pile frame forward, hooking and lifting after the start are set as the moving the vessel and taking the pile procedure. The procedures of turning the pile and straightening the pile frame after the moving the vessel and taking the pile procedure are set as the turning the pile into the dragon mouth procedure. The procedures of hugging the pile, putting on the pile cap, adjusting the pile frame, moving the vessel and positioning and the pile landing after the turning the pile into the dragon mouth procedure are set as the pile positioning and landing procedure. The procedures of pressing the hammer, releasing the main hook and driving the pile after the pile positioning and landing procedure are set as the pressing hammer pile driving procedure.

[0051] The process begins when the staff presses the start button and the piling vessel begins operation. This is the start time for the first pile in the operation. If it is a continuous operation, the process of moving the vessel to remove the pile for the second pile begins when the first pile is driven.

[0052] S2. Obtain the planar coordinates of the piling vessel based on the positioning system, record the tilt angle of the piling frame based on the piling frame tilt meter, measure the main hook, auxiliary hook, and hammer winch weight of the piling frame based on the load sensor, and measure the lifting height of the main hook, auxiliary hook, and hammer hook head of the piling frame based on the encoder.

[0053] During the pile driving operation process, the pile driving vessel will move its position. The progress of the pile driving operation is judged by the change in the position of the pile driving vessel. Therefore, this application installs a coordinate acquisition system on the pile driving vessel. The GPS system or the Beidou positioning system can be used, as long as the coordinates of the pile driving vessel can be obtained in real time.

[0054] The transfer of piles requires the operation of hoisting equipment on the pile driving vessel. This application judges the hoisting status of the pile by collecting the lifting weight of the main hook and auxiliary hook in the hoisting equipment. This application has installed lifting weight sensors on both the main hook and auxiliary hook to measure the changes in the lifting weight of the main hook and auxiliary hook.

[0055] During the hoisting process, the tilt angle of the pile frame will change. The hoisting status of the pile can be judged by the change in the tilt angle of the pile frame. Therefore, this application installs a tilt angle sensor on the pile frame to measure the tilt angle of the pile frame.

[0056] During the pile driving process, this application uses a hydraulic impact hammer and pile cap suspended by a hammer winch to vibrate and sink the pile. By measuring the weight of the hammer winch, the driving status of the pile can be determined. Therefore, this application installs a weight sensor on the hammer winch to measure the change in the weight of the hammer winch.

[0057] S3. After the piling vessel starts operation, the start time of the piling vessel is taken as the start time of the piling process, and the time when the first main hook and auxiliary hook meet the first set condition after the start time of the piling process is taken as the end time of the piling process.

[0058] The end time of the ship-moving and pile-taking process is taken as the start time of the pile-turning and dragon-entry process. The time when the first change in the main hook and auxiliary hook lifting weight and the pile frame tilt angle simultaneously meet the second set condition after the start time of the pile-turning and dragon-entry process is taken as the end time of the pile-turning and dragon-entry process.

[0059] The end time of the pile turning and entering the dragon mouth process is taken as the start time of the pile positioning and bed-laying process, and the time when the first change in the main hook lifting weight after the start time of the pile positioning and bed-laying process meets the third set condition is taken as the end time of the pile positioning and bed-laying process.

[0060] The end time of the pile positioning and bed-laying process is taken as the start time of the hammer pile driving process, and the start time of the hammer pile driving process is taken as the time when the first load of the hammer winch meets the fourth set condition.

[0061] This application collects data on the coordinate position of the piling vessel, the weight of the main hook and auxiliary hook, the tilt angle of the pile frame, and the weight of the hammer winch. It automatically obtains the start and end times of the piling operation process of the piling vessel, and can accurately and efficiently divide the piling operation process into the following steps: moving the vessel to retrieve the pile, turning the pile into the slab, positioning the pile on the bed, and driving the pile with the hammer.

[0062] In some embodiments of this application, the above-mentioned setting conditions have been optimized. Specifically, the specific process of moving the piling vessel to retrieve the pile is as follows: the piling vessel moves from the pile position (X1, Y1) to the vicinity of the piling transport vessel (X2, Y2), so that the longitudinal axis of the piling vessel is perpendicular to the longitudinal axis of the piling transport barge. During this process, eight positioning winches operate, and the positioning coordinates (X, Y) of the piling vessel continuously change. The pile frame is adjusted to a forward-leaning state so that the hook heads of the two main hooks and one auxiliary hook and the sling are directly above the pile to be lifted, making it convenient for the operator to hook the pile. During this process, the inclination angle of the pile frame increases to a certain specific value β, while the height of the hook heads of the main hook and auxiliary hook continuously decreases. After the hooking operation is completed, the main and auxiliary hook winches are raised until the pile is lifted off the deck of the transport barge. During this process, the height of the hook heads of the main hook and auxiliary hook increases, and the weight of the lifting sensor changes, indicating that the process is complete.

[0063] The start time of the piling vessel relocation and pile removal process is the time when the piling vessel starts moving from the pile position, and the end time of the piling vessel relocation and pile removal process is the time when the pile is lifted off the barge. During the process of lifting the pile off the barge, the lifting weight of the main hook and the auxiliary hook will gradually increase. Therefore, the first setting condition in this embodiment is that the lifting weight of both the main hook and the auxiliary hook increases to the first setting value for the first time. The first setting value is set according to the weight of the pile. In this embodiment, the first setting value can be selected as 10%G (G is the weight of the pile).

[0064] During the process of moving the ship, lowering the hook, and hooking the pile, the pile-lifting winch may be continuously raised, causing the hydraulic pile hammer to move from the final sinking state of the previous pile to the initial height of this pile, that is, the height at which the hammer can be easily fitted after the pile enters the slab.

[0065] The specific process for the pile flipping and entry into the dragon's mouth is as follows: After the pile-driving vessel retrieves the pile, it further lifts the pile horizontally to a height H0, facilitating the relocation of the pile-driving vessel from the pile-retrieval position (X2, Y2) to the pile-driving position (X1, Y1). During the relocation, the main hook and auxiliary hook continue to lift synchronously to a height H1. Then, by lifting with two sets of main hooks and lowering with one set of auxiliary hooks, the pile is flipped until it is flipped from a horizontal state to a vertical state. Then, the pile frame angle is slowly adjusted to a vertical state using the luffing cylinder, bringing the pile closer to the dragon's mouth. During this process, the lifting height of the main hooks continuously increases, while the lifting height of the auxiliary hooks first increases and then decreases. The lifting weight of the two sets of main hooks gradually increases to about 0.5 times the weight of the pile, while the lifting weight of the auxiliary hooks gradually decreases to 0, and the pile frame inclination angle decreases from β to 0. When the pile frame inclination angle is 0 and the lifting weight of the auxiliary hooks decreases to 0, the pile flipping and entry into the dragon's mouth process is considered complete.

[0066] In the pile-turning and pile-entry process, the end time of the ship-moving and pile-retrieving process is considered to be the start time of the pile-turning and pile-entry process. After the hoisting equipment lifts the pile to the designed state, the pile frame becomes vertical and the lifting weight of the auxiliary hook is 0. The time when the above conditions are met is the end time of the pile-turning and pile-entry process. Therefore, the second setting condition in this embodiment is that the pile frame inclination angle is 0° and the lifting weight of the auxiliary hook is reduced to the second setting value. The second setting value is determined according to the actual weight of the pile and the pile driving method. Under normal circumstances, the second setting value is 0.

[0067] The specific process of pile positioning and bed placement is as follows: After the pile is turned to a vertical position, the pile gripper closes to constrain the pile. The hoisting winch lowers the hydraulic pile hammer and pile cap so that the top of the pile fits into the pile cap. The angle of the pile frame is adjusted to meet the requirements of the pile inclination. The positioning winch adjusts the planar position of the pile driving vessel so that the center coordinates of the pile at the reference section of the pile body meet the requirements of planar positioning accuracy. After the precise adjustment is completed, the two main hooks and the hoisting winch are lowered simultaneously until the bottom of the pile contacts the river (sea) bed.

[0068] During this process, the positioning winch operates, the planar positioning coordinates of the piling vessel change within a small range, the lifting height of the two main hooks and the hammer winch continuously decreases, and when the lifting weight of the two main hooks changes significantly, it proves that the pile has been placed on the bed, and the process is considered to be completed.

[0069] Therefore, the start time of the pile positioning and landing process is the end time of the pile turning and entering the dragon mouth process, and the end time of the pile positioning and landing process is the time when the pile has landed. When the pile has landed, the lifting weight of the main hook will be significantly reduced. That is, the third setting condition of this embodiment is that the lifting weight of the main hook is reduced to the third setting value. The third setting value of this embodiment is 20% of the pile weight.

[0070] The specific process of the hydraulic hammer pile driving procedure is as follows: After completing the precise positioning and landing, the hydraulic hammer is lowered by the hoist winch. The pile sinks under its own weight and the weight of the hammer. After stabilization, the two main hook lugs of the pile are released, and the hydraulic hammer sits on the top of the pile. When the hammer is started, the heavy hammer is hit lightly. After it has penetrated into the soil to a certain depth, the pile gripper is opened to increase the hammering energy until the pile is driven into the design elevation. The hammer is then lifted to complete the pile driving construction.

[0071] During this process, the height of the hammer winch hook continues to decrease, and the weight of the hammer winch decreases from the weight of the hammer itself to zero. This process continues until the pile driving is completed, at which point the weight of the hammer winch increases to the weight of the hydraulic impact hammer itself. This process is then considered to be complete.

[0072] The start time of the hammer pile driving process is the end time of the pile positioning and landing process. The end time of the hammer pile driving process is the time when the pile is driven into the design elevation, that is, the time when the weight of the hammer hoisting winch increases to the weight of the hydraulic impact hammer itself. Therefore, the fourth setting condition in this embodiment is that the weight of the hammer hoisting winch increases to the weight of the hydraulic impact hammer itself.

[0073] In actual operation: The piling vessel moves from the pile position (X1, Y1) to the vicinity of the pile transport vessel (X2, Y2), making the longitudinal axis of the piling vessel perpendicular to the longitudinal axis of the pile transport barge. During this process, eight positioning winches operate, and the positioning coordinates (X, Y) of the piling vessel continuously change. The pile frame is adjusted to a forward-leaning position, so that the hook heads of the two main hooks and one auxiliary hook, along with the slings, are directly above the pile to be lifted, facilitating hooking by the operators. During this process, the inclination angle of the pile frame increases to a specific value β, while the height of the main and auxiliary hook heads continuously decreases. After the hooking operation is completed, the main and auxiliary hook winches are raised until the pile is lifted off the deck of the transport barge. During this process, the height of the main and auxiliary hook heads increases, and the weight sensor changes, indicating that this step is complete. The time when the piling vessel starts moving from the pile position is recorded as the start time T of the piling vessel relocation and pile removal process. 10 The end time T of the ship-moving and pile-retrieving process is recorded as the time when the lifting weight of the main hook and auxiliary hook first increases to 10% G after the start time of the ship-moving and pile-retrieving process. 11 The duration of the ship relocation and pile removal process is T1 = T 11 -T 10 And the start time T of the ship-moving and pile-taking process. 10 End time T 11 Mapped to the power grid piling operation data analysis system, the system records the generator power generation W1, fuel consumption E1, and power consumption Q of major equipment (such as positioning winch, pile frame luffing cylinder pump station, pile frame main hook winch, auxiliary hook winch, and hammer winch) during the specified time period. 11 Q 21 Q n1 ;

[0074] After the pile-driving vessel completes the pile extraction, the pile is further lifted horizontally to height H0, facilitating the relocation of the pile-driving vessel from the extraction position (X2, Y2) to the driving position (X1, Y1). During the relocation, the main hook and auxiliary hook continue to lift synchronously to height H1. Then, using two sets of main hooks to lift and one set of auxiliary hooks to lower, the pile is flipped until it is flipped from a horizontal state to a vertical state. The pile frame angle is then slowly adjusted to a vertical state using the luffing cylinder, bringing the pile closer to the slab opening. During this process, the lifting height of the main hooks continuously increases, while the lifting height of the auxiliary hooks first increases and then decreases. The lifting weight of the two main hooks gradually increases to approximately 0.5 times the pile weight, while the lifting weight of the auxiliary hooks gradually decreases to 0, and the pile frame inclination angle decreases from β to 0. When the pile frame inclination angle is 0 and the lifting weight of the auxiliary hooks decreases to 0, the pile flipping and slab entry process is considered complete. The end time T of the relocation and pile extraction process is recorded during this process. 11 The start time T is set as the start time of the pile turning and entering the dragon mouth process. 20 After the hoisting equipment lifts the pile to the designed position, the pile frame becomes vertical, and the lifting weight of the auxiliary hook is 0. The time at this moment is recorded as the end time T of the pile turning and entering the slab. 21 The duration of the pile turning and entering the slab passage is T2 = T21 -T 10 And the start time T of the pile turning and entering the slag heap. 20 End time T 21 Mapped to the power grid piling operation data analysis system, the system records the generator power generation W2, fuel consumption E2, and power consumption Q of major equipment (such as positioning winch, pile frame luffing cylinder pump station, pile frame main hook winch, auxiliary hook winch, and hammer winch) during the specified time period. 12 Q 22 Q n2 ;

[0075] After the pile is turned to a vertical position, the pile gripper closes to constrain the pile. The hoisting winch lowers the hydraulic pile hammer and pile cap, allowing the top of the pile to fit into the pile cap. The angle of the pile frame is adjusted to meet the pile inclination requirements. The positioning winch adjusts the planar position of the pile driving vessel so that the center coordinates of the pile at the reference section of the pile meet the planar positioning accuracy requirements. After precise positioning, both main hooks and the hoisting winch are lowered simultaneously until the bottom of the pile contacts the river (sea) bed. During this process, the end time T of the pile turning and entry into the dam is recorded. 21 Set the start time T of the pile positioning and bed-laying process 30 The end time T of the pile positioning and bed-laying process is set as the time when the main hook load is reduced to 20% of the pile weight for the first time after the start time of the pile positioning and bed-laying process. 31 Then the duration of the pile positioning and bed-setting process is T3 = T 31 -T 30 The start time T of the pile positioning and bed placement process 30 End time T 31 Mapped to the power grid piling operation data analysis system, the system records the generator power generation W3, fuel consumption E3, and power consumption Q of major equipment (such as positioning winch, pile frame luffing cylinder pump station, pile frame main hook winch, auxiliary hook winch, and hammer winch) during the specified time period. 13 Q 23 Q n3 ;

[0076] After precise positioning and placement, the hydraulic impact hammer is lowered by the hoist winch. The pile sinks under its own weight and the hammer's weight. Once stable, the two main hook lugs are released, and the hydraulic impact hammer sits on top of the pile. The hammer is then driven in with a heavy but light blow. After penetrating to a certain depth, the pile gripper is opened to increase the hammering energy until the pile reaches the design elevation. The hammer is then lifted, completing the pile driving process. During this process, the pile positioning and placement procedure is completed at time T. 31 The start time T of the hammer piling process 40 The time when the weight of the first hammer hoisting by the winch is increased to the weight of the hydraulic impact hammer after the start time of the hammer pile driving process is set as the end time T of the hammer pile driving process. 41 Then the duration of the hammer piling process is T4 = T41 -T 40 Set the start time T of process four 40 End time T 41 Mapped to the power grid piling operation data analysis system, the system records the generator power generation W4, fuel consumption E4, and power consumption Q of major equipment (such as positioning winch, pile frame luffing cylinder pump station, pile frame main hook winch, auxiliary hook winch, and hammer winch) during the specified time period. 14 Q 24 Q n4 ;

[0077] Based on the above data, the system automatically generates a single pile driving record table. This table includes the project name, pile number, soil layer distribution data, pile parameters, total driving time T, driving time for each process T1, T2, T3, T4, total main engine power generation W, total fuel consumption E, main engine power generation W1, W2, W3, W4 for each process, fuel consumption E1, E2, E3, E4, total power consumption Q of each major piece of equipment (such as positioning winch, pile frame luffing cylinder pump station, pile frame main hook winch, auxiliary hook winch, and hammer winch), and power consumption Q1, Q2, ..., Q of each piece of equipment. n The power consumption Q of each piece of equipment in each process 11 Q 12 Q 13 Q 14 Q 21 Q 22 Q 23 Q 24 Q n1 Q n2 Q n3 Q n4 .

[0078] By collecting pile driving records from various construction areas and different specifications of piles, a large database of pile driving operations was created. Integrating this data revealed the functional relationships between soil layer distribution, pile length L, pile diameter D, pile weight G, penetration depth L0, pile driving time T, and total fuel consumption E, all of which affect pile driving efficiency. This data can support projects under construction; by inputting geological type, pile length, pile diameter, pile weight, and penetration depth, the construction period and fuel consumption of pile driving operations can be predicted.

[0079] This application also provides an automatic identification system for pile driving vessel operation procedures, including a procedure division module, a data acquisition module, a vessel relocation and pile retrieval procedure identification module, a pile turning and entry into the slab site procedure identification module, a pile positioning and bed placement procedure identification module, and a hammer driving procedure identification module. The procedure division module is used to divide the pile driving process of a fixed pile frame pile driving vessel into the following procedures according to their characteristics: vessel relocation and pile retrieval procedure, pile turning and entry into the slab site procedure, pile positioning and bed placement procedure, and hammer driving procedure. The data acquisition system is used to obtain the planar coordinates of the pile driving vessel based on the positioning system, record the inclination angle of the pile frame based on the pile frame tilt meter, measure the main hook, auxiliary hook, and hammer winch lifting weight based on the lifting weight sensor, and measure the lifting height of the main hook, auxiliary hook, and hammer hook head based on the encoder. The vessel relocation and pile retrieval procedure identification module is used to take the start time of the pile driving vessel as the start time of the vessel relocation and pile retrieval procedure, and to record the first main hook and auxiliary hook lifting weight after the start time of the vessel relocation and pile retrieval procedure. The time when the first set condition is met is taken as the end time of the ship-moving and pile-taking process; the pile-turning and pile-entry process identification module is used to take the end time of the ship-moving and pile-taking process as the start time of the pile-turning and pile-entry process, and the time when the first change in the main hook and auxiliary hook lifting weight and the pile frame inclination angle simultaneously meet the second set condition after the start time of the pile-turning and pile-entry process is taken as the end time of the pile-turning and pile-entry process; the pile positioning and bed-landing process identification module is used to take the end time of the pile-turning and pile-entry process as the start time of the pile positioning and bed-landing process, and the time when the first change in the main hook lifting weight meets the third set condition after the start time of the pile positioning and bed-landing process is taken as the end time of the pile positioning and bed-landing process; the hammer-driven pile-driving process identification module is used to take the end time of the pile positioning and bed-landing process as the start time of the hammer-driven pile-driving process, and the time when the first change in the hammer winch lifting weight meets the fourth set condition after the start time of the hammer-driven pile-driving process is taken as the end time of the hammer-driven pile-driving process.

[0080] The process division module is used to set the following processes after the start of the process as the ship moving, pile frame tilting, hooking, and lifting as the ship moving and pile taking process; to set the following processes after the ship moving and pile taking process as the pile turning and pile frame verticalization process; to set the following processes after the pile turning and pile entering the pile opening process as the pile clamping, pile cap fitting, pile frame adjustment, ship moving and positioning, and pile placement process as the pile positioning and placement process; and to set the following processes after the pile positioning and placement process as the hammer pressing, main hook release, and pile driving process.

[0081] The ship-moving and pile-retrieving process identification module is used to take the start time of the pile-driving vessel as the start time of the ship-moving and pile-retrieving process, and the time when the first load of the main hook and auxiliary hook increases to the first set value after the start time of the ship-moving and pile-retrieving process is taken as the end time of the ship-moving and pile-retrieving process.

[0082] The pile-turning and pile-entry process identification module is used to take the end time of the ship-moving and pile-taking process as the start time of the pile-turning and pile-entry process, and to take the time when the first pile frame inclination angle is 0° and the auxiliary hook weight is reduced to the second set value after the start time of the pile-turning and pile-entry process as the end time of the pile-turning and pile-entry process.

[0083] The pile positioning and bed-landing process identification module is used to take the end time of the pile turning and entering the dragon mouth process as the start time of the pile positioning and bed-landing process, and the time when the main hook lifting weight is reduced to the third set value for the first time after the start time of the pile positioning and bed-landing process as the end time of the pile positioning and bed-landing process;

[0084] The hammer pile driving process identification module is used to take the end time of the pile positioning and bed-laying process as the start time of the hammer pile driving process, and to take the time when the weight of the first hammer hoisting winch is increased to the self-weight of the hydraulic impact hammer as the end time of the hammer pile driving process.

[0085] In addition, this application also provides a data analysis method for piling vessel operations. This method identifies the operational procedures of the piling vessel using an automatic identification method, recording the following procedures: moving the vessel to retrieve piles, turning the pile into the slab, positioning the pile, and driving the pile with a hammer. It also records the power generation of the main engine, the fuel consumption of the main engine, and the power consumption of each electrical device during the time from the start to the end of each of these procedures. This data is then entered into a data table including the project name, pile number, pile parameters, and soil layer distribution data. The procedures, their duration, and the power generation, fuel consumption, and power consumption of the main engine and electrical devices for each procedure are correlated to form a data analysis table.

[0086] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for automatically identifying the operational procedures of a piling vessel, characterized in that: include, The pile driving process of the fixed pile frame pile driving vessel is divided into the following steps according to the process characteristics: moving the vessel to retrieve the pile, turning the pile into the slab, positioning the pile and placing it on the bed, and driving the pile with a pressure hammer. The planar coordinates of the piling vessel are obtained based on the positioning system, the tilt angle of the piling frame is recorded based on the piling frame tilt meter, the main hook, auxiliary hook, and hammer winch weight of the piling frame are measured based on the lifting weight sensor, and the lifting height of the main hook, auxiliary hook, and hammer hook head of the piling frame is measured based on the encoder. The start time of the piling vessel is taken as the start time of the ship-moving and piling process, and the time when the first main hook and auxiliary hook meet the first set condition after the start time of the ship-moving and piling process is taken as the end time of the ship-moving and piling process. The end time of the ship-moving and pile-taking process is taken as the start time of the pile-turning and dragon-entry process. The time when the first change in the main hook and auxiliary hook lifting weight and the pile frame tilt angle simultaneously meet the second set condition after the start time of the pile-turning and dragon-entry process is taken as the end time of the pile-turning and dragon-entry process. The end time of the pile turning and entering the dragon mouth process is taken as the start time of the pile positioning and bed-laying process, and the time when the first change in the main hook lifting weight after the start time of the pile positioning and bed-laying process meets the third set condition is taken as the end time of the pile positioning and bed-laying process. The end time of the pile positioning and bed-laying process is taken as the start time of the hammer pile driving process, and the start time of the hammer pile driving process is taken as the time when the first load of the hammer winch meets the fourth set condition.

2. The automatic identification method for piling vessel operation procedures as described in claim 1, characterized in that: The first setting condition is that the lifting weight of both the main hook and the auxiliary hook increases to the first setting value for the first time; the second setting condition is that the pile frame inclination angle is 0° and the lifting weight of the auxiliary hook decreases to the second setting value.

3. The automatic identification method for piling vessel operation procedures as described in claim 1, characterized in that: The third setting condition is that the main hook lifting weight is reduced to the third setting value; the fourth setting condition is that the lifting weight of the hammer winch is increased to the weight of the hydraulic impact hammer itself.

4. The automatic identification method for piling vessel operation procedures as described in claim 1, characterized in that: The method for dividing the pile driving process of a fixed pile frame piling vessel into the following steps according to process characteristics: moving the vessel and taking out the pile, turning the pile over and entering the pile head, positioning the pile and placing it on the bed, and driving the pile with a hammer. The method includes: according to the pile driving process of the fixed pile frame piling vessel, the following steps after the start are set as moving the vessel and taking out the pile: turning the pile over and verticalizing the pile frame after moving the vessel and taking out the pile are set as turning the pile over and entering the pile head; the following steps after turning the pile over and entering the pile head are set as holding the pile, putting on the pile cap, adjusting the pile frame, moving the vessel and positioning the pile and placing it on the bed: setting as driving the pile with a hammer, releasing the main hook and driving the pile after positioning the pile and placing it on the bed: setting as driving the pile with a hammer.

5. An automatic identification system for piling vessel operation procedures, characterized in that: The identification system operates according to the automatic identification method for piling vessel operation procedures as described in any one of claims 1 to 4, including: The process division module is used to divide the pile driving process of the fixed pile frame pile driving vessel into the following processes according to the process characteristics: moving the vessel and taking out the pile, turning the pile and putting it into the dragon mouth, positioning the pile and placing it on the bed, and driving the pile with a pressure hammer. The data acquisition module, the data acquisition system is used to obtain the planar coordinates of the piling vessel based on the positioning system, record the inclination angle of the piling frame based on the piling frame tilt meter, measure the main hook, auxiliary hook, and hammer winch lifting weight of the piling frame based on the lifting weight sensor, and measure the lifting height of the main hook, auxiliary hook, and hammer hook head of the piling frame based on the encoder; The ship-moving and pile-retrieving process identification module is used to take the start time of the pile-driving vessel as the start time of the ship-moving and pile-retrieving process, and take the time when the first main hook and auxiliary hook meet the first set condition after the start time of the ship-moving and pile-retrieving process as the end time of the ship-moving and pile-retrieving process. The pile-turning and pile-entry process identification module is used to take the end time of the ship-moving and pile-taking process as the start time of the pile-turning and pile-entry process, and take the time when the first change in the main hook and auxiliary hook lifting weight and the pile frame tilt angle simultaneously meet the second set condition after the start time of the pile-turning and pile-entry process as the end time of the pile-turning and pile-entry process. The pile positioning and bed-landing process identification module is used to take the end time of the pile turning and entering the dragon mouth process as the start time of the pile positioning and bed-landing process, and take the time when the first change in the main hook lifting weight after the start time of the pile positioning and bed-landing process meets the third set condition as the end time of the pile positioning and bed-landing process. The hammer pile driving process identification module is used to take the end time of the pile positioning and landing process as the start time of the hammer pile driving process, and take the time when the first time the weight of the hammer hoisting winch meets the fourth set condition as the end time of the hammer pile driving process.

6. The automatic identification system for piling vessel operation procedures as described in claim 5, characterized in that: The process division module is used to set the following processes after the start of the process as the process of moving the ship, tilting the pile frame forward, hooking, and lifting as the process of moving the ship and taking the pile; to set the following processes after the process of moving the ship and taking the pile as the process of turning the pile and verticalizing the pile frame as the process of turning the pile into the slab; to set the following processes after the process of turning the pile into the slab as the process of holding the pile, putting on the pile cap, adjusting the pile frame, moving the ship and positioning, and placing the pile on the bed as the process of positioning and placing the pile; and to set the following processes after the process of positioning and placing the pile as the process of hammering, releasing the main hook, and sinking the pile as the process of hammering the pile.

7. The automatic identification system for pile driving vessel operation procedures as described in claim 5, characterized in that: The ship-moving and pile-retrieving process identification module is used to take the start time of the pile-driving vessel as the start time of the ship-moving and pile-retrieving process, and the time when the load on both the main hook and the auxiliary hook increases to the first set value after the start time of the ship-moving and pile-retrieving process as the end time of the ship-moving and pile-retrieving process.

8. The automatic identification system for pile driving vessel operation procedures as described in claim 5, characterized in that: The pile turning and entering the dragon mouth process identification module is used to take the end time of the ship moving and pile taking process as the start time of the pile turning and entering the dragon mouth process, and take the time when the first pile frame inclination angle is 0° and the auxiliary hook lifting weight is reduced to the second set value after the start time of the pile turning and entering the dragon mouth process as the end time of the pile turning and entering the dragon mouth process.

9. The automatic identification system for pile driving vessel operation procedures as described in claim 5, characterized in that: The pile positioning and bed-landing process identification module is used to take the end time of the pile turning and entering the dragon mouth process as the start time of the pile positioning and bed-landing process, and the time when the main hook lifting weight is reduced to the third set value for the first time after the start time of the pile positioning and bed-landing process as the end time of the pile positioning and bed-landing process.

10. The automatic identification system for pile driving vessel operation procedures as described in claim 5, characterized in that: The hammer pile driving process identification module is used to take the end time of the pile positioning and bed-laying process as the start time of the hammer pile driving process, and to take the time when the weight of the first hammer winch is increased to the weight of the hydraulic impact hammer as the end time of the hammer pile driving process.

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