Vibratory pile driver construction guiding method

Abstract

The invention relates to a vibration pile driver construction guiding method which comprises a vehicle-mounted unit and an industrial control unit. The vehicle-mounted unit comprises a satellite positioning module, a measuring module used for measuring attitude information of the pile driver, a coordinate calculation module connected with the satellite positioning module and the measuring module and used for calculating coordinates of the tail end of an auxiliary arm, a parameter input module used for providing construction and vehicle parameters and a construction guiding module used for guiding a driver to operate the pile driver. The industrial control unit comprises a scanning module used for obtaining construction site environment point cloud data, a processing module connected with the scanning module and used for processing the environment point cloud data to obtain available point cloud data, and a fitting calculation module used for calculating pile top coordinates and pile body perpendicularity according to the pile driver auxiliary arm tail end coordinates and the available point cloud data. According to the method, the labor cost is reduced, safety risks are avoided, poor construction quality caused by communication problems is avoided, the method is not limited by the construction environment and weather, the construction difficulty is reduced, and the construction efficiency and the construction quality are improved.

Description

Technical Field

[0001] The present invention relates to a construction guiding method for a vibrating pile driver, which is applicable to the technical field of mechanical engineering. Background Art

[0002] A vibrating pile driver is a pile driving machine. It mainly utilizes the body structure of an excavator, replaces the bucket of the excavator with a secondary boom of the pile driver and a vibrating pile hammer, and uses the mechanical arm of the excavator as a drive for pile driving construction. It is very suitable for medium and short pile projects such as municipal engineering and bridges. The existing pile driving construction method usually marks the pile point coordinates in advance by construction workers using methods such as inserting chopsticks on the ground, pulling ropes for marking, or directly guiding holes on the ground. Then, the driver operates the pile driver to align the pile body as vertically as possible with the pile point for pile driving. At the same time, multiple construction workers are required to observe the lateral and longitudinal verticality of the pile body and the height of the pile top respectively, and communicate in real time through walkie-talkies to adjust the position and direction of the pile body in real time during pile driving. The entire pile driving process requires at least four construction workers on site and various observation instruments for cooperation. The existing method not only consumes a large amount of manpower and material resources, but is also easily affected by factors such as weather and personnel conditions, and the construction efficiency cannot be guaranteed; moreover, the construction quality depends on the experience of construction workers and the communication effect. The low cooperation degree among personnel not only affects the construction efficiency, but also easily causes problems such as the pile being driven crooked or off target, wasting time and labor; in addition, when the pile driving point is in a special environment such as in water, methods such as inserting chopsticks and guiding holes cannot be used to mark the pile point, and ropes need to be pulled on the shore, which not only further increases the construction difficulty, but also further reduces the construction efficiency; furthermore, since the pile body is installed at the end of the secondary boom of the pile driver through structures such as a suspension bracket and a sleeve, the pile body is very likely to fall off the secondary boom during long-term use, posing a safety risk of hitting ground personnel. Summary of the Invention

[0003] In order to solve the defects existing in the above-mentioned prior art, the present invention proposes a construction guiding method for a vibrating pile driver.

[0004] The present invention provides a construction guiding method for a vibrating pile driver, which adopts a construction guiding system for a vibrating pile driver. The guiding system includes: A vehicle-mounted unit for measuring the state of the pile driver and guiding construction. The vehicle-mounted unit includes a satellite positioning module, a measurement module for measuring the attitude information of the pile driver, a coordinate calculation module respectively connected to the positioning module and the measurement module and used for calculating the coordinates of the end of the secondary boom of the pile driver, a parameter input module for providing construction and vehicle parameters, and a construction guiding module for guiding the driver to operate the pile driver.

[0005] The industrial control unit is used to calculate the pile top coordinates and the pile body verticality of the pile installed at the end of the secondary boom of the pile driver. The industrial control unit includes a scanning module for acquiring the environmental point cloud data of the construction site, a processing module connected to the scanning module and used to process the environmental point cloud data to obtain available point cloud data, and a fitting calculation module for calculating the pile top coordinates and the pile body verticality based on the coordinates of the end of the secondary boom of the pile driver and the available point cloud data. Specifically, the scanning module is set as a lidar.

[0006] The guiding method includes: S1. Calculate the coordinates of the end of the secondary boom of the pile driver: S1.1 Obtain the body attitude information of the pile driver through the measurement module, and then establish a geodetic coordinate system, an engineering coordinate system, a body coordinate system, and a radar coordinate system through the satellite positioning module and according to the vehicle parameters provided by the parameter input module. At the same time, determine the transformation matrices between the respective coordinate systems; Among them, the body attitude information includes the roll angle, pitch angle, and heading angle of the pile driver body in the geodetic coordinate system; the vehicle parameters include the pile driver vehicle model, the position of the pile driver driver's seat in the vehicle model, and the position of the scanning module in the vehicle model; the body coordinate system takes the pile driver driver's seat as the origin, and the radar coordinate system takes the scanning module as the origin; S1.2 Obtain the manipulator attitude information of the pile driver through the measurement module. The manipulator attitude information includes the boom inclination angle, the jib inclination angle, and the secondary boom inclination angle of the pile driver; S1.3 The coordinate calculation module calculates the coordinates of the end of the secondary boom of the pile driver in the body coordinate system based on the body attitude information, vehicle parameters, and manipulator attitude information.

[0007] S2. Calculate the pile top coordinates and verticality of the pile body: S2.1 The scanning module scans the construction site in front of the pile driver and acquires the environmental point cloud data; S2.2 The processing module converts the coordinates of the end of the secondary boom into coordinates in the radar coordinate system, and processes the environmental point cloud data to obtain available point cloud data; S2.3 The fitting calculation module performs error and cylindrical fitting based on the available point cloud data and the pile body radius, and calculates the center point coordinates and unit vector of the fitted cylinder in the radar coordinate system; S2.4 The fitting calculation module calculates the pile top coordinates in the radar coordinate system based on the coordinates of the end of the secondary boom in the radar coordinate system, the center point coordinates, and the unit vector; S2.5 The fitting calculation module converts the center point coordinates and the pile top coordinates into coordinates in the body coordinate system, and calculates the coordinate vector between the center point and the pile top; S2.6 The fitting calculation module calculates the first perpendicularity of the pile body in the X-axis direction of the vehicle body coordinate system and the second perpendicularity in the Y-axis direction of the vehicle body coordinate system respectively according to the included angles between the coordinate vector and the X-axis in the vehicle body coordinate system and between the coordinate vector and the Y-axis in the vehicle body coordinate system.

[0008] S3. Guiding the construction: S3.1 Obtain the pile driving point coordinates of the pile driving target point of the pile body in the engineering coordinate system through the parameter input module; S3.2 The construction guiding module converts the pile top coordinates into coordinates in the engineering coordinate system and calculates the pile position deviation between the pile top and the pile driving point according to the pile driving point coordinates; S3.3 The construction guiding module converts the pile position deviation into components in the X-axis direction and the Y-axis direction in the vehicle body coordinate system and forms position guiding data; S3.4 The construction guiding module, based on the roll angle, pitch angle and heading angle of the pile driver body in the engineering coordinate system, converts the first perpendicularity and the second perpendicularity into components in the X-axis direction and the Y-axis direction in the vehicle body coordinate system respectively and forms angle guiding data.

[0009] The satellite positioning module and the parameter input module cooperate to establish each coordinate system of the pile driver, and then the measurement module provides the attitude information of the pile driver, so that the coordinate calculation module can calculate the coordinates of the end of the auxiliary boom of the pile driver based on this and provide this information to the industrial control unit; in the industrial control unit, the scanning module scans the environmental point cloud around the pile body, and the processing module filters the environmental point cloud to remove the point clouds of sundries such as the ground, plants, and water surfaces in the environment, obtains the available point cloud, then the fitting calculation module fits the cylindrical model of the pile body according to the available point cloud, and then calculates the actual pile top coordinates and the actual perpendicularity of the pile body according to the coordinates of the end of the auxiliary boom of the pile driver and the parameters of the fitted cylinder, and feeds back this parameter to the construction guiding module; the construction guiding module generates guiding information respectively according to the deviation between the actual pile top coordinates of the pile body and the preset target pile driving point coordinates and the deviation of the actual perpendicularity, guides the driver to adjust the position and perpendicularity of the pile body. Through the above guiding method and system, a single driver can perform pile driving construction without the cooperation of multiple people, which not only greatly reduces the labor cost, but also avoids the potential safety risks caused by the pile body falling off. And by guiding the driver through the system, without the need for multiple people to cooperate with each other, it avoids the poor construction quality caused by communication problems; moreover, through the guiding method and system, traditional positioning methods such as inserting chopsticks and pulling ropes are avoided, which is not restricted by the construction environment, reduces the construction difficulty, and also improves the construction efficiency and construction quality.

[0010] Furthermore, the satellite positioning module includes a positioning antenna and a directional antenna arranged on the pile driver body, which is convenient for using Beidou positioning to determine the position of the pile driver and facilitating the subsequent establishment of the coordinate system.

[0011] Furthermore, the measurement module includes a vehicle body sensor for measuring the inclination angle of the pile driver's vehicle body, a boom sensor for measuring the inclination angle of the pile driver's boom, a jib sensor for measuring the inclination angle of the pile driver's jib, and a sub-boom sensor for measuring the inclination angle of the pile driver's sub-boom, which are connected in sequence. Specifically, the vehicle body sensor cooperates with the satellite positioning module to monitor the roll angle, pitch angle and heading angle of the pile driver's vehicle body in the geodetic coordinate system, and establish a vehicle body coordinate system. Preferably, the vehicle body sensor is installed on the top of the driver's seat of the pile driver to facilitate setting and calibrating the origin of the vehicle body coordinate system; the boom sensor, the jib sensor and the sub-boom sensor are respectively installed on the boom, the jib and the sub-boom of the pile driver to facilitate detecting the inclination angles of the mechanical arms of the pile driver and providing data support for the calculation of the coordinates of the end of the sub-boom.

[0012] Furthermore, the coordinate calculation module includes: A calculation module for receiving data and calculating the coordinates of the end of the pile driver's sub-boom; A positioning module, which is respectively connected to the satellite positioning module and the calculation module and is used for converting and transmitting the positioning data provided by the satellite positioning module; An angle data receiving module, which is respectively connected to the measurement module and the calculation module and is used for converting and transmitting the angle data provided by the measurement module; A parameter conversion module, which is connected to the calculation module and is used for converting coordinate parameters, so as to convert the coordinates in the geodetic coordinate system into coordinates in the engineering coordinate system through Gaussian projection, four-parameter, three-parameter, elevation calibration, etc.; A differential receiving module, which is connected to the positioning module and is used for providing RTCM3X differential data to improve the positioning accuracy, so that the positioning accuracy can reach 1-2 cm.

[0013] Furthermore, the parameter input module includes: A vehicle model module, which is connected to the coordinate calculation module and is used for providing vehicle parameters. The vehicle model data of the pile driver and the positions of modules such as the positioning antenna, the directional antenna, and the scanning module in the pile driver are provided through the vehicle model module to facilitate determining the conversion matrix between the geodetic coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the radar coordinate system; An engineering management module, which is connected to the construction guidance module and is used for providing pile driving point coordinates. The target pile driving point coordinates input by the user are obtained through the engineering management module to facilitate the construction guidance module to guide the driver to construct according to the actual pile top coordinates and the target pile driving point coordinates; A process parameter module, which is connected to the industrial control unit and is used for providing construction parameters. The construction parameters input by the user are obtained through the process parameter module, including data such as pile radius, pile length, depth of the installation sleeve at the end of the sub-boom, height from the hanger to the bottom of the sleeve, and recognition height, etc., to facilitate subsequent calculation of the elevation and coordinates of the pile top and fitting of a cylinder, etc.

[0014] Furthermore, the processing module includes a receiving and filtering module connected to the scanning module and used for filtering environmental point cloud data, and a screening strategy module connected to the receiving and filtering module and used for screening out available point cloud data. The screening strategy module is connected to the fitting calculation module. The environmental point cloud data is received by the receiving and filtering module, and the useless point cloud therein is filtered out to reduce the fitting error and initially improve the accuracy of subsequent fitting. Then, the point cloud data after filtering out the useless point cloud is further screened by the screening strategy module to screen out the available point cloud therein, further reducing the fitting error and improving the fitting accuracy. Then, the error and cylinder fitting are performed to obtain the cylinder vector and the center point coordinates.

[0015] Furthermore, in step S1.2, the inclination angle of the large arm is the angle between the line connecting the large arm fulcrum and the small arm fulcrum and the plane where the large arm fulcrum is located. The inclination angle of the small arm is the angle between the line connecting the large arm fulcrum and the small arm fulcrum and the line connecting the small arm fulcrum and the sub-arm fulcrum. The inclination angle of the sub-arm is the angle between the line connecting the small arm fulcrum and the sub-arm fulcrum and the line connecting the sub-arm fulcrum and the end of the sub-arm.

[0016] Furthermore, in step S1.3, the method for the coordinate calculation module to calculate the coordinates of the end of the sub-arm includes: S1.3.1 Calculate the coordinates of the large arm fulcrum in the vehicle body coordinate system according to the relative position between the antenna phase center of the satellite positioning module and the large arm fulcrum; S1.3.2 Construct a first local coordinate system, a second local coordinate system and a third local coordinate system based on the D-H model. Among them, the first local coordinate system takes the large arm fulcrum as the origin, the second local coordinate system takes the small arm fulcrum as the origin, and the third local coordinate system takes the sub-arm fulcrum as the origin; S1.3.3 The coordinate calculation module calculates the coordinates of the end of the sub-arm according to the coordinates of the large arm fulcrum and the D-H model parameters.

[0017] Furthermore, in step S2.2, the method for the processing module to process the environmental point cloud data includes: S2.2.1 Intercept the point cloud within a certain range around the sub-arm in the environmental point cloud data; S2.2.2 Filter out the useless point cloud in the point cloud obtained in step S2.2.1. The useless point cloud includes the ground, water surface, and miscellaneous points; S2.2.3 Screen the point cloud within a certain height range in the point cloud obtained in step S2.2.2 to form available point cloud data.

[0018] Furthermore, in step S2.3, the fitting calculation module performs error and cylinder fitting based on the cylinder point cloud fitting algorithm of the PCL library.

[0019] Due to the application of the above technical solutions, the present invention has the following advantages compared with the prior art: The construction guiding method of the vibrating pile driver of the present invention determines the position of the pile driver through satellite positioning and vehicle parameters, and establishes a coordinate system. Then, the coordinates of the end of the secondary boom of the pile driver are deduced through various inclination sensors. At the same time, the point cloud data of the construction environment is scanned by a scanning module, and fitting calculations are carried out to obtain the pile top coordinates and verticality of the pile body, so as to compare the actual parameters of the pile body with the preset parameters, guide the driver to operate the pile driver, and adjust the position and verticality of the pile body during pile driving construction. A single person can complete the pile driving construction, which not only greatly reduces the labor cost, but also avoids the potential safety risks caused by the falling off of the pile body. Moreover, by guiding the driver through the system, the need for mutual cooperation among multiple people is eliminated, and the poor construction quality caused by communication problems is avoided. Furthermore, by replacing the traditional positioning methods such as inserting chopsticks and pulling ropes with the guiding method and system, the construction is not restricted by the construction environment and weather, the construction difficulty is reduced, and the construction efficiency and quality are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Some specific embodiments of the present invention will be described in detail hereinafter with reference to the drawings in an exemplary but not restrictive manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings: Figure 1 is the system framework diagram of an embodiment of the present invention; Figure 2 is Figure 1 the vehicle body structure diagram of the pile driver in the illustrated embodiment; Figure 3 is Figure 1 the system framework diagram of the vehicle-mounted unit in the illustrated embodiment; Figure 4 is Figure 1 the system framework diagram of the industrial control unit in the illustrated embodiment; Figure 5 is Figure 1 the radar scanning environment diagram of the environmental point cloud data in the illustrated embodiment; Figure 6 is Figure 1 the point cloud diagram of the available point cloud data in the illustrated embodiment; Figure 7 is Figure 1 the logic block diagram of the guiding system in the illustrated embodiment; The description of the reference numerals is as follows: 1. Vehicle-mounted unit; 11. Satellite positioning module; 111. Positioning antenna; 112. Directional antenna; 12. Measurement module; 121. Vehicle body sensor; 122. Boom sensor; 123. Arm sensor; 124. Auxiliary boom sensor; 13. Coordinate calculation module; 131. Calculation module; 132. Positioning module; 133. Angle data receiving module; 134. Parameter conversion module; 135. Differential receiving module; 14. Parameter input module; 141. Vehicle model module; 142. Project management module; 143. Process parameter module; 15. Construction guidance module; 2. Industrial control unit; 21. Scanning module; 22. Processing module; 221. Receiving and filtering module; 222. Screening strategy module; 23. Fitting calculation module. Detailed implementation manner

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Refer to the attached Figure 1-7 drawing. In this embodiment, a construction guidance method for a vibrating pile driver is provided, which adopts a construction guidance system for a vibrating pile driver. The guidance system includes a vehicle-mounted unit 1 and an industrial control unit 2.

[0024] The vehicle-mounted unit 1 is used to measure the state of the pile driver and guide the construction. The vehicle-mounted unit 1 includes a satellite positioning module 11, a measurement module 12 for measuring the attitude information of the pile driver, a coordinate calculation module 13 respectively connected to the satellite positioning module 11 and the measurement module 12 and used to calculate the coordinates of the end of the auxiliary boom of the pile driver, a parameter input module 14 for providing construction and vehicle parameters, and a construction guidance module 15 for guiding the driver to operate the pile driver.

[0025] Specifically, the satellite positioning module 11 includes a positioning antenna 111 and a directional antenna 112 arranged on the body of the pile driver, which is convenient for using Beidou positioning to determine the position of the pile driver and facilitating the establishment of a coordinate system; The measurement module 12 includes a vehicle body sensor 121 for measuring the inclination angle of the pile driver vehicle body, a boom sensor 122 for measuring the inclination angle of the boom of the pile driver, a jib sensor 123 for measuring the inclination angle of the jib of the pile driver, and a sub-boom sensor 124 for measuring the inclination angle of the sub-boom of the pile driver, which are connected in sequence. Among them, the vehicle body sensor 121 cooperates with the satellite positioning module 11 to monitor the roll angle, pitch angle and heading angle of the pile driver vehicle body in the earth coordinate system, and establish a vehicle body coordinate system. Preferably, the vehicle body sensor 121 is installed on the top of the driver's seat of the pile driver to facilitate setting and calibrating the origin of the vehicle body coordinate system; the boom sensor 122, the jib sensor 123 and the sub-boom sensor 124 are respectively arranged on the boom, the jib and the sub-boom of the pile driver (as shown in the attachment Figure 2 shown), so as to detect the inclination angles of the mechanical arms of the pile driver and provide data support for the calculation of the coordinates of the end of the sub-boom; The coordinate calculation module 13 includes: a calculation module 131 for receiving data and calculating the coordinates of the end of the sub-boom of the pile driver, a positioning module 132 respectively connected to the satellite positioning module 11 and the calculation module 131 and used for converting and transmitting the positioning data provided by the satellite positioning module 11, an angle data receiving module 133 respectively connected to the measurement module 12 and the calculation module 131 and used for converting and transmitting the angle data provided by the measurement module 12, a parameter conversion module 134 connected to the calculation module 131 and used for converting coordinate parameters, and a differential receiving module 135 connected to the positioning module 132 and used for providing RTCM3X differential data. The parameter conversion module 134 can convert the coordinates in the earth coordinate system through Gauss projection, four-parameter, three-parameter, elevation calibration, etc. into coordinates in the engineering coordinate system. The differential receiving module 135 can improve the positioning accuracy and make the positioning accuracy reach 1-2 centimeters; The parameter input module 14 includes: A vehicle model module 141, connected to the coordinate calculation module 13 and used for providing vehicle parameters. The vehicle model data of the pile driver and the positions of modules such as the positioning antenna 111, the directional antenna 121, and the scanning module 21 in the pile driver are provided through the vehicle model module 141 to facilitate determining the conversion matrix between coordinate systems. Specifically, the determination of the conversion matrix between coordinate systems is prior art and will not be elaborated in this embodiment; An engineering management module 142, connected to the construction guidance module 15 and used for providing pile driving point coordinates. The target pile driving point coordinates input by the user are obtained through the engineering management module 142 to facilitate the construction guidance module 15 to guide the driver to construct according to the actual pile top coordinates and the target pile driving point coordinates; The process parameter module 143 is connected to the industrial control unit 2 and is used to provide construction parameters. The construction parameters input by the user are obtained through the process parameter module 143, including pile radius, pile length, sleeve installation depth at the end of the auxiliary arm, height from the hanger to the bottom of the sleeve, identification height and other data. Among them, the pile radius can be used for algorithm fitting of the cylinder, the pile length can be used to calculate the coordinates of the pile bottom, and the interception range of the radar point cloud can be set in conjunction with the identification height. The sleeve depth and the height from the hanger to the bottom of the sleeve can be used to calculate the elevation of the pile top, so as to calculate the coordinates of the pile top.

[0026] The industrial control unit 2 is used to calculate the pile top coordinates and the verticality of the pile body installed at the end of the pile driver's auxiliary arm. The industrial control unit 2 includes a scanning module 21 (in this embodiment, the scanning module 21 is set as a laser radar) for acquiring environmental point cloud data of the construction site, a processing module 22 connected to the scanning module 21 and used to process the environmental point cloud data to obtain available point cloud data, and a fitting calculation module 23 for calculating the pile top coordinates and the verticality of the pile body according to the coordinates of the end of the pile driver's auxiliary arm and the available point cloud data.

[0027] Boot methods include: S1. Calculate the coordinates of the end of the pile driver's auxiliary arm: S1.1 obtains the body posture information of the pile driver through the measurement module 12, and then establishes the earth coordinate system, engineering coordinate system, body coordinate system and radar coordinate system through the satellite positioning module 11 and according to the vehicle parameters provided by the parameter input module 14, and determines the conversion matrix between each coordinate system respectively; The vehicle body posture information includes the roll angle, pitch angle and heading angle of the pile driver body in the geodetic coordinate system; the vehicle parameters include the pile driver vehicle model, the position of the pile driver driving position in the vehicle model, and the position of the scanning module 21 in the vehicle model; the vehicle body coordinate system takes the pile driver driving position as the origin, and the radar coordinate system takes the scanning module 21 as the origin; S1.2 obtains the pile driver arm posture information through the measurement module 12, the arm posture information includes the pile driver arm inclination angle, the arm inclination angle and the auxiliary arm inclination angle; The inclination angle of the boom is the angle between the line connecting the boom fulcrum and the forearm fulcrum and the plane where the boom fulcrum is located; the inclination angle of the forearm is the angle between the line connecting the boom fulcrum and the forearm fulcrum and the line connecting the forearm fulcrum and the jib fulcrum; the inclination angle of the jib is the angle between the line connecting the forearm fulcrum and the jib fulcrum and the line connecting the jib fulcrum and the end of the jib; S1.3 The coordinate calculation module 13 calculates the coordinates of the auxiliary arm end of the pile driver in the vehicle body coordinate system according to the vehicle body posture information, vehicle parameters and mechanical arm posture information.

[0028] S2. Calculate the top coordinates and verticality of the pile: S2.1 Scanning module 21 scans the construction site in front of the pile driver and obtains environmental point cloud data. The environmental point cloud data is as shown in the attached Figure 5 As shown in; S2.2 The processing module 22 converts the coordinates of the auxiliary arm end into coordinates in the radar coordinate system, and processes the environmental point cloud data to obtain usable point cloud data; Specifically, the method for the processing module 22 to process the environmental point cloud data includes: S2.2.1 Intercept the point cloud within a certain range around the auxiliary arm in the environmental point cloud data; S2.2.2 Filter out useless point clouds in the point cloud obtained in step S2.2.1, where the useless point clouds include ground, water surface, and clutter; S2.2.3 Filter the point clouds within a certain height range in the point cloud obtained in step S2.2.2 to form usable point cloud data, as shown in the attached figure. Figure 6 As shown in; S2.3 The fitting calculation module 23 performs error and cylinder fitting according to the available point cloud data and the pile radius, and calculates the center point coordinates and unit vector of the fitted cylinder in the radar coordinate system; S2.4 fitting calculation module 23 calculates the pile top coordinates in the radar coordinate system according to the coordinates of the jib end coordinates in the radar coordinate system, the center point coordinates and the unit vector; specifically, a hanger, a box, a shock-absorbing block and a sleeve are installed at the jib end, and the pile body is detachably clamped in the sleeve, and the pile top coordinates can be calculated through the jib end coordinates, the height from the hanger to the sleeve, the sleeve depth and the elevation compensation; S2.5 The fitting calculation module 23 converts the center point coordinates and the pile top coordinates into coordinates in the vehicle body coordinate system, and calculates the coordinate vectors of the center point and the pile top; S2.6 The fitting calculation module 23 calculates the first verticality of the pile body in the X-axis direction of the vehicle body coordinate system and the second verticality in the Y-axis direction of the vehicle body coordinate system according to the angle between the coordinate vector and the X-axis in the vehicle body coordinate system and the angle between the coordinate vector and the Y-axis in the vehicle body coordinate system; S3. Guide construction: S3.1 obtaining the coordinates of the pile driving point of the pile body's target point in the engineering coordinate system through the parameter input module 14; S3.2 The construction guidance module 15 converts the pile top coordinates into coordinates in the engineering coordinate system, and calculates the pile position deviation between the pile top and the pile driving point according to the pile driving point coordinates; S3.3 The construction guidance module 15 converts the pile position deviation into components in the X-axis direction and the Y-axis direction in the vehicle body coordinate system, and forms position guidance data; S3.4 The construction guidance module 15 converts the first verticality and the second verticality into the components in the X-axis direction and the components in the Y-axis direction in the vehicle body coordinate system respectively based on the roll angle, pitch angle and heading angle of the pile driver body in the engineering coordinate system, and forms angle guidance data.

[0029] In a more preferred embodiment, the processing module 22 includes a receiving and filtering module 221 connected to the scanning module 21 and used for filtering environmental point cloud data, and a screening strategy module 222 connected to the receiving and filtering module 221 and used for screening out available point cloud data. The screening strategy module 222 is connected to the fitting calculation module 23. The environmental point cloud data is received through the receiving and filtering module 221, and the useless point cloud therein is filtered out to reduce the fitting error and initially improve the accuracy of subsequent fitting; then the point cloud data after filtering out the useless point cloud is further screened by the screening strategy module 222 to screen out the available point cloud therein, further reduce the fitting error and improve the fitting accuracy, and then error and cylinder fitting are performed to obtain the cylinder vector and the center point coordinates.

[0030] In a more preferred embodiment, in step S1.3, the method for the coordinate calculation module 13 to calculate the coordinates of the end of the auxiliary boom includes: S1.3.1 Calculate the coordinates of the boom fulcrum in the vehicle body coordinate system according to the relative position between the antenna phase center of the satellite positioning module 11 and the boom fulcrum; S1.3.2 Construct a first local coordinate system, a second local coordinate system and a third local coordinate system based on the D-H model, wherein the first local coordinate system takes the boom fulcrum as the origin, the second local coordinate system takes the forearm fulcrum as the origin, and the third local coordinate system takes the auxiliary boom fulcrum as the origin; S1.3.3 The coordinate calculation module 13 calculates the coordinates of the end of the auxiliary boom according to the coordinates of the boom fulcrum and the D-H model parameters.

[0031] In a more preferred embodiment, in step S2.3, the fitting calculation module 23 performs error and cylinder fitting based on the cylinder point cloud fitting algorithm of the PCL library.

[0032] In a more preferred embodiment, the vehicle-mounted unit 1 further includes a data uploading module (not marked in the drawings) connected to the construction guidance module 15. The construction progress, the construction time and construction conditions of each pile are summarized into data and uploaded to the cloud through the data uploading module, so as to facilitate the background to view the construction progress and quality and provide a basis for construction management.

[0033] Due to the application of the above technical solutions, the present invention has the following advantages compared with the prior art: The construction guiding method of the vibrating pile driver of the present invention determines the position of the pile driver through satellite positioning and vehicle parameters, and establishes a coordinate system. Then, the coordinates of the end of the secondary boom of the pile driver are deduced through various inclination sensors. At the same time, the point cloud data of the construction environment is scanned by a scanning module and fitting calculations are carried out to obtain the pile top coordinates and verticality of the pile body, so as to compare the actual parameters of the pile body with the preset parameters and guide the driver to operate the pile driver, so as to adjust the position and verticality of the pile body during pile driving construction. A single person can complete the pile driving construction, which not only greatly reduces the labor cost, but also avoids the potential safety risks caused by the falling off of the pile body. Moreover, the driver is guided by the system, without the need for cooperation among multiple people, avoiding the poor construction quality caused by communication problems. Furthermore, by using the guiding method and system to replace the traditional positioning methods such as inserting chopsticks and pulling ropes, it is not restricted by the construction environment and weather, reduces the construction difficulty, and improves the construction efficiency and construction quality.

[0034] The above embodiments are only used to illustrate the technical concept and features of the present invention, and their purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly. It is not intended to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A construction guiding method for a vibration pile driver, characterized in that, Adopt a construction guiding system for a vibrating pile driver, and the guiding system includes: A vehicle-mounted unit (1) for measuring the state of the pile driver and guiding construction. The vehicle-mounted unit (1) includes a satellite positioning module (11), a measurement module (12) for measuring the attitude information of the pile driver, a coordinate calculation module (13) respectively connected to the satellite positioning module (11) and the measurement module (12) and used for calculating the coordinates of the end of the secondary boom of the pile driver, a parameter input module (14) for providing construction and vehicle parameters, and a construction guiding module (15) for guiding the driver to operate the pile driver; An industrial control unit (2) for calculating the top coordinate and the verticality of the pile body installed at the end of the secondary boom of the pile driver. The industrial control unit (2) includes a scanning module (21) for obtaining the environmental point cloud data of the construction site, a processing module (22) connected to the scanning module (21) and used for processing the environmental point cloud data to obtain available point cloud data, and a fitting calculation module (23) for calculating the top coordinate and the verticality of the pile body according to the coordinates of the end of the secondary boom of the pile driver and the available point cloud data; The guiding method includes: S1. Calculate the coordinates of the end of the secondary boom of the pile driver: S1.1 Obtain the attitude information of the pile driver body through the measurement module (12), and then establish a geodetic coordinate system, an engineering coordinate system, a body coordinate system, and a radar coordinate system through the satellite positioning module (11) and according to the vehicle parameters provided by the parameter input module (14), and determine the transformation matrix between each coordinate system respectively; Among them, the attitude information of the pile driver body includes the roll angle, pitch angle, and heading angle of the pile driver body in the geodetic coordinate system; the vehicle parameters include the pile driver vehicle model, the position of the pile driver driver's seat in the vehicle model, and the position of the scanning module (21) in the vehicle model; the body coordinate system takes the pile driver driver's seat as the origin, and the radar coordinate system takes the scanning module (21) as the origin; S1.2 Obtain the attitude information of the boom of the pile driver through the measurement module (12), and the attitude information of the boom includes the inclination angle of the main boom, the inclination angle of the secondary boom, and the inclination angle of the secondary boom of the pile driver; S1.3 The coordinate calculation module (13) calculates the coordinate of the end of the secondary boom of the pile driver in the body coordinate system according to the attitude information of the pile driver body, the vehicle parameters, and the attitude information of the boom; S2. Calculate the top coordinate and the verticality of the pile body: S2.1 The scanning module (21) scans the construction site in front of the pile driver and obtains the environmental point cloud data; S2.2 The processing module (22) converts the coordinate of the end of the secondary boom into the coordinate in the radar coordinate system, and processes the environmental point cloud data to obtain available point cloud data; S2.3 The fitting calculation module (23) performs error and cylinder fitting according to the available point cloud data and the radius of the pile body, and calculates the center point coordinate and unit vector of the fitted cylinder in the radar coordinate system; S2.4 The fitting calculation module (23) calculates the top coordinate of the pile body in the radar coordinate system according to the coordinate of the end of the secondary boom in the radar coordinate system, the center point coordinate, and the unit vector; The fitting calculation module (23) in S2.5 converts the center point coordinates and the pile top coordinates into coordinates in the vehicle body coordinate system, and calculates the coordinate vector between the center point and the pile top; The fitting calculation module (23) in S2.6 calculates the first perpendicularity of the pile body in the X-axis direction of the vehicle body coordinate system and the second perpendicularity in the Y-axis direction of the vehicle body coordinate system respectively according to the included angle between the coordinate vector and the X-axis in the vehicle body coordinate system and the included angle between the coordinate vector and the Y-axis in the vehicle body coordinate system; S3. Guide the construction: S3.1 Obtain the pile driving point coordinates of the pile driving target point of the pile body in the engineering coordinate system through the parameter input module (14); S3.2 The construction guidance module (15) converts the pile top coordinates into coordinates in the engineering coordinate system, and calculates the pile position deviation between the pile top and the pile driving point according to the pile driving point coordinates; S3.3 The construction guidance module (15) converts the pile position deviation into components in the X-axis direction and the Y-axis direction in the vehicle body coordinate system, and forms position guidance data; S3.4 The construction guidance module (15) based on the roll angle, pitch angle and heading angle of the pile driver body in the engineering coordinate system, converts the first perpendicularity and the second perpendicularity into components in the X-axis direction and the Y-axis direction in the vehicle body coordinate system respectively, and forms angle guidance data.

2. The construction guiding method of the vibrating pile driver according to claim 1, characterized in that: The satellite positioning module (11) includes a positioning antenna (111) and a directional antenna (112) arranged on the pile driver body.

3. The construction guiding method of the vibrating pile driver according to claim 1, characterized in that: The measurement module (12) includes a vehicle body sensor (121) for measuring the inclination angle of the pile driver body, a boom sensor (122) for measuring the inclination angle of the boom of the pile driver, a jib sensor (123) for measuring the inclination angle of the jib of the pile driver, and a sub-boom sensor (124) for measuring the inclination angle of the sub-boom of the pile driver, which are connected in sequence.

4. The construction guiding method of the vibrating pile driver according to claim 1, wherein The coordinate calculation module (13) includes: A calculation module (131) for receiving data and calculating the coordinates of the end of the sub-boom of the pile driver; A positioning module (132) is respectively connected to the satellite positioning module (11) and the calculation module (131) and is used for converting and transmitting the positioning data provided by the satellite positioning module (11); An angle data receiving module (133) is respectively connected to the measurement module (12) and the calculation module (131) and is used for converting and transmitting the angle data provided by the measurement module (12); A parameter conversion module (134) is connected to the calculation module (131) and is used for converting coordinate parameters; A differential receiving module (135) is connected to the positioning module (132) and is used for providing RTCM3X differential data.

5. The construction guiding method of a vibrating pile driver according to claim 1, wherein, The parameter input module (14) includes: A vehicle model module (141) is connected to the coordinate calculation module (13) and is used for providing the vehicle parameters; An engineering management module (142) is connected to the construction guidance module (15) and is used for providing the pile driving point coordinates; A process parameter module (143) is connected to the industrial control unit (2) and is used for providing construction parameters.

6. The construction guiding method of the vibrating pile driver according to claim 1, wherein: The processing module (22) comprises a receiving and filtering module (221) connected to the scanning module (21) and used for filtering the environmental point cloud data, and a screening strategy module (222) connected to the receiving and filtering module (221) and used for screening out the available point cloud data, wherein the screening strategy module (222) is connected to the fitting calculation module (23).

7. The construction guiding method of the vibrating pile driver according to claim 1, characterized in that, In step S1.2, the boom inclination angle is the angle between the line connecting the boom fulcrum and the forearm fulcrum and the plane where the boom fulcrum is located, the forearm inclination angle is the angle between the line connecting the boom fulcrum and the forearm fulcrum and the line connecting the forearm fulcrum and the jib fulcrum, and the jib inclination angle is the angle between the line connecting the forearm fulcrum and the jib fulcrum and the line connecting the jib fulcrum and the end of the jib.

8. The construction guiding method of the vibrating pile driver according to claim 1, characterized in that In step S1.3, the method in which the coordinate calculation module (13) calculates the coordinates of the auxiliary arm end comprises: S1.3.1 calculating the coordinates of the boom fulcrum in the vehicle body coordinate system according to the relative position between the antenna phase center of the satellite positioning module (11) and the boom fulcrum; S1.3.2 construct a first local coordinate system, a second local coordinate system and a third local coordinate system based on the DH model, wherein the first local coordinate system takes the boom fulcrum as the origin, the second local coordinate system takes the forearm fulcrum as the origin, and the third local coordinate system takes the jib fulcrum as the origin; S1.3.3 The coordinate calculation module (13) calculates the coordinates of the auxiliary arm end according to the coordinates of the main arm fulcrum and the DH model parameters.

9. The construction guiding method of the vibrating pile driver according to claim 1, wherein In step S2.2, the method in which the processing module (22) processes the environmental point cloud data includes: S2.2.1 intercepting the point cloud within a certain range around the auxiliary arm in the environmental point cloud data; S2.2.2 filtering out useless point clouds in the point cloud obtained in step S2.2.1, wherein the useless point clouds include ground, water surface, and clutter; S2.2.3 Filter the point clouds within a certain height range in the point cloud obtained in step S2.2.2 to form the usable point cloud data.

10. The construction guiding method of a vibrating pile driver according to claim 1, characterized in that, In step S2.3, the fitting calculation module (23) performs error and cylindrical fitting based on the cylindrical point cloud fitting algorithm of the PCL library.

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