Control method and device of pile driver for wharf construction

Abstract

The invention relates to the technical field of automatic control, and provides a control method and device for a pile driver for wharf construction, and the method comprises the steps: obtaining the first position information of a pile head of the pile driver, and obtaining the real-time depth position information of a wharf pile point; determining first movement distance information of the pile head according to the first position information and the real-time depth position information; soil information of the pile points is obtained; according to the soil texture information, the piling duration information and the first movement distance information, control parameter information of the piling machine is determined; and controlling the pile driver to pile according to the control parameter information. By means of the method, accurate control over the pile driver can be achieved, and the efficiency of the pile driving process can be improved.

Description

Technical Field

[0001] The present application relates to the technical fields of data processing and intelligent control, and particularly relates to a control method and device for a pile driver used in wharf construction. Background Art

[0002] In the field of pile driving engineering, traditional pile driving control methods have many deficiencies. Especially in wharf construction, the soil quality is relatively complex, such as it may involve hardened layers, sand and gravel layers, clay, soft soil layers, etc. When the existing pile driver is driving a pile, it usually lifts the pile head to a certain height and then drops it for pile driving treatment. The existing methods often ignore relevant factors such as geology. For example, the characteristics of soft soil are high water content, large void ratio, and low shear strength. If the impact speed is too fast, the pile is likely to sink rapidly, which may cause the pile body to tilt or break. Another example is that sandy soil has good water permeability. During pile driving, a relatively high impact speed may cause liquefaction of the sandy soil. The soil quality of gravel soil and rock soil is relatively high in strength. When driving a pile, a relatively large impact energy is required to break or displace the soil and rock. Therefore, the traditional pile driving control has low efficiency and unstable construction.

[0003] In addition, the energy during the existing construction process is often not effectively monitored and managed, resulting in waste of energy, increased costs, and relatively high energy consumption during pile driving. Summary of the Invention

[0004] The embodiments of the present application provide a control method and device for a pile driver used in wharf construction, which can determine more accurate control parameters according to the actual movement distance of the pile head, soil quality, and pile driving frequency, and control the pile driver to drive piles, reducing the energy consumption during pile driving.

[0005] The first aspect of the embodiments of the present application provides a control method for a pile driver used in wharf construction, and the method includes: Obtaining the first position information of the pile head of the pile driver, and obtaining the real-time depth position information of the wharf pile point; Determining the first movement distance information of the pile head according to the first position information and the real-time depth position information; Obtaining the soil quality information of the pile point; Determining the control parameter information of the pile driver according to the soil quality information, pile driving duration information, and the first movement distance information; Controlling the pile driver to drive piles according to the control parameter information.

[0006] The second aspect of the embodiments of the present application provides a control device for a pile driver used in wharf construction, and the device includes: A first obtaining unit, configured to obtain the first position information of the pile head of the pile driver, and obtain the real-time depth position information of the wharf pile point; A first determination unit, configured to determine first motion distance information of the pile head according to the first position information and the real-time depth position information; A second acquisition unit, configured to acquire soil quality information of the pile point; A second determination unit, configured to determine control parameter information of the pile driver according to the soil quality information, the pile driving duration information, and the first motion distance information; A control unit, configured to control the pile driver to perform pile driving according to the control parameter information.

[0007] In a third aspect of the embodiments of the present application, a pile driver for wharf construction is provided, which is characterized in that the pile driver includes a boom, an arm, a pile head, an electromagnetic acceleration module, a hydraulic module, and a control system. A first end of the arm is connected to a first end of the boom, and a pile head is arranged at a second end of the arm. The electromagnetic acceleration module is arranged in parallel with the arm and is used to accelerate the arm when it falls. The control system includes a processor and a memory, and the processor and the memory are connected to each other. Wherein, the memory is used to store a computer program, and the computer program includes program instructions. The processor is configured to call the program instructions and execute the step instructions as described in the first aspect of the embodiments of the present application.

[0008] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program for electronic data exchange. The computer program enables a computer to execute some or all of the steps described in the first aspect of the embodiments of the present application.

[0009] In a fifth aspect of the embodiments of the present application, a computer program product is provided. The computer program product includes a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to enable a computer to execute some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

[0010] According to the above solution of the present application, by acquiring the first position information of the pile head of the pile driver and acquiring the real-time depth position information of the wharf pile point, the first motion distance information of the pile head can be determined according to the first position information and the real-time depth position information, and further, the soil quality information of the pile point can be acquired. The control parameter information of the pile driver can be determined according to the soil quality information and the first motion distance information, so that the pile driver can be controlled to perform pile driving according to the control parameter information. More accurate control parameters can be determined according to the actual motion distance, soil quality, and pile driving frequency of the pile head, and the pile driver can be controlled to perform pile driving, reducing the energy consumption during pile driving. Description of the Drawings

[0011] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0012] Figure 1 This is a schematic structural diagram of a pile driver for wharf construction provided by an embodiment of the present application; Figure 2 This is a schematic flowchart of a control method for a pile driver for wharf construction provided by an embodiment of the present application; Figure 3 This is a schematic structural diagram of a control device for a pile driver for wharf construction provided by an embodiment of the present application. Detailed implementation manners

[0013] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0014] The terms "first", "second", etc. in the specification and claims of the present application and the above accompanying drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0015] Referring to "embodiment" in the present application means that a specific feature, structure or characteristic described in combination with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0016] To better understand a control method for a pile driver used in wharf construction provided by an embodiment of the present application, the scenario where the control method of the pile driver is applied will be briefly introduced below. In terms of port wharf construction, the wharf needs to bear loads such as the loading and unloading of a large amount of goods and the docking and mooring of ships. The pile driver can be used to drive various types of piles, such as steel pipe piles, sheet piles, etc., in wharf construction to enhance the structural strength and stability of the wharf to adapt to the frequent operations and complex hydrogeological conditions of the port.

[0017] In the piling project, it is necessary to debug the pile driver and control the piling during piling, etc. In the existing solutions, usually, debugging is carried out before piling. For example, segmented debugging is carried out using the distance between the current pile head position and the pile point position. However, it is only limited to segmented piling calibration and adjustment during the debugging stage, and it does not involve the adjustment during the piling process after piling has been carried out. It does not perform calibration and adjustment during the actual piling process. However, due to the requirements in terms of piling accuracy and energy conservation, it is particularly important to perform targeted real-time adjustment of the control of the pile driver during the piling process.

[0018] Aiming to solve the above problems, an embodiment of the present application provides a control method for a pile driver, which can determine more accurate control parameters according to the actual movement distance of the pile head, soil quality, and piling frequency, and control the pile driver to carry out piling, reducing the energy consumption and improving the accuracy during piling.

[0019] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a pile driver for wharf construction provided by an embodiment of the present application. As Figure 1 shown, the pile driver includes a boom 1, an arm 2, a pile head 3, an electromagnetic acceleration module 4, a hydraulic module 5, and a control system 6. The first end of the arm 2 is connected to the first end of the boom 1, and the pile head 3 is provided at the second end of the arm 2. The electromagnetic acceleration module 4 is arranged in parallel with the arm 2 and is used to accelerate the arm 2 when it falls. The control system 6 can control the hydraulic module 5 to drive the arm to rise to a certain height and then fall for subsequent piling treatment. The pile head 3 can be a conventional pile head. During the falling process, the control system 6 can perform acceleration treatment on the arm 2 through the electromagnetic acceleration module 4 to increase the terminal speed of the pile head when it touches the piling position. Since downward acceleration does not need to overcome the gravitational acceleration, the energy consumption during acceleration will be lower than that of the hydraulic system when the arm is lifted, so that while improving the piling effect, energy consumption can be saved.

[0020] Please refer to Figure 2 , Figure 2 which is a schematic flow diagram of a control method for a pile driver for wharf construction provided by an embodiment of the present application. As Figure 2As shown, the method is applied to a pile driver, and the method comprises: 201. Acquire first position information of a pile head of the pile driver, and acquire real-time depth position information of a dock pile point.

[0021] Among them, the first position information of the pile head can be used to indicate a spatial position data of the pile head of the pile driver in a preset coordinate system. Optionally, it can be obtained by a positioning device (such as a position sensor, a total station, etc.) installed on the pile driver, or based on the combination of the mechanical structure parameters of the pile driver itself and an angle sensor, etc. The first position information of the pile head is the basic data for the subsequent calculation of the pile head movement. The preset coordinate system can be a spatial coordinate system constructed with any fixed point on the pile driver after the pile driving process as the origin. Since the position of the pile driver is usually fixed after the pile driving process, any fixed point after the fixation can be used as the origin to establish a spatial coordinate system, which can avoid subsequent multiple coordinate conversions, etc., and improve the fixed reference surface to reduce the complexity of subsequent processing.

[0022] The real-time depth position information of the wharf pile point can be used to indicate the depth coordinates of the pile point at the predetermined piling position in the wharf construction area, which can be specifically understood as the depth information of the pile hole currently driven. Specifically, the real-time depth information of the pile hole can be obtained through sensors set at the boom and pile head.

[0023] 202. Determine first movement distance information of the pile head according to the first position information and the real-time depth position information.

[0024] The first movement distance information of the pile head can be used to indicate the actual distance information that the pile head needs to move obtained by the initial position of the pile head (i.e., the first position information) and the target depth position of the pile point (i.e., the real-time depth position information) through spatial distance calculation. It can be understood that the calculation result can affect the subsequent action amplitude and control strategy of the pile driver.

[0025] By obtaining the first position information of the pile head of the pile driver and the real-time depth position information of the dock pile point, and using these two sets of key information, the first movement distance information of the pile head can be accurately determined, which can provide basic data support for subsequent control parameter calculations to ensure the accuracy of the piling operation.

[0026] It can be understood that by using the acquired first position information of the pile head and the real-time depth position information of the pile point, according to the principle of spatial coordinate calculation, the first movement distance information required for the pile head to reach the pile point can be determined, which can provide a distance reference for subsequent control.

[0027] 203. Obtain soil quality information of the pile point.

[0028] The soil quality information of the pile points can cover the soil type at the location of the pile points (such as clay, sand, silt, etc.), the mechanical properties of the soil (such as compressive strength, shear strength, elastic modulus, etc.), and relevant information such as the groundwater level. Optionally, the soil quality information can be obtained through a geological exploration report or on-site geotechnical tests.

[0029] It can be understood that since the soil quality information has an important impact on the resistance and energy consumption during the piling process, geological exploration means (such as drilling and sampling analysis, geophysical exploration, etc.) can be used to obtain the soil quality information at the pile points, including soil type, mechanical properties, etc., so as to obtain the soil quality information, and then the control parameters of the pile driver can be determined more accurately.

[0030] 204. Determine the control parameter information of the pile driver according to the soil quality information, the piling duration information, and the first movement distance information.

[0031] The piling duration information can be understood as the total duration required for the piling action to complete the depth of the pile hole. Therefore, the average depth of each piling (i.e., the depth change amount of each piling) can be determined according to the total piling duration and the pile hole depth. Then, based on the piling depth change amount and the soil quality information, the terminal impact velocity corresponding to the current soil quality information can be determined. For example, the characteristics of soft soil are high water content, large void ratio, and low shear strength. If the impact velocity is too fast, the pile is likely to sink rapidly, which may cause the pile body to tilt or break. Another example is that sandy soil has good water permeability. During the piling process, a higher impact velocity may cause liquefaction of the sandy soil. The strength of gravel soil and rock soil is relatively high. During piling, a larger impact energy is required to break or displace the soil and rock. Furthermore, according to the terminal impact velocity, the energy required for piling can be determined. Among them, the different velocities corresponding to different soil qualities can be determined by combining historical construction data. After determining the piling energy information, the control parameter information of the pile driver can be determined in combination with the first movement distance.

[0032] The control parameter information of the pile driver can be obtained by integrating the soil quality information, the piling duration information, and the pile head movement distance information (the first movement distance), and is a set of parameter information used to accurately control the working state of each component of the pile driver (such as the pressure and flow rate of the hydraulic system, the power of the electromagnetic acceleration device, etc.).

[0033] Optionally, after obtaining the soil quality information of the pile points, it can be combined with the piling duration information and the piling position depth change amount can be predicted, so as to obtain the piling depth change amount. Based on the piling depth change amount, the piling energy consumption information can be further determined through the principles of mechanics and energy conversion, so as to fully consider the impact of soil quality on the energy consumption during the piling process, make the subsequent control parameter calculation more in line with the actual construction situation, and then accurately control the energy consumption, which is beneficial to reducing energy consumption.

[0034] According to the obtained pile driving energy consumption information, the known pile driving duration information, and the first movement distance, the first energy consumption information of the hydraulic module of the pile driver and the second energy consumption information of the electromagnetic acceleration module can be determined respectively, so that the energy consumption characteristics of the hydraulic and electromagnetic acceleration systems under different working conditions can be deeply analyzed to achieve more accurate energy consumption calculation.

[0035] 205. Control the pile driver to perform pile driving according to the control parameter information.

[0036] Furthermore, based on the determined control parameter information, driving each execution component of the pile driver (such as hydraulic cylinders, electromagnetic acceleration modules, etc.) to operate according to the set parameters can achieve precise pile driving operations to ensure that the pile can be accurately driven into the predetermined position and meet the engineering requirements.

[0037] It can be understood that compared with the traditional pile driver control method, this method can achieve more precise pile driving operations by accurately considering factors such as the pile head position, pile point depth, soil quality information, and pile driving frequency, effectively improving the pile driving quality. At the same time, in terms of energy consumption control, through the refined management and optimization of the hydraulic and electromagnetic acceleration modules, the energy consumption of the pile driver can be significantly reduced, the energy utilization efficiency can be improved, and the construction cost can be reduced. In various engineering projects such as wharf construction and large building foundation pile driving, the method provided by the embodiments of this application can have broad application prospects.

[0038] In this example, by obtaining the first position information of the pile head of the pile driver and obtaining the real-time depth position information of the wharf pile point, the first movement distance information of the pile head can be determined according to the first position information and the real-time depth position information, and further obtaining the soil quality information of the pile point, the control parameter information of the pile driver can be determined according to the soil quality information, pile driving frequency information, and the first movement distance information, so that the pile driver can be controlled to perform pile driving according to the control parameter information, and more accurate control parameters can be determined based on the actual movement distance, soil quality, and pile driving frequency of the pile head and the pile driver can be controlled to perform pile driving, reducing the energy consumption during pile driving.

[0039] In a possible implementation manner, a possible method for determining the control parameter information of the pile driver according to the soil quality information, pile driving frequency information, and the first movement distance information may include the following steps: A1. Determine the first pile driving depth change amount according to the pile driving duration information and the total depth information of the pile hole for pile driving; A2. Determine the pile driving energy information according to the first pile driving depth change amount and the soil quality information; A3. Determine the first energy consumption information of the hydraulic module of the pile driver and the second energy consumption information of the electromagnetic acceleration module of the pile driver based on the pile driving energy information and the first movement distance; A4. Determine the first sub-control parameter information of the hydraulic module based on the first energy consumption information, and determine the second sub-control parameter information based on the second energy consumption information; A5. Perform a fusion process on the first sub-control parameter information and the second sub-control parameter information to obtain the control parameter information of the control system.

[0040] Among them, the first pile driving depth change amount can be used to determine the average depth of each pile driving (i.e., the depth change amount of each pile driving) according to the total pile driving duration and the pile hole depth. Specifically, it can be understood as the depth that can be driven in during the current pile driving. Since different soil types have different degrees of difficulty in being driven during pile driving, for example, clay is more difficult to drive than sand, and some soil types also contain gravel and whole stones, then the driving difficulty at this time is higher than that of clay. Therefore, the pile driving speed and the corresponding energy required at the same pile driving depth change amount will be different.

[0041] Specifically, due to the different soil types, when the pile head penetrates the soil of this soil type, the resistance received is different. At the same time, it is also necessary to make the pile head move the distance of the first pile driving depth change amount. Then, according to the energy calculation method, the energy required to overcome the resistance brought by the soil and move the distance of the first pile driving depth change amount can be calculated under specific soil types. Here, when calculating the energy, a standard pile head can be used for calculation, that is, under the standard pile head, its contact surface is the same, and the pressure applied can be approximately a fixed standard pressure. Then, when other pile heads are used, conversion can be performed to convert it into the pressure value under the standard pile head for subsequent calculation, so as to avoid the complexity of calculation and improve the calculation efficiency.

[0042] During pile driving, the energy carried by the pile head can be specifically determined by its mass and the end speed. Therefore, the pile driving required energy corresponding to the pile driving energy information should actually be the same as the energy carried by the pile head when it contacts the soil in the pile hole, so as to achieve driving the distance of the first pile driving depth change amount.

[0043] Specifically, the end speed value of the pile head when it contacts the soil in the pile hole can be determined according to the pile driving energy information. Then, based on this end speed value, the first movement distance, and the energy consumption power of the corresponding module, an energy consumption function can be determined. Finally, the optimal solution is solved and optimized according to this energy consumption function to obtain the first energy consumption information and the second energy consumption information.

[0044] The first energy consumption information of the hydraulic module can be used to indicate information related to the energy consumption of the hydraulic module for driving the pile head movement and other operations during the operation of the pile driver. The first energy consumption information of the hydraulic module can depend on factors such as pile driving energy consumption and movement distance, etc., to be used to determine the control parameters of the module.

[0045] The second energy consumption information of the electromagnetic acceleration module can be used to indicate the energy consumption data of the electromagnetic acceleration module of the pile driver during the auxiliary pile driving process. The second energy consumption information of the electromagnetic acceleration module is also affected by various factors. That is to say, by integrating the pile driving energy consumption information and the first movement distance, and analyzing the energy distribution and consumption characteristics of the hydraulic and electromagnetic acceleration modules during the pile driving operation, the first energy consumption information of the hydraulic module and the second energy consumption information of the electromagnetic acceleration module can be determined respectively.

[0046] The first sub-control parameter information can be parameters for controlling the operation of the module calculated according to their respective energy consumption information for the hydraulic module, such as hydraulic pressure values, etc. The second sub-control parameter information can be parameters for controlling the operation of the module calculated according to their respective energy consumption information for the electromagnetic acceleration module, such as electromagnetic power, etc.

[0047] On the one hand, according to the first energy consumption information of the hydraulic module, based on the working principle and performance function of the hydraulic system, the first sub-control parameter information for controlling the operation of the hydraulic module can be calculated; on the other hand, according to the second energy consumption information of the electromagnetic acceleration module, based on the working principle of the electromagnetic acceleration module, etc., the second sub-control parameter information for controlling the electromagnetic acceleration module can be determined.

[0048] Furthermore, the first sub-control parameter information and the second sub-control parameter information can be spliced and combined to obtain the control parameter information of the control system. The first sub-control parameter information and the second sub-control parameter information are integrated to obtain the control parameter information of the control system that can finally coordinate the work of the hydraulic and electromagnetic acceleration modules, so as to achieve the efficient and precise operation of the pile driver.

[0049] In this example, by determining the first pile driving depth change amount according to the pile driving duration information and the total depth information of the pile hole for pile driving, determining the pile driving energy consumption information based on the depth change amount, and further analyzing the energy consumption of the hydraulic and electromagnetic acceleration modules, it helps to achieve the energy-saving operation of the pile driver and reduce the construction cost; by respectively determining the first sub-control parameter information and the second sub-control parameter information, and performing fusion processing to obtain the final control parameter information, the hydraulic and electromagnetic acceleration modules can work together in the best state, improve the working efficiency and pile driving accuracy of the pile driver, ensure the quality and progress of the pile driving project, and play an important role in the construction of basic projects such as buildings and bridges.

[0050] In a possible implementation, after determining the pile driving energy information, the pile driving energy information can be converted into the kinetic energy information required to be provided by the pile head. Based on this kinetic energy information, an optimal solution solving method can be used to calculate the first energy consumption information of the hydraulic module and the second energy consumption information of the electromagnetic acceleration module of the pile driver. Specifically, it can be: A possible method for determining the first energy consumption information of the hydraulic module and the second energy consumption information of the electromagnetic acceleration module of the pile driver according to the pile driving energy information and the first movement distance includes the following steps: B1. Determine the terminal velocity value of the pile head according to the pile driving energy information; B2. Construct an energy consumption function based on the first movement distance, the pile driving frequency information, the terminal velocity value, the energy consumption power of the hydraulic module, and the energy consumption power of the electromagnetic acceleration module to obtain a first energy consumption function; B3. Solve the optimal solution of the energy consumption for the first energy consumption function to obtain the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module; B4. Optimize the first reference energy consumption information by using the state information of the pile driver to obtain the first energy consumption information, and optimize the second reference energy consumption information by using the state information of the pile driver to obtain the second energy consumption information.

[0051] Among them, the terminal velocity value of the pile head can be used to indicate the instantaneous velocity when the pile head is about to reach the predetermined pile point position during the pile driving process. Specifically, based on the pile driving energy consumption information, the mechanical principle and related motion equations can be used to calculate the terminal velocity value of the pile head during the pile driving process, which can provide key data for the subsequent construction of the energy consumption function. For example, since the pile driving energy information and the mass of the pile head are determined, the corresponding velocity value of the pile head can be determined through the kinetic energy calculation formula, and this velocity value can be determined as the terminal velocity value.

[0052] After determining the terminal velocity value, the acceleration interval information of the electromagnetic acceleration module can be determined according to the first movement distance and the terminal velocity value, and according to the sub-energy consumption function corresponding to each acceleration interval of the acceleration interval information and the energy consumption power of the electromagnetic acceleration module, and according to the first movement distance and the energy consumption power of the hydraulic module to determine another sub-energy consumption function, and finally fuse them to obtain the first energy consumption function.

[0053] Then, after obtaining the first energy consumption function, solve the optimal solution to obtain the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module. When solving the optimal solution, a general optimal solution solving method can be used to solve the first reference energy consumption information and the second reference energy consumption information.

[0054] The status information of the pile driver can include information such as the wear degree of the mechanical components of the pile driver, the working pressure stability of the hydraulic system, and the performance of the electrical system. The status information of the pile driver can reflect the actual working condition of the pile driver and will affect the energy consumption.

[0055] The first reference energy consumption information and the second reference energy consumption information can be adjusted and optimized according to the actual status information of the pile driver. For example, consider the impact of factors such as mechanical wear and system performance changes on energy consumption to obtain the first energy consumption information and the second energy consumption information that more conform to the actual working status of the pile driver.

[0056] In this example, through scientific calculation and analysis, the end velocity value of the pile head is accurately determined, and an energy consumption function is constructed to solve the reference energy consumption information, providing a clear goal and direction for the energy consumption control of the pile driver; using the status information of the pile driver for optimization processing, fully considering various factors in actual work, making the finally obtained first energy consumption information and second energy consumption information more accurate and practical, helping to achieve efficient energy-saving operation of the pile driver under different working conditions, reducing construction costs, and at the same time improving the accuracy and stability of pile driving, ensuring the project quality and progress, and having important application value in various foundation engineering constructions.

[0057] In a possible implementation manner, a possible method for constructing an energy consumption function based on the first movement distance, the pile driving frequency information, the end velocity value, the energy consumption power of the hydraulic module, and the energy consumption power of the electromagnetic acceleration module to obtain the first energy consumption function may include the following steps: C1. Determine the acceleration interval information of the electromagnetic acceleration module according to the end velocity value and the first movement distance; C2. Construct a first sub-energy consumption function in each acceleration interval according to the acceleration interval information and the energy consumption power of the electromagnetic acceleration module; C3. Determine the second sub-energy consumption function according to the first movement distance and the energy consumption power of the hydraulic module; C4. Perform a fusion process on the first sub-energy consumption function in each acceleration interval and the second sub-energy consumption function to obtain the first energy consumption function.

[0058] Among them, the terminal velocity value and the first moving distance can be adopted. According to the terminal velocity value, as well as the corresponding gravitational acceleration and the acceleration value provided by the electromagnetic velocity module, the moving distance corresponding to the first moving distance can be segmented. First, the first moving distance can be evenly divided according to the preset segmentation value n. After the even division, considering that the gravitational acceleration always exists, the evenly divided distances can be adjusted according to a certain relationship. The distance of the acceleration interval is smaller at the position closer to the top of the boom. Specifically, it can have a certain proportional relationship with the velocity, that is, the larger the velocity value, the longer the length of the acceleration interval, and the smaller the velocity value, the shorter the length of the acceleration interval. Finally, the moving time of the pile head is a fixed value within each acceleration interval.

[0059] For precise control, the present application adopts a segmented control scheme. Segmented acceleration can adjust the acceleration at different stages, thereby more precisely controlling the speed of the pile hammer. For example, at the initial stage of pile driving, a smaller acceleration can be adopted to smoothly start the pile hammer, avoiding excessive initial impact that may cause damage or deviation of the pile body. In one embodiment, the acceleration of the next segment is controlled by the current velocity: ; Then the velocity of the next acceleration interval can be expressed as: ; The first sub-energy consumption function within each acceleration interval can be expressed by the method shown in the following formula: ; Among them, M is the mass of the pile head and the dipper arm, is the velocity of the pile head in the i-th acceleration interval, k is the adjustment coefficient, is the distance of the i-th acceleration interval, is the energy in the i-th acceleration interval, is the acceleration in the i-th acceleration interval. Specifically, it can characterize the first sub-energy consumption function. There is a positive correlation between the energy consumption power and the acceleration, which is associated with the inherent parameters of the electromagnetic acceleration module. After the electromagnetic acceleration module is manufactured, its conversion coefficient is usually a fixed value.

[0060] And when the pile head is lifted to a distance S f The corresponding second sub-energy consumption function can be characterized by the following formula: ; Among them, M is the mass of the pile head and the dipper arm, and g is the gravitational acceleration.

[0061] The first sub-energy consumption function can be used to indicate, for each acceleration interval of the electromagnetic acceleration module, a function that reflects the energy consumption change within this interval, with parameters such as speed and time within the interval as variables and combined with the energy consumption power characteristics of the electromagnetic acceleration module. The first sub-energy consumption function can be used to show the energy consumption of electromagnetic acceleration at different acceleration stages.

[0062] Furthermore, the first sub-energy consumption function and the second sub-energy consumption function within each acceleration interval can be integrated to comprehensively consider the energy consumption contributions of electromagnetic acceleration and hydraulic drive at different stages, so as to obtain a complete current target energy consumption function to represent the total energy consumption change trend during the piling process. Specifically, as follows: ; ; Among them, is the piling energy information, and the end speed can be expressed as . With the target speed that the end speed should reach as a constraint, the energy consumption formula can be optimized and solved, and the optimal solution of the target energy consumption function is solved to make E 总 the smallest, obtaining the variable S and the acceleration a of the segmented interval i .

[0063] In another embodiment, since during the subsequent piling process, the movement distance during each piling can be adjusted after adding the electromagnetic acceleration module, at this time, denoted as , then the energy consumption that the hydraulic press can reduce can be specifically expressed as: ; ; is the total energy consumption of the hydraulic module, is the overall energy conversion coefficient of the hydraulic module, The total energy consumption of the hydraulic module should be equal to the reduced total energy consumption. After adjusting the movement distance, specifically, the distance is reduced, so the electromagnetic acceleration module needs to provide the energy corresponding to the reduced distance. At this time, the electromagnetic acceleration module needs to provide the energy that needs to be the same as . This energy is the total energy consumption of the electromagnetic acceleration module, is the overall energy conversion coefficient of the electromagnetic acceleration module. The overall energy conversion coefficient can be understood as follows: due to the increase in the movement distance during each pile driving, after increasing to a certain distance, the degree of increase in the potential energy that the hydraulic module needs to overcome will be very high, and the cost of improving mechanical strength will increase sharply, and the overall energy consumption will also increase sharply. Then, this overall energy conversion coefficient is obtained by comprehensively considering factors such as mechanical strength cost and energy consumption conversion ratio. Since the electromagnetic acceleration module accelerates downward and does not need to overcome the acceleration of gravity, its overall cost will be lower than that of the hydraulic module. Therefore, the above factors can be combined to solve the optimal solution, so as to obtain the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module.

[0064] In this example, through the above steps, the energy consumption change situation of the electromagnetic acceleration module and the hydraulic module during the pile driving process can be analyzed in detail; by determining the acceleration interval of the electromagnetic acceleration module and constructing the corresponding first sub-energy consumption function, it is helpful to make full use of the advantage of the lower energy consumption of the electromagnetic acceleration and achieve precise energy consumption control and optimization; by constructing the second sub-energy consumption function and fusing it with the first sub-energy consumption function to obtain the first energy consumption function, the energy consumption analysis of the pile driver is more comprehensive and accurate. This not only helps to reduce the total energy consumption during pile driving, improve energy utilization efficiency, reduce construction costs, but also provides an important basis for the precise control of the pile driver, improves the precision and quality of pile driving, ensures the smooth progress of the project, and has significant practical value in the field of building foundation construction and other fields.

[0065] In a possible implementation manner, a possible method for optimizing the first reference energy consumption information by using the state information of the pile driver to obtain the first energy consumption information may include the following steps: D1. Extract the operating state information and hardware state information of the pile driver from the state information; D2. Generate the first energy consumption loss information of the electromagnetic acceleration module according to the hardware state information; D3. Determine the second energy consumption loss information of the electromagnetic acceleration module according to the operating state information; D4. Fuse the first energy consumption loss information and the second energy consumption loss information to obtain the target energy consumption loss information; D5. Optimize the first reference energy consumption information according to the target energy consumption loss information to obtain the first energy consumption information.

[0066] The operating status information of a pile driver can cover various dynamic parameters during the working process of the pile driver, such as the stability of the pile driving frequency, the operating speeds of various components, the impact force of the pile head, etc., which can reflect the current actual working condition of the pile driver. The hardware status information of the pile driver can be used to indicate the wear degree, lubrication condition of the mechanical components of the pile driver (such as the motor of the electromagnetic acceleration module, the transmission device, etc.), the performance parameters of electrical components, etc. This hardware status information can directly affect the energy consumption efficiency of the electromagnetic acceleration module. Optionally, the operating status information and hardware status information of the pile driver can be obtained from the monitoring system of the pile driver or manual records to prepare for subsequent analysis.

[0067] The first energy consumption loss information of the electromagnetic acceleration module can be understood as the relevant information about the energy loss situation of the electromagnetic acceleration module caused by the physical condition of the hardware itself (such as mechanical wear, aging, etc.). This first energy consumption loss information can cause the actual energy consumption to deviate from the ideal reference value. Based on the wear degree and performance parameter changes in the hardware status information, and by using engineering experience formulas and equipment performance models, the first energy consumption loss information generated by the hardware problem of the electromagnetic acceleration module can be calculated.

[0068] The second energy consumption loss information of the electromagnetic acceleration module can be understood as the relevant information about the additional energy consumption situation of the electromagnetic acceleration module caused by external construction environment factors (such as increased friction between components due to dust pollution, changed air resistance due to bad weather, etc.). Based on the environment-related parameters (such as dust concentration, weather conditions, etc.) in the operating status information, and combined with the working principle of the electromagnetic acceleration module and resistance analysis, the second energy consumption loss information caused by the construction environment can be determined.

[0069] The target energy consumption loss information can be the total energy loss data obtained after comprehensively considering the energy consumption losses caused by hardware and operating environment factors, which can be used to correct the initial reference energy consumption information. The first energy consumption loss information and the second energy consumption loss information can be added or comprehensively calculated according to a certain weight or calculation rule to obtain the target energy consumption loss information, which can comprehensively reflect the actual energy consumption deviation situation of the electromagnetic acceleration module.

[0070] Furthermore, the target energy consumption loss information can be used to adjust the first reference energy consumption information, such as increasing or decreasing the corresponding energy consumption value, so as to obtain a more accurate first energy consumption information that is more in line with the actual working condition of the pile driver.

[0071] In this example, by accurately extracting and analyzing the status information, generating and integrating the energy consumption loss information, and optimizing the reference energy consumption information, the actual operation and hardware conditions of the pile driver and the influence of the construction environment on the energy consumption of the electromagnetic acceleration module are fully considered, so that the finally determined first energy consumption information is closer to the true energy consumption requirements of the pile driver, which helps to improve the accuracy and reliability of the energy consumption control of the pile driver, and avoid energy waste or abnormal equipment operation caused by not considering actual factors. In actual pile driving projects, it can ensure the efficient and stable operation of the pile driver, reduce the construction cost, improve the quality and efficiency of pile driving operations, and enhance the overall efficiency and safety of the project.

[0072] Consistent with the above embodiments, a pile driver provided by an embodiment of the present application includes a boom, an arm, a pile head, an electromagnetic acceleration module, a hydraulic module, and a control system. The first end of the arm is connected to the first end of the boom, and the pile head is provided at the second end of the arm. The electromagnetic acceleration module is arranged in parallel with the arm and is used to accelerate the arm when it falls. The control system includes a processor and a memory, and the processor and the memory are connected to each other. Among them, the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions. The above program includes instructions for performing the following steps; Obtain the first position information of the pile head of the pile driver and obtain the real-time depth position information of the wharf pile point; Determine the first movement distance information of the pile head according to the first position information and the real-time depth position information; Obtain the soil quality information of the pile point; Determine the control parameter information of the pile driver according to the soil quality information, the pile driving duration information, and the first movement distance information; Control the pile driver to drive piles according to the control parameter information.

[0073] In this example, by obtaining the first position information of the pile head of the pile driver and obtaining the real-time depth position information of the wharf pile point, the first movement distance information of the pile head can be determined according to the first position information and the real-time depth position information, and further the soil quality information of the pile point can be obtained. The control parameter information of the pile driver can be determined according to the soil quality information, the pile driving frequency information, and the first movement distance information, so that the pile driver can be controlled to drive piles according to the control parameter information, and more accurate control parameters can be determined and the pile driver can be controlled to drive piles according to the actual movement distance, soil quality, and pile driving frequency of the pile head, reducing the energy consumption during pile driving.

[0074] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that in order for the terminal to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0075] The embodiment of the present application can divide the functional units of the terminal according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. It should be noted that the division of units in the embodiment of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0076] Consistent with the above, please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a control device for a pile driver provided by an embodiment of the present application. As Figure 3 shown, the device includes: A first acquisition unit 101, configured to acquire first position information of the pile head of the pile driver and acquire real-time depth position information of the pile point at the dock; A first determination unit 102, configured to determine first movement distance information of the pile head according to the first position information and the real-time depth position information; A second acquisition unit 103, configured to acquire soil quality information of the pile point; A second determination unit 104, configured to determine control parameter information of the pile driver according to the soil quality information, pile driving duration information, and the first movement distance information; A control unit 105, configured to control the pile driver to drive piles according to the control parameter information.

[0077] In a possible implementation manner, the second determination unit 104, when determining the control parameter information of the pile driver according to the soil quality information, pile driving duration information, and the first movement distance information, is specifically configured to: Determine a first pile driving depth change amount according to the pile driving duration information and the total depth information of the pile hole for pile driving; Determine the pile driving energy information based on the first pile driving depth change amount and the soil quality information; Determine the first energy consumption information of the hydraulic module of the pile driver and the second energy consumption information of the electromagnetic acceleration module of the pile driver according to the pile driving energy information and the first movement distance; Determine the first sub-control parameter information of the hydraulic module according to the first energy consumption information, and determine the second sub-control parameter information according to the second energy consumption information; Perform a fusion process on the first sub-control parameter information and the second sub-control parameter information to obtain the control parameter information of the control system.

[0078] In a possible implementation manner, the second determination unit 104 is configured to determine the first energy consumption information of the hydraulic module of the pile driver and the second energy consumption information of the electromagnetic acceleration module of the pile driver according to the pile driving energy information and the first movement distance, and specifically is configured to: Determine the end speed value of the pile head according to the pile driving energy information; Construct an energy consumption function based on the first movement distance, the end speed value, the energy consumption power of the hydraulic module, and the energy consumption power of the electromagnetic acceleration module to obtain a first energy consumption function; Solve the optimal energy consumption solution for the first energy consumption function to obtain the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module; Optimize the first reference energy consumption information by using the state information of the pile driver to obtain the first energy consumption information, and optimize the second reference energy consumption information by using the state information of the pile driver to obtain the second energy consumption information.

[0079] In a possible implementation manner, the second determination unit 104 is configured to construct an energy consumption function based on the first movement distance, the end speed value, the energy consumption power of the hydraulic module, and the energy consumption power of the electromagnetic acceleration module to obtain a first energy consumption function, and specifically is configured to: Determine the acceleration interval information of the electromagnetic acceleration module according to the end speed value and the first movement distance; Construct a first sub-energy consumption function in each acceleration interval based on the acceleration interval information and the energy consumption power of the electromagnetic acceleration module; Determine a second sub-energy consumption function according to the first movement distance and the energy consumption power of the hydraulic module; Perform a fusion process on the first sub-energy consumption function in each acceleration interval and the second sub-energy consumption function to obtain the first energy consumption function.

[0080] In a possible implementation, the second determination unit 104 is configured to optimize the first reference energy consumption information by using the state information of the pile driver to obtain the first energy consumption information. Specifically, it is configured to: Extract the operating state information and the hardware state information of the pile driver from the state information; Generate the first energy consumption loss information of the electromagnetic acceleration module according to the hardware state information; Determine the second energy consumption loss information of the electromagnetic acceleration module according to the operating state information; Fuse the first energy consumption loss information and the second energy consumption loss information to obtain the target energy consumption loss information; Optimize the first reference energy consumption information according to the target energy consumption loss information to obtain the first energy consumption information.

[0081] The embodiment of the present application further provides a computer storage medium. The computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute some or all of the steps of any one of the pile driver control methods described in the foregoing method embodiments.

[0082] The embodiment of the present application further provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program enables a computer to execute some or all of the steps of any one of the pile driver control methods described in the foregoing method embodiments.

[0083] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0084] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0085] In several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling, or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0086] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] In addition, each functional unit in the various embodiments of the application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software program modules.

[0088] If the above-mentioned integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. And the aforementioned memory includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other media that can store program codes.

[0089] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory. The memory can include: flash drives, read-only memories, random access memories, magnetic disks, or optical discs, etc.

[0090] The above has introduced the embodiments of the present application in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A control method for a pile driver used in wharf construction, characterized in that, The method includes: Obtaining first position information of the pile head of the pile driver, and obtaining real-time depth position information of the pile point; Determining first movement distance information of the pile head according to the first position information and the real-time depth position information; Obtaining soil quality information of the pile point; Determining control parameter information of the pile driver according to the soil quality information, pile driving duration information, and the first movement distance information; Controlling the pile driver to drive piles according to the control parameter information.

2. The control method of the pile driver according to claim 1, characterized in that, The determining the control parameter information of the pile driver according to the soil quality information, pile driving duration information, and the first movement distance information includes: Determining a first pile driving depth change amount according to the pile driving duration information and the total depth information of the pile hole for pile driving; Determining pile driving energy information according to the first pile driving depth change amount and the soil quality information; Determining first energy consumption information of the hydraulic module of the pile driver and second energy consumption information of the electromagnetic acceleration module of the pile driver according to the pile driving energy information and the first movement distance; Determining first sub-control parameter information of the hydraulic module according to the first energy consumption information, and determining second sub-control parameter information according to the second energy consumption information; Performing fusion processing on the first sub-control parameter information and the second sub-control parameter information to obtain the control parameter information of the control system.

3. The control method of the pile driver according to claim 2, characterized in that, The method further includes: Determining the end speed value of the pile head according to the pile driving energy information; Constructing an energy consumption function according to the first movement distance, the end speed value, the energy consumption power of the hydraulic module, and the energy consumption power of the electromagnetic acceleration module; Solving for the optimal energy consumption solution of the first energy consumption function to obtain first reference energy consumption information of the hydraulic module and second reference energy consumption information of the electromagnetic acceleration module; Optimizing the first reference energy consumption information by using the state information of the pile driver to obtain the first energy consumption information, and optimizing the second reference energy consumption information by using the state information of the pile driver to obtain the second energy consumption information.

4. The control method of the pile driver according to claim 3, characterized in that, The method further includes: Determining acceleration interval information of the electromagnetic acceleration module according to the end speed value and the first movement distance; Constructing a first sub-energy consumption function in each acceleration interval according to the acceleration interval information and the energy consumption power of the electromagnetic acceleration module; Determining a second sub-energy consumption function according to the first movement distance and the energy consumption power of the hydraulic module; Performing fusion processing on the first sub-energy consumption function in each acceleration interval and the second sub-energy consumption function to obtain the energy consumption.

5. The control method of the pile driver according to claim 4, wherein, The optimizing the first reference energy consumption information by using the state information of the pile driver to obtain the first energy consumption information includes: Extracting the operating state information and hardware state information of the pile driver from the state information; Generating first energy consumption loss information of the electromagnetic acceleration module according to the hardware state information; Determining second energy consumption loss information of the electromagnetic acceleration module according to the operating state information; Fusing the first energy consumption loss information and the second energy consumption loss information to obtain target energy consumption loss information; Optimize the first reference energy consumption information according to the target energy consumption loss information to obtain the first energy consumption information.

6. A control device for a pile driver used in wharf construction, characterized in that, The device includes: A first acquisition unit, configured to acquire first position information of the pile head of the pile driver and acquire real-time depth position information of the wharf pile point; A first determination unit, configured to determine first movement distance information of the pile head according to the first position information and the real-time depth position information; A second acquisition unit, configured to acquire soil quality information of the pile point; A second determination unit, configured to determine control parameter information of the pile driver according to the soil quality information, pile driving duration information, and the first movement distance information; A control unit, configured to control the pile driver to drive piles according to the control parameter information.

7. The control device of the pile driver according to claim 6, characterized in that, The second determination unit, configured to determine control parameter information of the pile driver according to the soil quality information, pile driving frequency information, and the first movement distance information, specifically: Predict the change amount of the pile driving depth according to the soil quality information and the first movement distance to obtain a first pile driving depth change amount; Determine pile driving energy consumption information according to the first pile driving depth change amount; Determine first energy consumption information of the hydraulic module of the pile driver and second energy consumption information of the electromagnetic acceleration module of the pile driver according to the pile driving energy consumption information, the pile driving frequency information, and the first movement distance; Determine first sub-control parameter information of the hydraulic module according to the first energy consumption information, and determine second sub-control parameter information according to the second energy consumption information; Perform fusion processing on the first sub-control parameter information and the second sub-control parameter information to obtain control parameter information of the control system.

8. The control device of the pile driver according to claim 7, characterized in that, The second determination unit, configured to determine first energy consumption information of the hydraulic module of the pile driver and second energy consumption information of the electromagnetic acceleration module of the pile driver according to the pile driving energy consumption information, the pile driving frequency information, and the first movement distance, specifically: Determine the end speed value of the pile head according to the pile driving energy consumption information; Construct an energy consumption function according to the first movement distance, the pile driving frequency information, the end speed value, the energy consumption power of the hydraulic module, and the energy consumption power of the electromagnetic acceleration module to obtain a first energy consumption function; Solve the optimal energy consumption solution for the first energy consumption function to obtain first reference energy consumption information of the hydraulic module and second reference energy consumption information of the electromagnetic acceleration module; Optimize the first reference energy consumption information by using the state information of the pile driver to obtain the first energy consumption information, and optimize the second reference energy consumption information by using the state information of the pile driver to obtain the second energy consumption information.

9. A pile driver for wharf construction, characterized in that, The pile driver includes a boom, an arm, a pile head, an electromagnetic acceleration module, a hydraulic module, and a control system. The first end of the arm is connected to the first end of the boom. The pile head is provided at the second end of the arm. The electromagnetic acceleration module is arranged in parallel with the arm and is used to accelerate the arm when it falls. The control system includes a processor and a memory, and the processor and the memory are connected to each other. Wherein, the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the method according to any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1-5.

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