A control method and device for a pile driver used in wharf construction

Abstract

This application relates to the field of automatic control technology, and provides a control method and apparatus for a pile driver used in wharf construction. The method includes: acquiring first position information of the pile head of the pile driver, and acquiring real-time depth position information of the pile point at the wharf; determining first movement distance information of the pile head based on the first position information and the real-time depth position information; acquiring soil information of the pile point; determining control parameter information of the pile driver based on the soil information, pile driving time information, and the first movement distance information; and controlling the pile driver to perform pile driving based on the control parameter information. By implementing the method provided in this application, precise control of the pile driver can be achieved, which is beneficial to improving the efficiency of the pile driving process.

Description

Technical Field

[0001] This application relates to the fields of data processing and intelligent control technology, specifically to a control method and device for a pile driver used in wharf construction. Background Technology

[0002] In the field of piling engineering, traditional piling control methods have many shortcomings. Especially in wharf construction, the soil conditions are relatively complex, potentially involving hardened layers, gravel layers, clay, and soft soil layers. Existing piling machines typically raise the pile head to a certain height and then lower it for driving. This method often overlooks geological factors. For example, soft soil is characterized by high water content, large void ratio, and low shear strength. If the impact speed is too high, the pile can easily sink rapidly, potentially leading to tilting or breakage. Similarly, sandy soils have good permeability, and high impact speeds during piling can cause liquefaction. Gravelly soils and rocky soils have higher strength, requiring significant impact energy to break up or displace the soil and rock. Therefore, traditional piling control methods are inefficient and prone to instability.

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

[0004] This application provides a control method and device for a pile driver used in wharf construction. It can determine more precise control parameters based on the actual movement distance of the pile head, soil quality, and pile driving frequency, and control the pile driver to perform pile driving, thereby reducing energy consumption during pile driving.

[0005] A first aspect of this application provides a control method for a piling machine used in wharf construction, the method comprising:

[0006] Obtain the first position information of the pile head of the piling machine, and obtain the real-time depth position information of the pile points at the dock;

[0007] The first movement distance information of the pile head is determined based on the first location information and the real-time depth location information;

[0008] Obtain soil information for the pile points;

[0009] The control parameters of the pile driver are determined based on the soil information, pile driving time information, and the first movement distance information.

[0010] The pile driver is controlled to drive piles based on the control parameter information.

[0011] A second aspect of this application provides a control device for a piling machine used in wharf construction, the device comprising:

[0012] The first acquisition unit is used to acquire the first position information of the pile head of the pile driver and the real-time depth position information of the dock pile point.

[0013] The first determining unit is configured to determine the first movement distance information of the pile head based on the first location information and the real-time depth location information.

[0014] The second acquisition unit is used to acquire the soil information of the pile point;

[0015] The second determining unit is used to determine the control parameter information of the pile driver based on the soil information, the pile driving time information and the first movement distance information;

[0016] The control unit is used to control the pile driver to perform pile driving according to the control parameter information.

[0017] A third aspect of this application provides a pile driver for wharf construction, characterized in that the pile driver includes a boom, a stick, a pile head, an electromagnetic acceleration module, a hydraulic module, and a control system. A first end of the stick is connected to a first end of the boom, and the pile head is disposed at a second end of the stick. The electromagnetic acceleration module is arranged parallel to the stick and is used to accelerate the stick during its descent. The control system includes a processor and a memory, which are interconnected. The memory stores a computer program, which includes program instructions. The processor is configured to call the program instructions and execute the step instructions as described in the first aspect of this application.

[0018] A fourth aspect of this application provides a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in the first aspect of this application.

[0019] A fifth aspect of this application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of this application. The computer program product may be a software installation package.

[0020] The above-described solution of this application obtains the first position information of the pile head of the pile driver and the real-time depth position information of the dock pile point. Based on the first position information and the real-time depth position information, the first movement distance information of the pile head can be determined. Furthermore, the soil information of the pile point can be obtained. Based on the soil information and the first movement distance information, the control parameter information of the pile driver can be determined. Thus, the pile driver can be controlled to perform pile driving based on the control parameter information. More accurate control parameters can be determined and the pile driver can be controlled to perform pile driving based on the actual movement distance of the pile head, the soil quality and the pile driving frequency, thereby reducing the energy consumption during pile driving. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This application provides a schematic diagram of the structure of a piling machine used for wharf construction.

[0023] Figure 2 This application provides a schematic flowchart of a control method for a piling machine used in wharf construction.

[0024] Figure 3 This application provides a schematic diagram of the structure of a control device for a pile driver used in wharf construction. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0027] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0028] To better understand the control method for a piling machine used in wharf construction provided in this application embodiment, the following is a brief introduction to the scenarios in which this piling machine control method is applied. In port wharf construction, wharves need to withstand the loading and unloading of large quantities of cargo and the berthing and mooring of ships. Piling machines can be used in wharf construction to drive various types of piles, such as steel pipe piles and sheet piles, to enhance the structural strength and stability of the wharf, adapting to frequent port operations and complex hydrogeological conditions.

[0029] In piling projects, it is necessary to debug the piling machine and control the piling process. Existing solutions typically involve debugging before piling, such as segmented debugging using the distance between the current pile head position and the pile point position. However, this is limited to segmented piling verification and adjustment during the debugging phase and does not address adjustments made during the actual piling process. It fails to verify and adjust the piling process itself. However, due to the requirements for piling accuracy and energy conservation, targeted real-time adjustments to the piling machine's control during piling are particularly important.

[0030] To address the aforementioned issues, this application provides a control method for a pile driver. This method can determine more precise control parameters based on the actual movement distance of the pile head, soil conditions, and pile driving frequency, thereby controlling the pile driver to perform pile driving, reducing energy consumption and improving accuracy during pile driving.

[0031] Please see Figure 1 , Figure 1 This application provides a schematic diagram of the structure of a piling machine used in wharf construction. (See attached diagram.) Figure 1As shown, the pile driver includes a boom 1, a stick 2, a pile head 3, an electromagnetic acceleration module 4, a hydraulic module 5, and a control system 6. The first end of the stick 2 is connected to the first end of the boom 1, and the pile head 3 is mounted on the second end of the stick 2. The electromagnetic acceleration module 4 is arranged parallel to the stick 2 and is used to accelerate the stick 2 during its descent. The control system 6 can control the hydraulic module 5 to raise the stick to a certain height and then lower it for subsequent pile driving. The pile head 3 can be a conventional pile head. During the descent, the control system 6 can accelerate the stick 2 through the electromagnetic acceleration module 4 to increase the end velocity of the pile head when it contacts the pile driving position. Since downward acceleration does not require overcoming gravitational acceleration, the energy consumption during acceleration is lower than that when the hydraulic system raises the stick, thus improving the pile driving effect while saving energy.

[0032] Please see Figure 2 , Figure 2 This application provides a schematic flowchart of a control method for a piling machine used in wharf construction, as illustrated in this embodiment. Figure 2 As shown, this method is applied to a pile driver, and the method includes:

[0033] 201. Obtain the first position information of the pile head of the pile driver and obtain the real-time depth position information of the dock pile point.

[0034] The first position information of the pile head can be used to indicate the spatial position data of the pile head of the piling machine in a preset coordinate system. Optionally, it can be obtained through a positioning device installed on the piling machine (such as a position sensor, total station, etc.), or based on a combination of the mechanical structure parameters of the piling machine itself and angle sensors. This first position information of the pile head is the basic data for subsequent calculations of the pile head movement. The preset coordinate system can be a spatial coordinate system constructed with any fixed point on the piling machine after the piling process as the origin. Since the position of the piling machine is usually fixed after the piling process, the spatial coordinate system can be established by using any fixed point after the fixation as the origin, which can avoid multiple coordinate transformations in the future, improve the fixed reference surface, and reduce the complexity of subsequent processing.

[0035] Real-time depth location information of dock piles can be used to indicate the underground depth coordinates of piles at predetermined piling locations within the dock construction area; specifically, it can be understood as the depth information of currently driven pile holes. Specifically, this can be obtained through sensors installed at the boom and pile head to acquire the real-time depth information of the pile holes.

[0036] 202. Determine the first movement distance information of the pile head based on the first location information and the real-time depth location information.

[0037] The initial movement distance information of the pile head can be used to indicate the actual distance the pile head needs to move, calculated from 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. Understandably, this calculation result can influence the subsequent movement range and control strategy of the pile driver.

[0038] By acquiring the first position information of the pile head of the piling machine and the real-time depth position information of the pile points at the wharf, and using these two sets of key information, the first movement distance of the pile head can be accurately determined, which provides basic data support for subsequent control parameter calculations and ensures the accuracy of the piling operation.

[0039] It is understandable that by using the acquired first position information of the pile head and the real-time depth position information of the pile point, and based on 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.

[0040] 203. Obtain the soil information of the pile points.

[0041] Soil information for pile points can include the soil type (such as clay, sand, silt, etc.), soil mechanical properties (such as compressive strength, shear strength, elastic modulus, etc.), and groundwater level. Optionally, this soil information can be obtained through a geological survey report or on-site geotechnical tests.

[0042] Understandably, since soil information has a significant impact on resistance and energy consumption during the piling process, geological exploration methods (such as drilling sampling analysis and geophysical exploration) can be used to obtain soil information at the pile point, including soil type and mechanical properties, so as to obtain soil information and thus more accurately determine the control parameters of the piling machine.

[0043] 204. Determine the control parameters of the pile driver based on the soil information, pile driving time information, and the first movement distance information.

[0044] Piling time information can be understood as the total time required to complete the piling action to the desired depth of the pile hole. Therefore, the average depth per piling operation (i.e., the change in depth per piling operation) can be determined based on the total piling time and the pile hole depth. Then, based on this change in depth and soil information, the corresponding end-impact velocity for the current soil type can be determined. For example, soft soil is characterized by high water content, large void ratio, and low shear strength; if the impact velocity is too high, the pile can easily sink rapidly, potentially leading to pile tilting or breakage. Similarly, sandy soil has good permeability; during piling, a high impact velocity may cause liquefaction. Gravelly soil and rocky soil have higher strength, requiring greater impact energy to break or displace the soil and rock during piling. Furthermore, based on the end-impact velocity, the energy required for piling can be determined. Different velocities for different soil types can be determined by combining historical construction data. After determining the piling energy information, the control parameters of the piling machine can be determined by combining the first travel distance.

[0045] The control parameters of a pile driver can be derived from comprehensive soil information, pile driving time information, and pile head movement distance information (first movement distance). These parameters are used to precisely control the working status of various components of the pile driver (such as the pressure and flow of the hydraulic system, the power of the electromagnetic acceleration device, etc.).

[0046] Optionally, after obtaining the soil information at the pile points, it can be combined with the pile driving time information to predict the change in pile driving depth, thereby obtaining the change in pile driving depth. Based on this change in pile driving depth, the energy consumption information of pile driving can be further determined through mechanical and energy conversion principles. This allows for a full consideration of the impact of soil quality on energy consumption during pile driving, making subsequent control parameter calculations more closely aligned with actual construction conditions, and thus enabling precise energy consumption control, which is beneficial for reducing energy consumption.

[0047] Based on the obtained piling energy consumption information, the known piling time information, and the first movement distance, the first energy consumption information of the hydraulic module and the second energy consumption information of the electromagnetic acceleration module of the piling machine can be determined respectively. This allows for in-depth analysis of the energy consumption characteristics of the hydraulic and electromagnetic acceleration systems under different working conditions, enabling more accurate energy consumption calculations.

[0048] 205. Control the pile driver to perform pile driving according to the control parameter information.

[0049] Furthermore, based on the determined control parameter information, the various actuators of the pile driver (such as hydraulic cylinders, electromagnetic acceleration modules, etc.) are driven to operate according to the set parameters, which can achieve precise pile driving operations, ensuring that the piles can be accurately driven into the predetermined positions and meet the project requirements.

[0050] Understandably, compared to traditional piling machine control methods, this method can achieve more precise piling operations and effectively improve piling quality by accurately considering factors such as pile head position, pile depth, soil conditions, and piling frequency. Simultaneously, in terms of energy consumption control, the refined management and optimization of the hydraulic and electromagnetic acceleration modules can significantly reduce the energy consumption of the piling machine, improve energy utilization efficiency, and lower construction costs. The method provided in this application embodiment has broad application prospects in various dock construction projects and large-scale building foundation piling projects.

[0051] In this example, by acquiring the first position information of the pile head of the pile driver and the real-time depth position information of the dock pile point, the first movement distance information of the pile head can be determined based on the first position information and the real-time depth position information. Furthermore, by acquiring the soil information of the pile point, the control parameter information of the pile driver can be determined based on the soil information, the pile driving frequency information, and the first movement distance information. Thus, the pile driver can be controlled to perform pile driving based on the control parameter information. This allows for more precise control parameters to be determined based on the actual movement distance of the pile head, the soil quality, and the pile driving frequency, thereby reducing energy consumption during pile driving.

[0052] In one possible implementation, a method for determining the control parameter information of the pile driver based on the soil information, pile driving frequency information, and the first movement distance information may include the following steps:

[0053] A1. Determine the first pile driving depth change based on the pile driving time information and the total pile hole depth information;

[0054] A2. Determine the pile driving energy information based on the first pile driving depth change and the soil information;

[0055] 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;

[0056] 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;

[0057] A5. The first sub-control parameter information and the second sub-control parameter information are fused to obtain the control parameter information of the control system.

[0058] The first change in pile driving depth can be determined by the total driving time and the depth of the pile hole, which represents the average depth of each pile driving operation (i.e., the change in depth per pile driving operation). Specifically, it can be understood as the depth to which the pile can be driven during a given driving operation. Since different soil types have varying degrees of difficulty in driving piles—for example, clay is more difficult to drive than sand—and some soil types contain gravel and whole stones, making them even more difficult to drive than clay, the required driving speed and corresponding energy will differ for the same change in pile driving depth.

[0059] Specifically, due to differences in soil properties, the resistance encountered by the pile head when penetrating the soil varies. Simultaneously, the distance the pile head needs to move by the initial change in pile depth must be calculated using energy calculation methods. This involves overcoming the soil resistance and moving the pile head a distance corresponding to the initial change in pile depth under specific soil conditions. In this energy calculation, a standard pile head can be used, as the contact surface is identical, and the applied pressure can be approximated as a fixed standard pressure. When using other pile heads, this can be converted to the pressure value under a standard pile head for subsequent calculations, thus avoiding computational complexity and improving efficiency.

[0060] During pile driving, the energy carried by the pile head can be determined by its mass and end velocity. Therefore, the energy required for pile driving 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 the distance of the first pile driving depth change.

[0061] Specifically, the end velocity of the pile head when it contacts the soil in the pile hole can be determined based on the pile driving energy information. An energy consumption function can be determined based on the end velocity value, the first movement distance, and the energy consumption power of the corresponding module. Finally, the optimal solution is solved and optimized based on the energy consumption function to obtain the first energy consumption information and the second energy consumption information.

[0062] The initial energy consumption information of the hydraulic module can be used to indicate the energy consumed by the hydraulic module in operations such as driving the pile head during the operation of the pile driver. This initial energy consumption information of the hydraulic module can depend on factors such as pile driving energy consumption and travel distance to determine the control parameters of the module.

[0063] The second energy consumption information of the electromagnetic acceleration module can be used to indicate the energy consumed by the electromagnetic acceleration module of the piling machine during the assisted piling process. This second energy consumption information is also affected by multiple factors. In other words, by combining the piling energy consumption information and the first travel distance, and by analyzing the energy distribution and consumption characteristics of the hydraulic and electromagnetic acceleration modules during piling operations, the first energy consumption information of the hydraulic module and the second energy consumption information of the electromagnetic acceleration module can be determined separately.

[0064] The first sub-control parameter information can be for the hydraulic module, calculated based on its respective energy consumption information, and used to control the module's operation, such as hydraulic pressure values. The second sub-control parameter information can be for the electromagnetic acceleration module, calculated based on its respective energy consumption information, and used to control the module's operation, such as electromagnetic power.

[0065] On the one hand, based on the first energy consumption information of the hydraulic module and 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, based on the second energy consumption information of the electromagnetic acceleration module and the working principle of the electromagnetic acceleration module, the second sub-control parameter information for controlling the electromagnetic acceleration module can be determined.

[0066] Furthermore, the first and second sub-control parameter information can be combined to obtain the control parameter information of the control system. Integrating the first and second sub-control parameter information yields the final control parameter information for the control system that coordinates the operation of the hydraulic and electromagnetic acceleration modules, thereby enabling the pile driver to operate efficiently and accurately.

[0067] In this example, the first pile driving depth change is determined based on the pile driving time information and the total pile hole depth information. Based on the depth change, the pile driving energy consumption information is determined, and the energy consumption of the hydraulic and electromagnetic acceleration modules is further analyzed. This helps to achieve energy-saving operation of the pile driver and reduce construction costs. By separately determining the first and second sub-control parameter information and then fusing them to obtain the final control parameter information, the hydraulic and electromagnetic acceleration modules can work together to achieve the best state, improving the working efficiency and pile driving accuracy of the pile driver, ensuring the quality and progress of the pile driving project, and playing an important role in the construction of foundation engineering projects such as buildings and bridges.

[0068] In one possible implementation, after determining the piling energy information, the piling energy information can be converted into kinetic energy information that the pile head needs to provide. Based on this kinetic energy information, an optimal solution 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 piling machine. Specifically, one 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 piling machine based on the piling energy information and the first movement distance includes the following steps:

[0069] B1. Determine the end velocity value of the pile head based on the pile driving energy information;

[0070] B2. Construct 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;

[0071] B3. By solving the energy consumption optimal solution of the first energy consumption function, the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module are obtained.

[0072] B4. The first reference energy consumption information is optimized using the status information of the pile driver to obtain the first energy consumption information, and the second reference energy consumption information is optimized using the status information of the pile driver to obtain the second energy consumption information.

[0073] The terminal velocity of the pile head can be used to indicate the instantaneous velocity of the pile head as it approaches the predetermined pile point during the pile driving process. Specifically, based on pile driving energy consumption information, the terminal velocity of the pile head during the pile driving process can be calculated using mechanical principles and relevant equations of motion, providing crucial 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 fixed, the corresponding velocity value of the pile head can be determined using the kinetic energy calculation formula, and this velocity value can be designated as the terminal velocity value.

[0074] After determining the end velocity value, the acceleration interval information of the electromagnetic acceleration module can be determined based on the first movement distance and the end velocity value. Then, based on the acceleration interval information and the energy consumption power of the electromagnetic acceleration module, a sub-energy consumption function corresponding to each acceleration interval is determined, as well as another sub-energy consumption function is determined based on the first movement distance and the energy consumption power of the hydraulic module. Finally, these are fused together to obtain the first energy consumption function.

[0075] After obtaining the first energy consumption function, the optimal solution is then obtained to acquire the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module. A general optimal solution method can be used to obtain the first and second reference energy consumption information during the optimal solution process.

[0076] The status information of a piling machine can include information such as the wear and tear of its mechanical components, the stability of the hydraulic system's working pressure, and the performance of its electrical system. This status information reflects the actual working condition of the piling machine and affects energy consumption.

[0077] Based on the actual status information of the pile driver, the first reference energy consumption information and the second reference energy consumption information can be adjusted and optimized, such as taking into account the impact of factors such as mechanical wear and changes in system performance on energy consumption, so as to obtain the first and second energy consumption information that are more consistent with the actual working status of the pile driver.

[0078] In this example, the terminal velocity value of the pile head was accurately determined through scientific calculation and analysis, and the reference energy consumption information was obtained by constructing an energy consumption function. This provides a clear target and direction for the energy consumption control of the pile driver. By using the state information of the pile driver for optimization processing, and fully considering various factors in actual work, the final first and second energy consumption information are more accurate and practical. This helps to achieve efficient and energy-saving operation of the pile driver under different working conditions, reduce construction costs, improve the accuracy and stability of pile driving, and ensure project quality and progress. It has important application value in various foundation engineering constructions.

[0079] In one possible implementation, a 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:

[0080] C1. Determine the acceleration range information of the electromagnetic acceleration module based on the terminal velocity value and the first movement distance;

[0081] C2. Construct the 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;

[0082] C3. Determine the second sub-energy consumption function based on the first movement distance and the energy consumption power of the hydraulic module;

[0083] C4. The first sub-energy consumption function and the second sub-energy consumption function in each acceleration interval are fused to obtain the first energy consumption function.

[0084] The process can utilize the end velocity value and the first movement distance. Based on the end velocity value, the corresponding gravitational acceleration, and the acceleration value provided by the electromagnetic speed module, the movement distance corresponding to the first movement distance can be segmented. First, the first movement distance can be divided equally according to a preset segment value n. After the equal division, considering that gravitational acceleration is always present, the equal distance can be adjusted according to a certain relationship. The distance of the acceleration interval closer to the top of the boom is smaller. Specifically, it can be directly proportional to the speed, that is, the larger the speed value, the larger the length of the acceleration interval, and the smaller the speed value, the smaller the length of the acceleration interval. Ultimately, the movement time of the pile head is a fixed value within each acceleration interval.

[0085] To achieve precise control, this application employs a segmented control scheme. Segmented acceleration allows for adjustment of the acceleration at different stages, thereby enabling more precise control of the pile hammer's speed. For example, in the initial stages of pile driving, a smaller acceleration can be used to ensure a smooth start for the pile hammer, avoiding excessive initial impact that could damage or deviate the pile. In one embodiment, the current speed is used to control the acceleration of the next segment.

[0086] ;

[0087] The speed in the next acceleration interval can then be expressed as:

[0088] ;

[0089] The first sub-energy consumption function within each acceleration interval can be expressed by the following formula:

[0090] ;

[0091] Where M represents the mass of the pile head and the boom. Let k be the velocity of the pile head in the i-th acceleration interval, and k be an adjustment coefficient. Let be the distance of the i-th acceleration interval. Let be the energy in the i-th acceleration interval. Let be the acceleration within the i-th acceleration interval. Specifically, it can be characterized by the first sub-energy consumption function. There is a positive correlation between energy consumption and acceleration, which is related to the inherent parameters of the electromagnetic acceleration module. After the electromagnetic acceleration module is manufactured, its conversion coefficient is usually a fixed value.

[0092] Correspondingly, the pile head will be raised to a distance S. f The corresponding second sub-energy consumption function can be characterized by the following formula:

[0093] ;

[0094] Where M is the mass of the pile head and the boom, and g is the acceleration due to gravity.

[0095] The first sub-energy consumption function can be used to indicate the energy consumption changes within each acceleration interval of the electromagnetic acceleration module, using parameters such as speed and time within that interval as variables, combined with the energy consumption characteristics of the electromagnetic acceleration module. This first sub-energy consumption function can be used to display the energy consumption of electromagnetic acceleration at different acceleration stages.

[0096] Furthermore, by integrating the first and second sub-energy consumption functions within each acceleration interval to comprehensively consider the energy consumption contributions of electromagnetic acceleration and hydraulic drive at different stages, a complete current target energy consumption function can be obtained to represent the total energy consumption trend during the piling process, as detailed below:

[0097] ;

[0098] ;

[0099] in, For pile driving energy information, the terminal velocity can be expressed as By using the target speed to be achieved at the end as a constraint, the energy consumption formula can be optimized. Solving for the optimal solution of the target energy consumption function allows E to... 总 Minimize the value to obtain the variable S and the acceleration a of the segmented interval. i .

[0100] In another embodiment, since the movement distance during each pile driving operation can be adjusted after the electromagnetic acceleration module is added, it is denoted as follows: Therefore, the energy reduction that the hydraulic press can achieve at this time can be specifically expressed as:

[0101] ;

[0102] ;

[0103]

[0104] This represents the total energy consumption of the hydraulic module. The overall energy conversion coefficient of the hydraulic module, The total energy consumption of the hydraulic module should be equal to the reduction in total energy consumption. After adjusting the travel distance, the specific reduction was... The distance is such that the electromagnetic acceleration module needs to provide the energy required to reduce the corresponding energy loss. In this case, the electromagnetic acceleration module needs to provide... Energy requirements and The same, this energy This represents the total energy consumption of the electromagnetic acceleration module. This represents the overall energy conversion coefficient of the electromagnetic acceleration module. The overall energy conversion coefficient can be understood as follows: due to the increasing distance traveled during each pile driving operation, after a certain distance, the potential energy that the hydraulic module needs to overcome increases significantly, leading to a sharp increase in the cost of improving mechanical strength and overall energy consumption. Therefore, this overall energy conversion coefficient is obtained by comprehensively considering factors such as mechanical strength cost and energy conversion ratio. Since the electromagnetic acceleration module accelerates downwards and does not need to overcome gravitational acceleration, its overall cost is lower than that of the hydraulic module. Therefore, by combining the above factors, an optimal solution can be found, thereby obtaining the first reference energy consumption information for the hydraulic module and the second reference energy consumption information for the electromagnetic acceleration module.

[0105] In this example, the above steps enable a detailed analysis of the energy consumption changes of the electromagnetic acceleration module and the hydraulic module during the piling process. By determining the acceleration range of the electromagnetic acceleration module and constructing the corresponding first sub-energy consumption function, it is helpful to fully utilize the advantage of low energy consumption of 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 piling machine becomes more comprehensive and accurate. This not only helps to reduce the total energy consumption during the piling process, improve energy utilization efficiency, and reduce construction costs, but also provides an important basis for the precise control of the piling machine, improves the accuracy and quality of piling, and ensures the smooth progress of the project. It has significant practical value in fields such as building foundation construction.

[0106] In one possible implementation, a possible method for optimizing the first reference energy consumption information using the state information of the piling machine to obtain the first energy consumption information may include the following steps:

[0107] D1. Extract the operating status information and hardware status information of the pile driver from the status information;

[0108] D2. Generate the first energy loss information of the electromagnetic acceleration module based on the hardware status information;

[0109] D3. Determine the second energy loss information of the electromagnetic acceleration module based on the operating status information;

[0110] D4. Merge the first energy loss information and the second energy loss information to obtain the target energy loss information;

[0111] D5. Optimize the first reference energy consumption information based on the target energy loss information to obtain the first energy consumption information.

[0112] The operational status information of a pile driver can encompass various dynamic parameters during its operation, such as the stability of the pile driving frequency, the operating speed of each component, and the impact force of the pile head, reflecting the current actual working condition of the pile driver. The hardware status information of the pile driver can indicate the wear and lubrication status of its mechanical components (such as the motor and transmission device of the electromagnetic acceleration module), as well as the performance parameters of its electrical components. This hardware status information directly affects the energy efficiency of the electromagnetic acceleration module. Optionally, operational and hardware status information can be obtained from the pile driver's monitoring system or manual records to prepare for subsequent analysis.

[0113] The first energy loss information of an electromagnetic accelerator module can be understood as information related to the energy loss of the module due to the physical conditions of the hardware itself (such as mechanical wear, aging, etc.). This first energy loss information can cause the actual energy consumption to deviate from the ideal reference value. Based on the wear level, performance parameter changes, etc., in the hardware status information, and using engineering empirical formulas and equipment performance models, the first energy loss information of the electromagnetic accelerator module caused by hardware problems can be calculated.

[0114] The second energy loss information of the electromagnetic accelerator module can be understood as information related to the additional energy consumption of the electromagnetic accelerator module caused by external construction environment factors (such as increased friction between components due to dust pollution, and altered air resistance due to severe weather). This second energy loss information caused by the construction environment can be determined based on environmental parameters (such as dust concentration and weather conditions) in the operating status information, combined with the working principle and resistance analysis of the electromagnetic accelerator module.

[0115] The target energy loss information is the total energy loss data obtained by combining the energy loss caused by hardware and operating environment factors. It can be used to correct the initial reference energy loss information. The first energy loss information and the second energy loss information can be added or combined according to certain weights or calculation rules to obtain the target energy loss information, which can comprehensively reflect the actual energy consumption deviation of the electromagnetic acceleration module.

[0116] Furthermore, the target energy loss information can be used to adjust the first reference energy consumption information, such as by 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 conditions of the pile driver.

[0117] In this example, by accurately extracting and analyzing status information, energy loss information is generated and integrated to optimize the reference energy consumption information. This fully considers the actual operation and hardware status of the piling machine, as well as the impact of the construction environment on the energy consumption of the electromagnetic acceleration module. This ensures that the final determined primary energy consumption information more closely reflects the actual energy consumption requirements of the piling machine, improving the accuracy and reliability of energy consumption control and avoiding energy waste or equipment malfunctions caused by neglecting actual factors. In actual piling projects, this ensures the efficient and stable operation of the piling machine, reduces construction costs, improves the quality and efficiency of piling operations, and enhances the overall benefits and safety of the project.

[0118] Consistent with the above embodiments, this application provides a pile driver, which includes a boom, a stick, a pile head, an electromagnetic acceleration module, a hydraulic module, and a control system. The first end of the stick is connected to the first end of the boom, and the pile head is disposed at the second end of the stick. The electromagnetic acceleration module is arranged in parallel with the stick and is used to accelerate the stick when it falls. The control system includes a processor and a memory, which are interconnected. The memory is used to store a computer program, which includes program instructions. The processor is configured to call the program instructions. The program includes instructions for performing the following steps.

[0119] Obtain the first position information of the pile head of the pile driver, and obtain the real-time depth position information of the dock pile point;

[0120] The first movement distance information of the pile head is determined based on the first location information and the real-time depth location information;

[0121] Obtain the soil information of the pile points;

[0122] The control parameters of the pile driver are determined based on the soil information, pile driving time information, and the first movement distance information.

[0123] The pile driver is controlled to perform pile driving based on the control parameter information.

[0124] In this example, by acquiring the first position information of the pile head of the pile driver and the real-time depth position information of the dock pile point, the first movement distance information of the pile head can be determined based on the first position information and the real-time depth position information. Furthermore, by acquiring the soil information of the pile point, the control parameter information of the pile driver can be determined based on the soil information, the pile driving frequency information, and the first movement distance information. Thus, the pile driver can be controlled to perform pile driving based on the control parameter information. This allows for more precise control parameters to be determined based on the actual movement distance of the pile head, the soil quality, and the pile driving frequency, thereby reducing energy consumption during pile driving.

[0125] The above mainly describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the terminal includes the corresponding hardware structure and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0126] This application embodiment can divide the terminal into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0127] For those consistent with the above, please refer to Figure 3 , Figure 3 This application provides a schematic diagram of the structure of a control device for a pile driver. For example... Figure 3 As shown, the device includes:

[0128] The first acquisition unit 101 is used to acquire the first position information of the pile head of the pile driver and the real-time depth position information of the dock pile point.

[0129] The first determining unit 102 is used to determine the first movement distance information of the pile head based on the first position information and the real-time depth position information;

[0130] The second acquisition unit 103 is used to acquire the soil information of the pile point;

[0131] The second determining unit 104 is used to determine the control parameter information of the pile driver based on the soil information, the pile driving time information and the first movement distance information.

[0132] The control unit 105 is used to control the pile driver to perform pile driving according to the control parameter information.

[0133] In one possible implementation, the second determining unit 104 is configured to determine the control parameter information of the pile driver based on the soil information, the pile driving duration information, and the first movement distance information, specifically for:

[0134] The first pile driving depth change is determined based on the pile driving time information and the total pile hole depth information.

[0135] The pile driving energy information is determined based on the first pile driving depth change and the soil information.

[0136] 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 are determined based on the pile driving energy information and the first movement distance.

[0137] The first sub-control parameter information of the hydraulic module is determined based on the first energy consumption information, and the second sub-control parameter information is determined based on the second energy consumption information;

[0138] The first sub-control parameter information and the second sub-control parameter information are fused to obtain the control parameter information of the control system.

[0139] In one possible implementation, the second determining 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 based on the pile driving energy information and the first movement distance, specifically for:

[0140] The end velocity value of the pile head is determined based on the pile driving energy information;

[0141] An energy consumption function is constructed based on the first movement distance, the end velocity value, the energy consumption power of the hydraulic module, and the energy consumption power of the electromagnetic acceleration module, thus obtaining the first energy consumption function;

[0142] By solving the energy consumption optimal solution of the first energy consumption function, the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module are obtained.

[0143] The first reference energy consumption information is optimized using the status information of the pile driver to obtain the first energy consumption information, and the second reference energy consumption information is optimized using the status information of the pile driver to obtain the second energy consumption information.

[0144] In one possible implementation, the second determining unit 104 is configured to construct an energy consumption function based on the first movement distance, the end 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, specifically for:

[0145] Based on the terminal velocity value and the first movement distance, the acceleration range information of the electromagnetic acceleration module is determined;

[0146] Based on the acceleration interval information and the energy consumption power of the electromagnetic acceleration module, a first sub-energy consumption function is constructed within each acceleration interval;

[0147] The second sub-energy consumption function is determined based on the first movement distance and the energy consumption power of the hydraulic module;

[0148] The first sub-energy consumption function and the second sub-energy consumption function in each acceleration interval are fused to obtain the first energy consumption function.

[0149] In one possible implementation, the second determining unit 104 is configured to optimize the first reference energy consumption information using the piling machine's status information to obtain the first energy consumption information, specifically for:

[0150] Extract the operating status information and hardware status information of the pile driver from the status information;

[0151] Generate the first energy loss information of the electromagnetic acceleration module based on the hardware status information;

[0152] The second energy loss information of the electromagnetic acceleration module is determined based on the operating status information;

[0153] The first energy loss information and the second energy loss information are fused together to obtain the target energy loss information;

[0154] The first reference energy consumption information is optimized based on the target energy loss information to obtain the first energy consumption information.

[0155] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the piling machine control methods described in the above method embodiments.

[0156] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program that causes a computer to perform some or all of the steps of any of the piling machine control methods described in the above method embodiments.

[0157] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0158] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0159] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0160] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] Furthermore, the functional units in the various embodiments of the application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0162] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0163] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk, etc.

[0164] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for a piling machine used in wharf construction, characterized in that, The method includes: Obtain the first position information of the pile head of the pile driver, and obtain the real-time depth position information of the pile point; The first movement distance information of the pile head is determined based on the first location information and the real-time depth location information; Obtain the soil information of the pile points; The control parameters of the pile driver are determined based on the soil information, pile driving time information, and the first movement distance information. The pile driver is controlled to perform pile driving based on the control parameter information; The step of determining the control parameter information of the pile driver based on the soil information, pile driving time information, and the first movement distance information includes: The first pile driving depth change is determined based on the pile driving time information and the total pile hole depth information. The pile driving energy information is determined based on the first pile driving depth change and the soil information. 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 are determined based on the pile driving energy information and the first movement distance. The first sub-control parameter information of the hydraulic module is determined based on the first energy consumption information, and the second sub-control parameter information is determined based on the second energy consumption information; The first sub-control parameter information and the second sub-control parameter information are fused to obtain the control parameter information of the control system.

2. The control method for a pile driver according to claim 1, characterized in that, The method further includes: The end velocity value of the pile head is determined based on the pile driving energy information; An energy consumption function is constructed based on the first movement distance, the end velocity value, the energy consumption power of the hydraulic module, and the energy consumption power of the electromagnetic acceleration module, thus obtaining the first energy consumption function; By solving the energy consumption optimal solution of the first energy consumption function, the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module are obtained. The first reference energy consumption information is optimized using the status information of the pile driver to obtain the first energy consumption information, and the second reference energy consumption information is optimized using the status information of the pile driver to obtain the second energy consumption information.

3. The control method for a pile driver according to claim 2, characterized in that, The method further includes: Based on the terminal velocity value and the first movement distance, the acceleration range information of the electromagnetic acceleration module is determined; Based on the acceleration interval information and the energy consumption power of the electromagnetic acceleration module, a first sub-energy consumption function is constructed within each acceleration interval; The second sub-energy consumption function is determined based on the first movement distance and the energy consumption power of the hydraulic module; The energy consumption is obtained by fusing the first sub-energy consumption function and the second sub-energy consumption function within each acceleration interval.

4. The control method for a pile driver according to claim 3, characterized in that, The optimization processing of the first reference energy consumption information using the status information of the pile driver to obtain the first energy consumption information includes: Extract the operating status information and hardware status information of the pile driver from the status information; Generate the first energy loss information of the electromagnetic acceleration module based on the hardware status information; The second energy loss information of the electromagnetic acceleration module is determined based on the operating status information; The first energy loss information and the second energy loss information are fused together to obtain the target energy loss information; The first reference energy consumption information is optimized based on the target energy loss information to obtain the first energy consumption information.

5. A control device for a pile driver used in wharf construction, characterized in that, The device includes: The first acquisition unit is used to acquire the first position information of the pile head of the pile driver and the real-time depth position information of the dock pile point. The first determining unit is configured to determine the first movement distance information of the pile head based on the first location information and the real-time depth location information. The second acquisition unit is used to acquire soil information of the pile points; The second determining unit is used to determine the control parameter information of the pile driver based on the soil information, the pile driving time information and the first movement distance information; A control unit is used to control the pile driver to perform pile driving based on the control parameter information; The second determining unit is used to determine the control parameter information of the pile driver based on the soil information, pile driving frequency information, and the first movement distance information, specifically for: Based on the soil information and the first movement distance, the change in pile driving depth is predicted to obtain the first change in pile driving depth. The piling energy consumption information is determined based on the first change in piling depth. 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 are determined based on the pile driving energy consumption information, the pile driving frequency information and the first movement distance. The first sub-control parameter information of the hydraulic module is determined based on the first energy consumption information, and the second sub-control parameter information is determined based on the second energy consumption information; The first sub-control parameter information and the second sub-control parameter information are fused to obtain the control parameter information of the control system.

6. The control device for a pile driver according to claim 5, characterized in that, The second determining unit is used 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 based on the pile driving energy consumption information, the pile driving frequency information, and the first movement distance. Specifically, it is used for: The end velocity value of the pile head is determined based on the pile driving energy consumption information; An energy consumption function is constructed 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, thus obtaining the first energy consumption function; By solving the energy consumption optimal solution of the first energy consumption function, the first reference energy consumption information of the hydraulic module and the second reference energy consumption information of the electromagnetic acceleration module are obtained. The first reference energy consumption information is optimized using the status information of the pile driver to obtain the first energy consumption information, and the second reference energy consumption information is optimized using the status information of the pile driver to obtain the second energy consumption information.

7. A piling machine for wharf construction, characterized in that, The pile driver includes a boom, a stick, a pile head, an electromagnetic acceleration module, a hydraulic module, and a control system. A first end of the stick is connected to a first end of the boom, and the pile head is located at a second end of the stick. The electromagnetic acceleration module is arranged parallel to the stick and is used to accelerate the stick during its descent. The control system includes a processor and a memory, which are interconnected. The memory stores a computer program, which includes program instructions. The processor is configured to call the program instructions and execute the method as described in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-4.

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