Intelligent Safety Control Method and System Based on Gyroscope Detection of Vibrator Offset

Abstract

This invention provides an intelligent safety control method and system for detecting vibratory compactor offset based on a gyroscope, relating to the field of vibratory compaction technology. It primarily uses a gyroscope to detect the offset of the vibratory compactor. Based on this, it analyzes the changes in tension within the time period of offset by extrapolating back in time to determine whether the vibratory compactor has collided with a hard soil layer. According to the judgment result, the vibratory compactor is adaptively adjusted. This invention not only accurately analyzes the causes of positional offset but also enables safe control of the vibratory compactor based on the causes of positional offset.

Description

Technical Field

[0001] This invention relates to the field of vibratory punching technology, specifically to an intelligent safety control method and system based on gyroscope detection of vibratory punch offset. Background Technology

[0002] Vibro-compaction pile making process usually includes the steps of vibro-compaction hole making and filling compaction. At present, a smart positioning and navigation method and application for vibro-compaction hole making has been proposed in the process of vibro-compaction hole making (application publication number CN119573739B). The method uses a GPS sensor set on the central axis of the vibro-compactor to locate the hole making point of the vibro-compactor and provides early warning for the vibro-compactor by detecting the deviation of the hole making point in real time.

[0003] However, in the aforementioned vibratory punching process, using GPS sensors only allows the system to detect positional deviations at the punching point; it cannot analyze the cause of these deviations, thus preventing safe control of the vibratory punch based on the cause. Therefore, when a positional deviation is detected, the vibratory punch is typically stopped, then raised, and the punching point repositioned. This makes the vibratory punching process cumbersome, unable to adaptively adjust the vibratory punch based on the cause of the deviation, and results in a low level of automation. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent safety control method and system for detecting the offset of a vibratory compactor based on a gyroscope. It mainly uses a gyroscope to detect the offset of the vibratory compactor. Based on this, it analyzes the changes in tension within the time period of the offset by extrapolating back in time to determine whether the vibratory compactor has collided with a hard soil layer. According to the judgment result, the vibratory compactor is adaptively adjusted. This invention not only accurately analyzes the cause of the positional offset but also enables safe control of the vibratory compactor based on the cause of the positional offset.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following solution:

[0006] A smart safety control method based on gyroscope detection of vibratory impactor offset, wherein a gyroscope with its z-axis coinciding with the central axis of the vibratory impactor is fixedly installed inside the vibratory impactor by a mounting bracket; the vibratory impactor has an even number of water outlets evenly distributed on its horizontal plane, each outlet being independently connected to a water channel, and a valve is installed at each outlet. The valve openings of the even number of outlets are synchronously adjusted by valve control commands to control the corresponding water volume sprayed downwards from the outlets towards the vibratory impactor. The method includes the following steps:

[0007] S1. Obtain the positioning point for the hole to be formed by vibratory punching in advance. After the point on the horizontal plane mapped by the center axis of the vibratory punch coincides with the positioning point, control the start of the winch so that the vibratory punch enters the hole-forming and descending state.

[0008] S2. During the descent state of the hole formation, the attitude information recorded by the gyroscope is acquired in real time. Based on the attitude information, it is determined whether the current vibrator is deflected. If so, the current time point is recorded and the process proceeds to step S3.

[0009] S3. Push the current time point forward to obtain a time period to be detected. Extract the hole-making tension range of the current vibratory compactor based on the time period to be detected, and determine whether the tension change in the hole-making tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer. If yes, control the winch to stop; otherwise, go to step S4.

[0010] S4. Convert the attitude information at the current time point into the current offset of the vibratory impactor. Based on the fitted relationship curve between the offset of the vibratory impactor and the valve opening, obtain the current valve opening of an even number of outlets according to the current offset of the vibratory impactor, and generate valve control commands based on the current valve opening.

[0011] A further preferred technical solution is that the plane containing the x-axis and y-axis of the gyroscope is parallel to the horizontal plane of the vibrator, and the attitude information recorded by the gyroscope includes pitch angle, roll angle, and yaw angle;

[0012] In S2, the process of determining whether the current oscillator is oscillator offset based on attitude information is as follows: real-time acquisition of pitch and roll angles recorded by the gyroscope, detection of whether the pitch and roll angles exceed the corresponding preset values, and if so, determination of the current oscillator as oscillator offset.

[0013] A further preferred technical solution is as follows: In S4, the process of converting the attitude information at the current time point into the offset of the current vibratory impactor is as follows: obtain the pitch angle and roll angle at the current time point, and calculate the offset of the current vibratory impactor based on the small angle approximation by the sum of the squares of the pitch angle and roll angle.

[0014] A further preferred technical solution is as follows: the fitting process between the offset of the vibratory impactor and the valve opening is as follows:

[0015] During the historical orifice descent state, the historical offset is obtained by calculating the pitch and roll angles recorded by the gyroscope, and the corresponding historical valve control commands are obtained.

[0016] The historical valve openings of an even number of outlets are obtained based on historical valve control commands.

[0017] Multiple sets of historical offsets and historical valve openings are entered into an Excel spreadsheet. Each set of historical offsets and historical valve openings consists of the historical valve openings of an even number of outlets corresponding to one historical offset. The historical offsets and historical valve openings corresponding to the same outlet are then packaged together, and the relationship curves between the offsets and valve openings of the vibratory impactors corresponding to an even number of outlets are obtained by fitting.

[0018] A further preferred technical solution is as follows: In S3, the time period to be detected is obtained by pushing forward a preset time period from the current time point, and the end point of the time period to be detected is obtained according to the preset time period.

[0019] A further preferred technical solution is as follows: In S3, the process of determining whether the change in tension within the hole-forming tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer is as follows:

[0020] Starting from the end of the testing period, the tensile force change in the borehole tensile force range is analyzed based on the tensile force value. When the tensile force change shows that the tensile force value is continuously decreasing, it is determined that the tensile force change in the borehole tensile force range conforms to the change characteristics of the current collision between the vibratory compactor and the hard soil layer.

[0021] A further preferred technical solution is as follows: In S3, the process of determining whether the change in tension within the hole-forming tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer is as follows:

[0022] Starting from the end of the testing period, the tensile force change in the borehole tensile force range is analyzed based on the tensile force value. When the tensile force change shows that the tensile force value continuously decreases and then continuously increases, it is determined that the tensile force change in the borehole tensile force range conforms to the change characteristics of the current collision between the vibratory compactor and the hard soil layer.

[0023] A further preferred technical solution is as follows: In S3, the process of determining whether the change in tension within the hole-forming tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer is as follows:

[0024] Starting from the end of the time period to be tested, the change in tension in the hole-making tension range is analyzed based on the value of the tension. When the change in tension shows that the value of the tension is continuously rising, a preset time period is pushed back from the end of the time period to be tested, the time period to be tested is updated, and a new end point is obtained.

[0025] Starting from the new endpoint, the tensile force changes in the borehole tension range are analyzed based on the tensile force value. When the tensile force changes in a continuous decrease followed by a continuous increase, it is determined that the tensile force changes in the borehole tension range conform to the characteristics of the current collision between the vibratory compactor and the hard soil layer.

[0026] A smart safety control system based on gyroscope detection of oscillator offset, employing the aforementioned smart safety control method based on gyroscope detection of oscillator offset, includes:

[0027] Vibratory start module: The positioning point of the hole to be vibrated is obtained in advance. After the point of the vibratory impactor's central axis on the horizontal plane is aligned with the positioning point, the winch is started to make the vibratory impactor enter the hole-making and lowering state.

[0028] Gyroscope detection module for vibratory impactor offset: During the descent of the borehole, the module acquires the attitude information recorded by the gyroscope in real time, determines whether the vibratory impactor is offset based on the attitude information, and records the current time point if so.

[0029] Tension change feature detection module: Push the current time point forward to obtain a time period to be detected, extract the hole-making tension range of the current vibratory compactor based on the time period to be detected, and determine whether the tension change in the hole-making tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer. If so, control the winch to stop.

[0030] Valve control command generation module: Converts the attitude information at the current time point into the current offset of the vibratory impactor. Based on the fitted relationship curve between the offset of the vibratory impactor and the valve opening, the current valve opening of an even number of outlets is obtained according to the current offset of the vibratory impactor, and valve control commands are generated based on the current valve opening.

[0031] The beneficial effects of this invention are:

[0032] This invention provides an intelligent safety control method and system for detecting the offset of a vibratory punch based on a gyroscope. Compared with the prior art, this invention uses a three-axis gyroscope to detect the offset of the vibratory punch. The z-axis of the gyroscope coincides with the central axis of the vibratory punch, and the planes containing the x-axis and y-axis are parallel to the horizontal plane of the vibratory punch. This invention can detect the tilt of the vibratory punch around the x-axis, y-axis, and z-axis, determine whether the vibratory punch deviates from its original positioning point during the vibratory punching process, and adjust the position of the vibratory punch to ensure the accuracy of the vibratory punching process.

[0033] Building upon this, systems for detecting vibratory compactor offset typically incorporate a safety control method to prevent damage or inaccurate drilling due to tilting. In existing technologies, this method involves interrupting the vibratory compactor's ascent when the gyroscope detects tilt. This method is cumbersome and cannot guarantee the continuity of the drilling process. Furthermore, during drilling, the vibratory compactor itself vibrates, causing fluctuations in gyroscope data. While threshold settings are used in some scenarios to address this, triggering an alert when gyroscope data exceeds the threshold, vibratory compactors often encounter hard soil layers during descent. Initially, the inclination of the hard soil layer is small, preventing alerts. However, by the time a significant inclination triggers an alert, the vibratory compactor has already been in contact with the hard soil for some time, increasing the risk of damage or jamming. Therefore, the threshold setting method needs to be accurate to ensure its effectiveness and prevent vibratory compactor damage. In summary, the safety control method proposed in this invention improves upon the phenomenon of vibratory compactors encountering hard soil layers. When the gyroscope detects that the vibratory compactor is tilting, the time is shifted forward from the current time point to estimate a time period during which the offset occurs. The characteristics of the tension change during this time period are analyzed to determine the cause of the tilt. If the tilt is caused by hard soil layers, it indicates that the current tilt is large, and the vibratory compactor is stopped. If the tilt is not caused by hard soil layers, it indicates that the current tilt is small, and the vibratory compactor is controlled to correct the tilt.

[0034] To address the issue of relatively small inclination, this invention provides an even number of water outlets evenly distributed on the horizontal plane of the vibratory compactor. Each outlet is independently connected to a waterway, and valves are installed at the outlets. Valve control commands synchronously adjust the valve openings of the outlets to control the amount of water sprayed downwards from the vibratory compactor. Based on this structure, this invention pre-fits the relationship curve between the vibratory compactor's offset and the valve opening using extensive historical data. This allows the valve openings of the outlets to be adjusted based on the gyroscope-detected offset during the vibratory compaction process, generating a corresponding thrust on the vibratory compactor. For example, if the vibratory compactor is deflected to the left, the valve opening of the left outlet is reduced, while the corresponding valve opening of the right outlet is increased. This corrects the vibratory compactor's deviation without interrupting the process, preventing frequent stops during vibratory compaction. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the internal structure of the vibratory impactor in Embodiment 1 of the present invention;

[0036] Figure 2This is a flowchart illustrating the safety control method in Embodiment 1 of the present invention;

[0037] Figure 3 This is a schematic diagram illustrating the safety control of the vibratory punch during the vibratory punching process in Embodiment 1 of the present invention;

[0038] Figure 4 This is an axial schematic diagram of the gyroscope in Embodiment 1 of the present invention;

[0039] Figure 5 This is a schematic diagram of the tension change in the hole-drilling tension range in Embodiment 1 of the present invention, which conforms to the change characteristics of the vibratory compactor colliding with the hard soil layer;

[0040] Explanation of reference numerals in the attached diagram: 1-Vibratory impactor, 2-Motor, 3-Main shaft, 4-Eccentric block, 5-Waterway, 6-Outlet, 7-Valve, 8-Mounting bracket, 9-Gyroscope, 10-Winch, 11-Controller. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0043] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0044] Furthermore, for clarity and brevity, descriptions of well-known structures, functions, and configurations may have been omitted. Those skilled in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the spirit and scope of this disclosure.

[0045] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0046] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0047] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0048] Example 1

[0049] In this embodiment, the following is adopted: Figure 1 The vibratory punch shown contains a gyroscope whose z-axis coincides with the central axis of the punch, fixedly mounted within it via a mounting bracket. Optimally, the vibratory punch is mounted on a shock-absorbing device. The gyroscope is a three-axis gyroscope, with the x-axis and y-axis planes parallel to the horizontal plane of the vibratory punch. This allows the invention to detect the tilt of the vibratory punch around the x, y, and z axes, determining whether the punch has deviated from its original positioning point during vibratory punching, thus enabling position adjustment and ensuring the accuracy of the hole-forming process. Specifically, by detecting the tilt angles of the vibratory punch around the x, y, and z axes and measuring the current depth of the punch using a distance sensor mounted on it, the offset distance between the point mapped to the central axis of the punch on the horizontal plane and the positioning point can be calculated based on trigonometric relationships. This offset distance can also be used to determine whether the punch has deviated from its original positioning point during vibratory punching, allowing for position adjustment of the punch.

[0050] The vibratory compactor has two outlets evenly distributed on its horizontal plane. Each outlet is independently connected to a waterway, and a valve is installed at each outlet. The controller is connected to the valves, a gyroscope, and a winch. The controller receives attitude information recorded by the gyroscope and tension changes recorded by the winch. Based on the attitude information recorded by the gyroscope, it extracts the corresponding hole-forming tension range and judges the tension change characteristics within this range to determine if the vibratory compactor has collided with the hard soil layer. Based on the judgment result, the controller makes adaptive adjustments to the vibratory compactor. It can send control commands to the winch below to stop it, or send valve control commands to the valves to control the valve opening, thereby adjusting the amount of water sprayed from the outlets towards the vibratory compactor. In this case, the two outlets are relative, enabling the vibratory compactor to correct its deviation.

[0051] In this embodiment, the number of water outlets is not limited to two; it can be four or six, ensuring that the number of water outlets is an even number. The purpose is to ensure that each water outlet has a corresponding outlet, facilitating control of the valve opening. For example, if the vibratory compactor deviates to the left, the valve opening of the left outlet is reduced, while the valve opening of the corresponding right outlet is increased. The reduction and increase values ​​are relative, as can be seen from the fitted curve of the relationship between the vibratory compactor's deviation and the valve opening. Based on the above principle, by relatively increasing and decreasing the water flow, the thrust generated by the corresponding outlets on the vibratory compactor is relative, which can achieve correction of the vibratory compactor without interrupting it, thus avoiding frequent stops in the vibratory compaction process.

[0052] Based on the aforementioned vibratory shock absorber, this invention proposes an intelligent safety control method based on gyroscope detection of shock absorber offset, such as... Figure 2 As shown, the intelligent safety control method includes the following steps:

[0053] S1. Obtain the positioning point for the hole to be formed by vibratory punching in advance. After the point on the horizontal plane mapped by the center axis of the vibratory punch coincides with the positioning point, control the start of the winch so that the vibratory punch enters the hole-forming and descending state.

[0054] S2. During the descent state of the hole formation, the attitude information recorded by the gyroscope is acquired in real time. Based on the attitude information, it is determined whether the current vibrator is deflected. If so, the current time point is recorded and the process proceeds to step S3.

[0055] S3. Push the current time point forward to obtain a time period to be detected. Extract the hole-making tension range of the current vibratory compactor based on the time period to be detected, and determine whether the tension change in the hole-making tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer. If yes, control the winch to stop; otherwise, go to step S4.

[0056] S4. Convert the attitude information at the current time point into the current offset of the vibratory impactor. Based on the fitted relationship curve between the offset of the vibratory impactor and the valve opening, obtain the current valve opening of an even number of outlets according to the current offset of the vibratory impactor, and generate valve control commands based on the current valve opening.

[0057] Based on the above principles, the present invention will be further elaborated as follows:

[0058] In existing technologies, when tilting of the vibratory punch is detected, a common safety control method is to interrupt the punch's movement and then raise it again. This method is cumbersome and cannot guarantee the continuity of the vibratory punching process. Furthermore, if tilt acquisition devices such as gyroscopes are used on the vibratory punch to detect its offset, the vibrations generated by the punch itself cause frequent fluctuations in the detected offset data. This can lead to inaccurate warnings due to problems with the punch itself, necessitating the interruption of the punch, resulting in a lengthy and cumbersome vibratory punching process.

[0059] To address this phenomenon, a threshold setting is used in certain similar scenarios. An alert is issued when the detected vibratory compactor offset exceeds the threshold. However, during vibratory borehole drilling, the vibratory compactor often encounters hard soil layers during the borehole descent. In this invention, hard soil layers refer to those present at an incline on both sides of the borehole to be drilled, such as… Figure 3 As shown in the diagram, when the vibratory compactor first encounters the hard soil layer, the inclination is not significant, and no warning is generated. By the time a warning is generated due to a larger inclination, the vibratory compactor has already been in contact with the hard soil layer for some time, which can easily lead to damage or jamming of the vibratory compactor. This shows that the threshold setting method needs to ensure the accuracy of the threshold. Only by setting the threshold accurately can this method achieve better results and avoid damage to the vibratory compactor.

[0060] In summary, based on the structure of the vibratory compactor described above, this invention proposes a technical concept to analyze the changes in tensile force during the time period of displacement by extrapolating the time, in order to determine whether the vibratory compactor has collided with the hard soil layer. Thus, the vibratory compactor can be adaptively adjusted according to the judgment result. This invention can not only accurately analyze the cause of the positional displacement, but also safely control the vibratory compactor based on the cause of the positional displacement.

[0061] The aforementioned safety control method is mainly an improvement addressing the issue of vibratory compactors encountering hard soil layers, such as... Figure 3 As shown, when the gyroscope detects that the vibratory compactor is tilted, the time is pushed back from the current time point to estimate a time period in which the offset occurred. During this time period, the characteristics of the tension change are analyzed. The cause of the tilt of the vibratory compactor is determined by the characteristics of the tension change. If it is caused by the hard soil layer, it means that the current tilt is large, so the vibratory compactor is controlled to stop; if it is not caused by the hard soil layer, it means that the current tilt is small, so the vibratory compactor is controlled to correct the tilt.

[0062] A further preferred technical solution is that the plane containing the x-axis and y-axis of the gyroscope is parallel to the horizontal plane of the vibrator, and the attitude information recorded by the gyroscope includes pitch angle, roll angle, and yaw angle;

[0063] In S2, the process of determining whether the current oscillator is oscillator offset based on attitude information is as follows: real-time acquisition of pitch and roll angles recorded by the gyroscope, detection of whether the pitch and roll angles exceed the corresponding preset values, and if so, determination of the current oscillator as oscillator offset.

[0064] In this embodiment, as Figure 4 As shown, the gyroscope is a three-axis gyroscope. The z-axis coincides with the central axis of the vibratory impactor, and the planes containing the x and y axes are parallel to the horizontal plane of the vibratory impactor. The x-axis points in the forward / backward direction of the vibratory impactor, and the y-axis points in the left / right direction. Specifically, the yaw angle represents the tilt angle of the vibratory impactor rotating around the z-axis, i.e., the angle of the vibratory impactor's rotation; the pitch angle represents the tilt angle of the vibratory impactor rotating around the x-axis, i.e., the angle at which the vibratory impactor tilts to the left or right; and the roll angle represents the tilt angle of the vibratory impactor rotating around the y-axis, i.e., the angle at which the vibratory impactor tilts forward or backward. It can be seen that in this embodiment, the yaw angle does not affect the tilt of the vibratory impactor's central axis, so the pitch angle and roll angle can be selected to detect whether the vibratory impactor is deviating. At this time, threshold settings can be selected for the pitch angle and roll angle. These threshold settings do not need to be precise; they can be initially eliminated based on historical data to rule out the influence of the vibratory impactor's own vibration on the pitch angle and roll angle. The purpose is to enable the controller to obtain the time point at which deviation may occur by detecting changes in the pitch angle and roll angle.

[0065] A further preferred technical solution is as follows: In S4, the process of converting the attitude information at the current time point into the offset of the current vibratory impactor is as follows: obtain the pitch angle and roll angle at the current time point, and calculate the offset of the current vibratory impactor based on the small angle approximation by the sum of the squares of the pitch angle and roll angle.

[0066] In S4, the tension change within the borehole tension range does not conform to the characteristics of the current collision between the vibratory compactor and the hard soil layer. Therefore, the offset of the vibratory compactor is not caused by contact with the hard soil layer, indicating that the current tilt angle is small. Since the tilt angle of the vibratory compactor is determined by the angle between the vibratory compactor's central axis and the direction of gravity, this angle is taken as the tilt angle. Specifically, when the vibratory compactor's central axis tilts, its direction can be changed through a rotation matrix. The initial vibratory compactor central axis vector v0 = [0,0,-1], which coincides with the direction of gravity, is transformed into a new vector v after the attitude information detected by the gyroscope. The angle between this vector and the direction of gravity is the tilt angle α. Since v0 = [0,0,-1], the new vector v can be simplified as: Where θ is the pitch angle, ψ is the heading angle, and φ is the roll angle; obtained through the dot product formula: Since ||v|| = 1, then α = arccos(cosφcosθ). At this point, the tilt angle is small, meaning the roll and pitch angles are small. get In summary, the present invention can calculate the current offset of the vibratory impactor based on a small-angle approximation by the sum of the squares of the pitch angle and the roll angle. This calculation process is a conventional technique and will not be described in detail here.

[0067] A further preferred technical solution is as follows: the fitting process between the offset of the vibratory impactor and the valve opening is as follows:

[0068] During the historical orifice descent state, the historical offset is obtained by calculating the pitch and roll angles recorded by the gyroscope, and the corresponding historical valve control commands are obtained.

[0069] The historical valve openings of an even number of outlets are obtained based on historical valve control commands.

[0070] Multiple sets of historical offsets and historical valve openings are entered into an Excel spreadsheet. Each set of historical offsets and historical valve openings consists of the historical valve openings of an even number of outlets corresponding to one historical offset. The historical offsets and historical valve openings corresponding to the same outlet are then packaged together, and the relationship curves between the offsets and valve openings of the vibratory impactors corresponding to an even number of outlets are obtained by fitting.

[0071] A further preferred technical solution is as follows: In S3, the time period to be detected is obtained by pushing forward a preset time period from the current time point, and the end point of the time period to be detected is obtained according to the preset time period.

[0072] A further preferred technical solution is as follows: In S3, the process of determining whether the change in tension within the hole-forming tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer is as follows:

[0073] Starting from the end of the testing period, the tensile force change in the borehole tensile force range is analyzed based on the tensile force value. When the tensile force change shows that the tensile force value is continuously decreasing, it is determined that the tensile force change in the borehole tensile force range conforms to the change characteristics of the current collision between the vibratory compactor and the hard soil layer.

[0074] like Figure 5 As shown, a detection time period is obtained by extrapolating backward from the current time point t. The drilling tension range is obtained based on the detection time period. Then, starting from the end of the detection time period, the tension change in the drilling tension range is analyzed based on the tension value. First, the tension change shows a regular fluctuation within a certain range, indicating that the vibratory compactor is performing vibratory drilling in an orderly manner. When time t0, it can be seen that the tension change continues to decrease. The continuous decrease can be a linear decrease or a step-like decrease, indicating that at time t0, the vibratory compactor collides with the hard soil layer, causing the tension to continuously decrease from time t0 to the current time t.

[0075] A further preferred technical solution is as follows: In S3, the process of determining whether the change in tension within the hole-forming tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer is as follows:

[0076] Starting from the end of the testing period, the tensile force change in the borehole tensile force range is analyzed based on the tensile force value. When the tensile force change shows that the tensile force value continuously decreases and then continuously increases, it is determined that the tensile force change in the borehole tensile force range conforms to the change characteristics of the current collision between the vibratory compactor and the hard soil layer.

[0077] Specifically, as described above, the tension change is characterized by a continuous decrease followed by a continuous increase in tension value. This is because when the vibratory compactor collides with the hard soil layer, the tension will continuously decrease as the contact area increases. At this point, if the vibratory compactor gets stuck between itself and the hard soil layer, the tension will suddenly increase. This invention considers the phenomena that may occur after the vibratory compactor collides with the hard soil layer and increases the possibility of the vibratory compactor getting stuck between itself and the hard soil layer, thus eliminating the need for precise preset time periods. This ensures that the invention can determine the cause of the vibratory compactor's deviation through the tension change during the detection period, thereby improving the accuracy of the determination.

[0078] A further preferred technical solution is as follows: In S3, the process of determining whether the change in tension within the hole-forming tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer is as follows:

[0079] Starting from the end of the time period to be tested, the change in tension in the hole-making tension range is analyzed based on the value of the tension. When the change in tension shows that the value of the tension is continuously rising, a preset time period is pushed back from the end of the time period to be tested, the time period to be tested is updated, and a new end point is obtained.

[0080] Starting from the new endpoint, the tensile force changes in the borehole tension range are analyzed based on the tensile force value. When the tensile force changes in a continuous decrease followed by a continuous increase, it is determined that the tensile force changes in the borehole tension range conform to the characteristics of the current collision between the vibratory compactor and the hard soil layer.

[0081] Specifically, as mentioned above, the present invention also considers that if the preset time period is set too short, the interval in which the tension continuously decreases may not be collected within the preset time period, but instead the interval in which the tension continuously increases may be collected. In this case, the time period is moved forward by a certain period of time, and the tension change in the new time period is detected. This process is repeated to ensure that the present invention can determine whether the tension change conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer based on the current time point.

[0082] In summary, this invention proposes an intelligent safety control method and system based on gyroscope detection of vibratory compactor offset. It primarily uses a gyroscope to detect the offset of the vibratory compactor. Based on this, it analyzes the changes in tension within the time period of offset by extrapolating the timeline to determine whether the vibratory compactor has collided with the hard soil layer. According to the determination result, the vibratory compactor is adaptively adjusted. This invention not only accurately analyzes the causes of positional offset but also enables safe control of the vibratory compactor based on the causes of positional offset.

[0083] Example 2

[0084] A smart safety control system based on gyroscope detection of oscillator offset, employing the aforementioned smart safety control method based on gyroscope detection of oscillator offset, includes:

[0085] Vibratory start module: The positioning point of the hole to be vibrated is obtained in advance. After the point of the vibratory impactor's central axis on the horizontal plane is aligned with the positioning point, the winch is started to make the vibratory impactor enter the hole-making and lowering state.

[0086] Gyroscope detection module for vibratory impactor offset: During the descent of the borehole, the module acquires the attitude information recorded by the gyroscope in real time, determines whether the vibratory impactor is offset based on the attitude information, and records the current time point if so.

[0087] Tension change feature detection module: Push the current time point forward to obtain a time period to be detected, extract the hole-making tension range of the current vibratory compactor based on the time period to be detected, and determine whether the tension change in the hole-making tension range conforms to the change characteristics of the current vibratory compactor colliding with the hard soil layer. If so, control the winch to stop.

[0088] Valve control command generation module: Converts the attitude information at the current time point into the current offset of the vibratory impactor. Based on the fitted relationship curve between the offset of the vibratory impactor and the valve opening, the current valve opening of an even number of outlets is obtained according to the current offset of the vibratory impactor, and valve control commands are generated based on the current valve opening.

[0089] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Based on the technical essence of the present invention, any simple modifications, equivalent substitutions, and improvements made to the above embodiments within the spirit and principles of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for intelligent safety control based on detecting vibrator offset by a gyroscope, characterized in that, The gyroscope with the z-axis coinciding with the center axis of the vibrator is fixedly arranged in the vibrator through the mounting frame; a plurality of water outlets are evenly distributed on the horizontal plane of the vibrator, and the plurality of water outlets are independently connected to the water channel; a valve is arranged at the water outlet, and the valve opening degree of the plurality of water outlets is synchronously adjusted through the valve control instruction to control the water outlet to spray corresponding water volume downward of the vibrator, and the method comprises the following steps: S1, a positioning point to be vibrated and punched is obtained in advance, the point of the center axis of the vibrator mapped on the horizontal plane is coincided with the positioning point, and the winch is controlled to start to make the vibrator enter the hole forming descending state; S2, in the hole forming descending state, the attitude information recorded by the gyroscope is obtained in real time, whether the current vibrator is a vibrator offset is judged according to the attitude information, if yes, the current time point is recorded, and step S3 is turned to; The plane where the x-axis and y-axis of the gyroscope are located is parallel to the horizontal plane of the vibrator, and the attitude information recorded by the gyroscope includes the pitch angle, the roll angle and the heading angle; In S2, the process of judging whether the current vibrator is a vibrator offset according to the attitude information is that the pitch angle and the roll angle recorded by the gyroscope are obtained in real time, whether the pitch angle and the roll angle exceed the corresponding preset value is detected, if yes, it is judged that the current vibrator is a vibrator offset; S3, a to-be-detected time period is obtained by pushing the current time point forward, the hole forming tension interval of the current vibrator is extracted according to the to-be-detected time period, whether the tension change in the hole forming tension interval conforms to the change characteristics of the collision between the current vibrator and the hard soil layer is judged, if yes, the winch is controlled to stop, and if not, step S4 is turned to; S4, the attitude information of the current time point is converted into the offset degree of the current vibrator, the current valve opening degree of the plurality of water outlets is obtained according to the offset degree of the current vibrator based on the fitted relationship curve between the offset degree of the vibrator and the valve opening degree, and the valve control instruction is generated with the current valve opening degree; The fitting process of the offset degree of the vibrator and the valve opening degree is as follows: In the historical hole forming descending state, the historical offset degree calculated by the pitch angle and the roll angle recorded by the gyroscope is obtained, and the historical valve control instruction corresponding thereto is obtained; The historical valve opening degree of the plurality of water outlets is obtained according to the historical valve control instruction; A plurality of groups of historical offset degrees and historical valve opening degrees are input into an excel table, one group of historical offset degrees and historical valve opening degrees are composed of a historical offset degree corresponding to the historical valve opening degrees of the plurality of water outlets, then the historical offset degrees and historical valve opening degrees corresponding to the same water outlet are packaged, and the relationship curve between the offset degree of the vibrator and the valve opening degree corresponding to the plurality of water outlets is fitted.

2. The intelligent safety control method for detecting the vibrator deviation based on the gyroscope according to claim 1, characterized in that, In S4, the process of converting the attitude information of the current time point into the offset degree of the current vibrator is that the pitch angle and the roll angle of the current time point are obtained, and the offset degree of the current vibrator is calculated based on the square sum of the pitch angle and the roll angle through small angle approximation.

3. The intelligent safety control method for detecting the vibrator offset based on the gyroscope according to claim 1, characterized in that, In S3, the to-be-detected time period is obtained by pushing a preset time period forward from the current time point as the starting point, and the end point of the to-be-detected time period is obtained according to the preset time period.

4. The intelligent safety control method for detecting the vibrator offset based on the gyroscope according to claim 3, characterized in that, In S3, the process of judging whether the tension change in the pore-forming tension interval conforms to the change characteristic of the current vibrator colliding with the hard soil layer is: From the end of the to-be-detected time period, the tension change in the pore-forming tension interval is analyzed according to the value of the tension, and when the tension change presents that the value of the tension continuously decreases and then continuously increases, it is judged that the tension change in the pore-forming tension interval conforms to the change characteristic of the current vibrator colliding with the hard soil layer.

5. The intelligent safety control method for detecting the vibrator offset based on the gyroscope according to claim 3, characterized in that, In S3, the process of judging whether the tension change in the pore-forming tension interval conforms to the change characteristic of the current vibrator colliding with the hard soil layer is: From the end of the to-be-detected time period, the tension change in the pore-forming tension interval is analyzed according to the value of the tension, and when the tension change presents that the value of the tension continuously decreases and then continuously increases, it is judged that the tension change in the pore-forming tension interval conforms to the change characteristic of the current vibrator colliding with the hard soil layer.

6. The intelligent safety control method for detecting the vibrator offset based on the gyroscope according to claim 3, characterized in that, In S3, the process of judging whether the tension change in the pore-forming tension interval conforms to the change characteristic of the current vibrator colliding with the hard soil layer is: From the end of the to-be-detected time period, the tension change in the pore-forming tension interval is analyzed according to the value of the tension, and when the tension change presents that the value of the tension continuously increases, a preset time period is pushed forward from the end of the to-be-detected time period, the to-be-detected time period is updated to obtain a new end point; From the new end point, the tension change in the pore-forming tension interval is analyzed according to the value of the tension, and when the tension change presents that the value of the tension continuously decreases and then continuously increases, it is judged that the tension change in the pore-forming tension interval conforms to the change characteristic of the current vibrator colliding with the hard soil layer.

7. An intelligent safety control system for detecting vibrator drift based on gyroscopes, characterized by, The application of the intelligent safety control method for detecting vibrator deviation based on a gyroscope as claimed in any one of claims 1-6 comprises: A vibrator starting module: a positioning point to be vibrated and formed into a hole is obtained in advance, a point on a horizontal plane where a center axis of the vibrator is mapped is overlapped with the positioning point, and then a winch is controlled to start, so that the vibrator enters a hole-forming descending state; A gyroscope detects a vibrator deviation module: in the hole-forming descending state, attitude information recorded by the gyroscope is acquired in real time, whether the current vibrator is deviated is judged according to the attitude information, and if so, a current time point is recorded; A tension change characteristic detection module: a to-be-detected time period is obtained by pushing the current time point forward, a pore-forming tension interval of the current vibrator is extracted according to the to-be-detected time period, whether the tension change in the pore-forming tension interval conforms to the change characteristic of the current vibrator colliding with the hard soil layer is judged, and if so, the winch is controlled to stop; A valve control instruction generation module: the attitude information of the current time point is converted into a deviation degree of the current vibrator, a relationship curve between the deviation degree of the vibrator and the valve opening degree is fitted, the current valve opening degree of the double water outlets is obtained according to the deviation degree of the current vibrator, and a valve control instruction is generated according to the current valve opening degree.

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