Pile loading positioning and guiding method of photovoltaic pile driver

Abstract

The invention relates to a pile loading positioning and guiding method of a photovoltaic pile driver. In the pile loading process, the allowable deviation range of a target pile position and the current position deviation and posture deviation of a pile body are obtained; determining a convergence direction according to the deviation and executing three-section guidance: in a heuristic section, outputting a first guidance action of which the amplitude is limited by a preset heuristic amplitude parameter along the convergence direction and acquiring deviation change after the action; the confirmation section is used for judging whether the deviation is reduced or not according to the deviation change so as to determine guiding effectiveness; in the quantity amplification section, a second guide action is output when guide is effective, the amplitude of the second guide action is set according to a preset quantity amplification rule and is larger than that of the first guide action, and the tentative section, the confirmation section and the quantity amplification section are executed circularly till the deviation meets the allowable deviation range; and when the guidance is invalid, executing preset exception processing to degrade, pause or escape the guidance, and returning to the tentative section to continue the guidance. Manual intervention dependence is reduced, and the reliability of the system under complex working conditions is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for engineering machinery, specifically a method for guiding the positioning of photovoltaic piling machines. Background Technology

[0002] Current technologies, such as the tracked photovoltaic piling machine (publication number CN112962599A), still have significant shortcomings in engineering practice. The key technical areas are mainly focused on the overall machine structure design, track travel capability, pile hammer frame height and angle adjustment, and adjusting the pile's posture through mechanical adjustment mechanisms to achieve overall positioning of the piling machine. While this method can solve the problem of how the piling machine reaches the target pile position and how to complete position adjustment on a macro scale, it generally lacks a continuous sensing, progressive correction, and reliability verification mechanism for the pile's relative position to the target pile during the micro-positioning guidance stage. This results in positioning accuracy and stability being highly dependent on equipment rigidity, operator experience, or the accuracy of a single control command. This technology often uses one-time or fixed-step displacement and angle adjustments, lacking a trial and confirmation process based on deviation trends. If there are external factors such as uneven ground, sudden changes in soil quality, hydraulic lag, or changes in clamping friction, over-adjustment, reverse deviation, or even misdirection can easily occur. Furthermore, the system itself cannot identify such abnormal states in a timely manner, requiring manual intervention for correction, significantly limiting the degree of automation.

[0003] This approach often focuses only on the static deviation between the current and target positions in positioning control, lacking dynamic analysis of the deviation change process. It cannot determine whether a control action is truly effective or a false signal caused by accidental disturbances, structural rebound, or clamp slippage, thus amplifying erroneous commands in subsequent control and increasing the risk of accumulated pile deviation. Most existing technologies lack specific design for judging the pile clamping state. Whether the clamping is loose or whether the pile has experienced slight slippage is usually only indirectly reflected by the result deviation, and often only discovered after it has developed into a large position or attitude error. This not only affects alignment efficiency but may also lead to pile tilting, clamp damage, or even safety hazards. For complex terrain or harsh construction environments, such as muddy sites, soft and hard soil interfaces, and wind-driven disturbances, this method lacks effective ability to distinguish the root causes of anomalies. It cannot differentiate between incorrect control direction, insufficient actuator response, or problems caused by clamping or environmental factors. Therefore, it can only adopt conservative strategies of overall pause or repeated manual adjustments, significantly reducing construction efficiency and continuous operation capability. This technology typically lacks an adaptive mechanism for volume control, and there is a lack of hierarchical and progressive relationship between the control action amplitude and the deviation size. It cannot accelerate the convergence speed when the deviation is large, nor can it maintain sufficient conservatism when approaching the target. As a result, the alignment process is either time-consuming or has the risk of terminal oscillation. Summary of the Invention

[0004] The purpose of this invention is to provide a method for guiding the positioning of photovoltaic piling machines, thereby solving some of the drawbacks and shortcomings pointed out in the background art.

[0005] The present invention adopts the following technical solution to solve the above-mentioned technical problems: a method for positioning and guiding the pile of a photovoltaic pile driver, comprising: obtaining the allowable deviation range of the target pile position and the current position deviation and attitude deviation of the pile body during the pile driving process;

[0006] The convergence direction is determined based on the deviation, and a three-stage guidance is executed: Trial stage, where a first guidance action with an amplitude limited by a preset trial amplitude parameter is output along the convergence direction, and the change in deviation after the action is acquired; Confirmation stage, where the deviation is determined to be reduced based on the change in deviation to confirm the effectiveness of the guidance; Volume expansion stage, where a second guidance action is output when the guidance is effective, the amplitude of the second guidance action being set according to a preset volume expansion rule and greater than the amplitude of the first guidance action, and the trial stage, confirmation stage, and volume expansion stage are executed cyclically until the deviation meets the allowable deviation range.

[0007] If the guidance fails, the preset exception handling will be executed to downgrade, suspend or extricate the guidance, and return to the trial phase to continue the guidance.

[0008] Furthermore, the probing segment sequentially outputs a first probing action and a complementary second probing action along the convergence direction; the confirmation segment determines the validity based on the consistency of the deviation changes after the two probings. If both probings reduce the deviation, the segment is deemed valid; if they are inconsistent, the segment is deemed invalid and the preset exception handling is triggered.

[0009] Furthermore, the preset volume increase rule has volume increase levels; when the confirmation segment is valid for a preset number of consecutive times, the level is increased to increase the amplitude of the second guiding action; when the preset number of times is invalid, the level is decreased or the second guiding action is canceled and only the first guiding action is cycled, and the level is used as the amplitude limit condition for the next cycle of the trial segment.

[0010] Furthermore, the preset anomaly handling includes root cause diversion: when the deviation change is opposite to the convergence direction, pause guidance or pile locking is executed; when the deviation change is small and can be reduced again upon returning to the test section, escape action is executed; when the deviation is repetitive and cannot be reduced, guidance downgrade is executed and the release gear is limited, and then the test section is returned to continue guidance.

[0011] Furthermore, the complementary second trial action is either a reverse zero-return action in the same convergence direction as the first trial action or a decoupling verification action orthogonal in the convergence direction, so that the two trials are used to obtain the main response and the control response of the deviation change, respectively.

[0012] Furthermore, the consistency determination of the confirmation segment includes directional consistency and amplitude consistency. Directional consistency means that the direction of deviation change after two trials both point to a decrease in deviation, and amplitude consistency means that the ratio of the decrease in deviation after two trials is within a preset ratio range. The determination is valid only when both directional consistency and amplitude consistency are satisfied.

[0013] Furthermore, the preset anomaly handling includes: diverting the response difference between the first and second trial actions; when the first trial action reduces the deviation but the second trial action does not, performing guided degradation and limiting the amplitude of subsequent trial actions; when the first trial action does not reduce the deviation but the second trial action reduces the deviation, resetting the convergence direction and returning to the trial segment; when neither action reduces the deviation, pausing the guidance or escape action and returning to the trial segment.

[0014] Furthermore, after the first trial action, if the reduction in deviation is lower than the preset response threshold, the second trial action is a decoupling verification action with orthogonal convergence direction; otherwise, the second trial action is a reverse zeroing action with the same convergence direction, so as to obtain the main response and the control response respectively.

[0015] Furthermore, the reverse zero-return action is to output an action that is opposite to the first trial action and whose amplitude is limited by a preset zero-return amplitude parameter while keeping the first trial action degree of freedom unchanged; the decoupling verification action is to apply a trial action only to a single degree of freedom that is orthogonal to the convergence direction, and record the deviation change after two trials as the main response and the control response.

[0016] Furthermore, after performing the reverse zeroing action or the decoupling verification action, the main response and the reference response are used to determine the pile clamping state. When the deviation change after the reverse zeroing action does not revert in the preset zeroing response direction, it is determined that the clamping is loose and a pause guidance is triggered. When the deviation change after the decoupling verification action is mainly manifested as a deviation change in non-orthogonal degrees of freedom, it is determined that the pile body slips and a pile locking or escape processing is triggered.

[0017] The beneficial effects of this invention are as follows: By introducing allowable deviation range management, convergence direction determination, and a three-stage guidance process consisting of a trial stage, a confirmation stage, and a release stage during pile loading, a progressive verification and control of the pile positioning process is achieved. Compared to traditional one-time release or fixed-step adjustment methods, the control strategy of starting with small-scale trials, confirming effectiveness, and then gradually releasing the volume significantly reduces the risk of misalignment and over-adjustment under complex terrain, equipment lag, or environmental disturbances. This ensures that the pile position and attitude deviations are stably converged within the allowable range, thereby improving pile loading alignment accuracy and overall construction efficiency.

[0018] By employing a dual-trial mechanism, adjustable flow rates, and anomaly root cause diversion based on response differences, the system achieves proactive discrimination and adaptive control of guidance effectiveness and clamping status. By obtaining the master and control responses through reverse zeroing or decoupling verification, and combining directional and amplitude consistency for judgment, it can effectively distinguish between true convergence and occasional disturbances. Furthermore, it can promptly trigger pause, locking, or unblocking actions in the early stages of clamping loosening or pile slippage risks. While ensuring construction safety, it reduces reliance on manual intervention, improves the system's robustness and reliability under complex working conditions, and has significant engineering application value. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the functional relationships of the photovoltaic piling machine-mounted pile positioning and guidance method of the present invention.

[0020] Figure 2 This is a diagram illustrating the deviation convergence process during pile alignment guidance in Embodiment 1 of the present invention.

[0021] Figure 3 This is a diagram showing the linkage between the volume increase mechanism and the range of motion in Embodiment 1 of the present invention.

[0022] Figure 4 This is a schematic diagram of the planar deviation trajectory and convergence direction in Embodiment 1 of the present invention.

[0023] Figure 5 This is a schematic diagram of the timeline of the root cause diversion anomaly handling in Embodiment 1 of the present invention.

[0024] Figure 6 This is the evolution diagram of the comprehensive deviation e in the double trial cycle in Embodiment 2 of the present invention.

[0025] Figure 7 This is the second probe type switching diagram driven by the response threshold logic in Embodiment 2 of the present invention.

[0026] Figure 8 This is a graph showing the consistency determination r and validity results of the dual-trial amplitude in Embodiment 2 of the present invention.

[0027] Figure 9 This is a timeline diagram of the response difference shunting and clamping events in Embodiment 2 of the present invention. Detailed Implementation

[0028] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0029] Combined with appendix Figure 1This invention discloses a method for positioning and guiding the placement of a photovoltaic piling machine. The spatial coordinates of the target pile position are provided by a high-precision positioning reference system deployed at the construction site. The positioning reference system is preferably an RTK positioning system or an equivalent high-precision satellite positioning system. By loading the target pile position coordinates into the piling machine control system, a target reference position for alignment is formed.

[0030] The current position deviation of the pile is acquired in real time by a measurement system installed on the pile driver. The measurement system includes a positioning module for acquiring spatial position information and an attitude sensing module for acquiring attitude information. The positioning module acquires the real-time position coordinates of the pile in the construction coordinate system and compares them with the target pile position coordinates to calculate the position deviation of the pile in the planar direction. The attitude sensing module acquires the current attitude angle information of the pile, including at least the heading angle, and compares it with the target attitude to calculate the attitude deviation of the pile.

[0031] During the pile loading process, the control system continuously updates the current position deviation and attitude deviation according to the preset sampling frequency, and compares the deviation data with the corresponding allowable deviation range to determine whether the pile body is currently within the allowable range, or as input parameters for subsequent guidance control algorithms.

[0032] In the three-stage guidance process, the first stage is the trial stage. Within this stage, the control system outputs a first guiding action along the convergence direction to make a small-scale directional adjustment to the pile. The amplitude of this first guiding action is limited by preset trial amplitude parameters to ensure safety and controllability even in conditions of uneven ground, mechanical lag, or unstable clamping. After the trial action is completed, the control system again acquires the current position and attitude deviations of the pile and calculates the change in deviation before and after the trial action to evaluate the actual effect of the directional adjustment on deviation convergence.

[0033] After the trial phase, the process enters the confirmation phase. In the confirmation phase, the control system assesses the changes in deviations acquired before and after the trial, focusing on whether the position and attitude deviations show a decreasing trend relative to before the trial. When the deviation change indicates that the pile is converging towards the target pile position, the guiding direction is deemed valid; when the deviation does not decrease or increases, the guiding direction is deemed invalid and used as the basis for subsequent control decisions. This confirmation process avoids misjudgments caused by instantaneous disturbances, system noise, or model mismatch.

[0034] When the confirmation phase determines the guidance is effective, the process enters the expansion phase. In the expansion phase, the control system outputs a second guiding action to accelerate the convergence speed of the pile towards the target pile position while maintaining the convergence direction. The amplitude of the second guiding action is set according to preset expansion rules and configured to be greater than the amplitude of the first guiding action, thereby improving adjustment efficiency while ensuring correct direction. After the expansion action is completed, the control system re-acquires the deviation and updates the convergence direction, then re-enters the trial phase, continuing the cycle of trial, confirmation, and expansion phases.

[0035] If the pile deviation does not decrease or shows a significant reverse change after a trial action, the control system determines that there is a risk in the current guidance direction or action amplitude and immediately downgrades the guidance strategy. Downgrading includes limiting the maximum amplitude of subsequent trial actions, canceling or suppressing the execution of volume-increasing actions, and forcibly reverting the guidance process to the trial phase, thereby re-verifying the effectiveness of the convergence direction through more conservative, smaller-amplitude trials.

[0036] When guidance fails and is accompanied by sudden deviations or a rate of increase in deviation exceeding a preset safety threshold, the control system initiates a guidance pause. This pause includes stopping the displacement output of the fine-tuning platform and maintaining or locking the pile loading status to prevent uncontrolled slippage of the pile at the clamping end. During the pause, the control system can review the clamping pressure, hydraulic status, or sensor data based on operator instructions or detection results, and resume the guidance process only after the risk has been eliminated.

[0037] When the guidance failure is mainly manifested as a small change in deviation with hysteresis, the control system determines that static friction, hydraulic lag, or local jamming exists, and then performs a freeing-up process. The freeing-up process involves applying small reciprocating movements to the fine-tuning platform or briefly adjusting the actuator parameters to eliminate static friction or lag. After the freeing-up process is completed, the control system reacquires the pile deviation data and returns directly to the test section, re-outputting the first guidance action to verify whether the convergence direction has been restored to effectiveness.

[0038] When the confirmation segment determines the guidance is effective after a preset number of consecutive steps, the control system considers the current convergence direction to be stable and reliable. It then raises the volume level by one stage and recalculates the amplitude of the second guidance action based on the raised level. The amplitude of the second guidance action is greater than that of the first guidance action after the level increase, used to accelerate the deviation convergence process while maintaining the convergence direction.

[0039] When the confirmation phase results in a preset number of consecutive invalid guidance attempts, the control system determines that there are unstable factors or external interference in the current guidance process, and then rolls back the volume increase strategy. The rollback process includes lowering the current volume increase level, or directly canceling the second guidance action when the volume increase level is already at the lowest level, so that the guidance process only retains the trial control of the first guidance action.

[0040] After the gear is shifted up or down, the control system uses the current gear as one of the amplitude constraints for the next trial phase. That is, when the gear is lower, the maximum output amplitude of the first guiding action in the trial phase is more strictly limited, making the trial process more conservative; when the gear is higher, the allowable amplitude range of the trial phase is relatively widened to match the verified stable convergence state.

[0041] After the trial operation, if the positional or attitude deviation not only fails to decrease but instead increases in the direction away from the target pile, the control system immediately pauses guidance or locks the pile, halting further displacement output from the fine-tuning platform and maintaining the pile's clamping state to prevent uncontrollable slippage or sudden attitude changes at the clamping end. While paused or locked, the system can wait for manual verification or test results confirming the risk has been eliminated before re-entering the guidance process.

[0042] If the reduction in deviation after the initial probe is less than the preset threshold, but the decreasing trend can be restored by making a small adjustment after returning to the probe section, the control system executes an escape maneuver. This is done by applying a small reciprocating displacement to the fine-tuning platform or briefly adjusting the actuator control parameters to break the static friction or hysteresis. After the escape maneuver is completed, the system re-acquires the pile deviation and returns directly to the probe section to continue guiding, verifying whether the convergence direction has been effectively restored.

[0043] When the deviation alternates between decreasing and increasing during multiple consecutive guidance processes and fails to maintain a stable decreasing trend, the control system determines that the current guidance process exhibits oscillation or unstable convergence. This type of anomaly is typically related to ground inhomogeneity, structural elastic deformation, or the effects of multi-degree-of-freedom coupling. In response, the control system performs guidance degradation processing, suppressing the amplification effect of the second guidance action by limiting or reducing the amplification level, and if necessary, canceling the amplification segment, retaining only the conservative adjustment of the trial segment. After completing the degradation processing, the system returns to the trial segment to continue guidance and re-verifies the effectiveness of the convergence direction under more constrained action amplitude conditions.

[0044] After the first trial action is completed and the deviation change is acquired, the control system continues to output a second trial action within the same trial segment, which is complementary to the first trial action. The second trial action serves as a control response; its direction or mode of action is complementary to the first trial action in control logic, thereby verifying whether the deviation change truly reflects the convergence effect, rather than being caused by accidental disturbances or system noise. After the second trial action is completed, the control system again acquires the pile deviation and records the deviation change results before and after the second trial.

[0045] After completing two trial actions, the guidance process enters the confirmation phase. In the confirmation phase, the control system performs a consistency judgment on the deviation changes corresponding to the first and second trial actions. The consistency judgment includes at least determining whether the direction of deviation change after the two trials is consistent, with a focus on whether both trials reduce the pile deviation. When both trials reduce the position and attitude deviations, the control system determines that the current convergence direction and trial action combination are valid and allows the guidance process to proceed to the subsequent release or maintenance control phase.

[0046] If the confirmation segment determines that the deviation changes after two attempts are inconsistent, the control system considers the current guidance process to have unreliable factors. Inconsistencies include the first attempt reducing the deviation while the second attempt does not, or the first attempt not reducing the deviation while the second attempt does, or neither attempt reducing the deviation. In this case, the control system determines that the guidance is invalid and immediately triggers the preset abnormal handling procedure.

[0047] When the second probing action is a reverse zero-return action, after completing the first probing action and acquiring the main response, the control system maintains the probing degrees of freedom unchanged and outputs the second probing action in the opposite direction to the first probing action. The amplitude of this reverse zero-return action is limited by a preset zero-return amplitude parameter, which is used to make the pile body tend to retreat along the original convergence direction without introducing excessive disturbance. By comparing the deviation reduction effect produced by the first probing action with the retreat response produced by the reverse zero-return action, the symmetry and reversibility of the pile body's adjustment in the same convergence direction can be determined, thereby obtaining a comparative response to the deviation change.

[0048] When the second trial action is a decoupling verification action, the control system, after completing the first trial action, no longer applies actions along the original convergence direction. Instead, it outputs a trial action only for a single degree of freedom orthogonal to the convergence direction. The decoupling verification action is used to verify whether the deviation change is mainly caused by the target convergence direction, or whether there are obvious multi-degree-of-freedom coupling, structural crosstalk, or clamping slip anomalies. By recording the deviation change before and after the decoupling verification action, a control response corresponding to the main response can be obtained to determine whether the deviation change has directional independence.

[0049] The control system analyzes the deviation changes before and after the first test action and the deviation changes before and after the second test action. When both tests reduce the position or attitude deviation relative to before the test, the direction consistency is determined to be valid. If either test does not reduce the deviation or causes the deviation to change in a direction away from the target pile, the direction consistency is determined to be invalid.

[0050] Amplitude consistency is used to evaluate the relative relationship between the reduction in deviation between two trials, in order to determine whether the deviation change is stable and repeatable. The control system calculates the reduction in deviation corresponding to the first trial action and the second trial action, and obtains the ratio between the two reductions. When the ratio is within a pre-set proportional range, amplitude consistency is considered valid; when the ratio exceeds the proportional range, amplitude consistency is considered invalid, and the current deviation change is considered to have abnormal amplification, attenuation, or asymmetry characteristics.

[0051] The control system determines that the current confirmation segment is valid only when both directional consistency and amplitude consistency are satisfied, and allows the guidance process to enter the subsequent expansion control or hold control stage.

[0052] When the first probing action reduces the pile deviation, but the second probing action fails to reduce the deviation, or the deviation recovery is significantly insufficient, the control system determines that the current guidance process has an unstable response. This type of situation usually indicates that the main response is effective but the control response is abnormal, and is related to mechanical hysteresis, changes in clamping state, or sudden changes in local resistance. In response to this situation, the control system performs guidance degradation processing, reducing the guidance level or limiting the maximum output amplitude of subsequent probing actions, thus returning the guidance process to a more conservative control state, and continuing to verify the stability of the convergence direction under limited amplitude conditions.

[0053] When the first trial action fails to reduce the deviation, while the second trial action does, the control system determines that the current convergence direction setting is incorrect, or that the coupling relationship between the trial degrees of freedom and the actual deviation has changed. This indicates that the originally set convergence direction failed to reflect the true convergent direction of the pile. In this case, the control system performs a convergence direction reset operation, recalculates the convergence direction based on the latest acquired deviation data, and returns to the trial segment after the direction reset, re-outputting the first trial action to verify the effectiveness of the new convergence direction.

[0054] When the first and second trial actions fail to reduce the deviation, the control system determines that the anomaly is caused by external disturbance, static friction lock-up, or a short-term failure of the actuator. In this situation, the control system prioritizes pausing the guidance process, halting further actions from the fine-tuning platform and maintaining the pile-loaded state to prevent uncontrolled displacement of the pile at the clamping end. If safety conditions are met, the control system can further execute a freeing action, using small reciprocating adjustments or parameter disturbances to release the stuck state. After completing the pause or freeing process, the system re-enters the trial phase to continue guidance, and verifies the effectiveness of the convergence direction again after regaining a controllable state.

[0055] When the judgment result indicates that the reduction in deviation caused by the first trial action is lower than the preset response threshold, the control system considers the current trial response to be weak, indicating the presence of measurement noise, degree-of-freedom coupling, clamping slippage, or local resistance changes. This means that a single trial along the convergence direction is insufficient to reliably reflect the true convergence characteristics. The control system then sets the second trial action as a decoupling verification action orthogonal to the convergence direction. The decoupling verification action applies a trial adjustment only to a single degree of freedom orthogonal to the convergence direction to observe whether the deviation change is mainly caused by the orthogonal degree of freedom, thereby obtaining a control response relatively independent of the first trial action.

[0056] When the judgment result indicates that the reduction in deviation caused by the first trial action is not less than the preset response threshold, the control system considers the current trial response to be sufficiently effective and allows for further verification of the convergence direction. The control system sets the second trial action as a reverse zero-return action located in the same convergence direction as the first trial action. The reverse zero-return action is used to output a limited amplitude backtracking adjustment in the opposite direction to the first trial action while keeping the trial degrees of freedom unchanged, so as to form a control response corresponding to the main response.

[0057] After the reverse homing action is completed, the control system acquires the deviation data before and after the execution of the first trial action and before and after the execution of the reverse homing action, respectively, and takes the deviation change generated by the first trial action as the main response and the deviation change generated by the reverse homing action as the control response.

[0058] When the second trial action is determined to be a decoupling verification action, the control system no longer outputs an action along the convergence direction of the first trial action. Instead, it applies the trial action only to a single degree of freedom orthogonal to the convergence direction. The decoupling verification action is used to spatially decouple from the first trial action, ensuring that the trial adjustment does not directly affect the currently determined primary convergence direction.

[0059] After the decoupling verification action is completed, the control system also acquires the deviation change data before and after the two trial actions, and takes the deviation change generated by the first trial action as the main response and the deviation change generated by the decoupling verification action as the control response.

[0060] When the second trial action is a reverse zero-return action, the control system expects that after the pile completes the first trial action, the zero-return action along the same degree of freedom direction will produce a retraction response corresponding to the first trial action. That is, the deviation change should retract in the preset zero-return response direction, and the overall trend of deviation reduction should be maintained or improved. If, in reality, after the reverse zero-return action is executed, the deviation change does not retract in the preset zero-return response direction, or the deviation does not decrease or even increases, the control system determines that there is a risk of loosening at the clamping end of the pile. This phenomenon usually indicates insufficient clamping force, a change in the friction state between the clamp and the pile, or gaps in the clamping structure. After determining that the clamp is loose, the control system immediately triggers a pause in guidance processing, stops subsequent guidance action output, maintains the current pile loading state, and simultaneously issues an abnormal clamping status warning to the operating layer.

[0061] The decoupling verification action should primarily cause deviation changes in orthogonal degrees of freedom, while having a relatively small impact on non-orthogonal degrees of freedom. If, after the decoupling verification action, the deviation changes are mainly manifested as deviation changes in non-orthogonal degrees of freedom, or if the deviation changes in non-orthogonal degrees of freedom are significantly greater than the deviation changes in orthogonal degrees of freedom, the control system determines that the pile body has slipped relative to the clamping mechanism or that there is significant multi-degree-of-freedom crosstalk.

[0062] Upon determining that the pile has slipped or there is severe crosstalk, the control system triggers pile locking or unblocking procedures based on the severity of the anomaly. Pile locking immediately restricts the relative movement of the pile to prevent further slippage; unblocking procedures, under safe conditions, resolve the abnormal state through small controlled actions or parameter adjustments. After completing the locking or unblocking procedure, the control system reacquires the pile deviation data and, if safety conditions are met, returns to the test section to continue guidance.

[0063] Example 1:

[0064] This example was taken at a construction site of a centralized photovoltaic power station. The surface consisted of aeolian sand and gravel layers. The morning temperature was approximately 6°C, and gusts of wind caused slight swaying of the upper structure of the piling machine. The construction team used a tracked photovoltaic piling machine equipped with a hydraulic pile clamping mechanism and a three-degree-of-freedom fine-tuning platform at the front end. The fine-tuning platform could achieve slight forward and backward and left and right displacements in the horizontal plane, as well as slight rotation of the heading angle, for positioning guidance during the pile alignment stage.

[0065] The pile positioning measurement system uses an RTK base station and a vehicle-mounted RTK receiver to provide pile position coordinate references, an IMU to provide attitude angle estimation, and a front-end camera to identify pile cap feature points and pile position markers for close-range correction. After time synchronization, the system outputs the current position deviation and attitude deviation of the pile relative to the target pile position. The allowable deviation range for the target pile position is set as follows: the absolute value of the lateral deviation is no greater than 3mm, the absolute value of the longitudinal deviation is no greater than 3mm, and the absolute value of the heading angle deviation is no greater than 0.2°. This range is used to meet the subsequent requirements for pile driving verticality and array arrangement accuracy. Figure 2 The deviation convergence process in pile alignment guidance is presented. The overall position and attitude deviations decrease with the number of iterations, and an abnormal trigger point appears at iteration 5. Subsequently, the deviation continues to converge until it enters the allowable deviation range.

[0066] In this embodiment, the lateral deviation is defined as... Longitudinal deviation is The heading angle deviation is The combined positional deviation and attitude deviation are calculated for convergence determination and motion amplitude calculation, where the combined positional deviation is:

[0067]

[0068] The attitude deviation is:

[0069]

[0070] When both conditions are met , , The system determines that convergence is complete and exits the guidance process. (Combined with...) Figure 2 The calculation results show that during iteration 1... Consistent with the table, and with the first convergence within the allowed range occurring in iteration 9, iteration 10 further converged and remained stable. It should be noted that... Figure 2 The 3mm threshold line drawn in the image is a reference line for the position component threshold, used as a guide. or The allowable magnitude, the final convergence criterion is still based on and The requirements are 3mm and 0.2° for attitude deviation, respectively.

[0071] The convergence direction is determined based on the deviation. In this embodiment, a sign-based convergence direction vector is used for planar displacement:

[0072]

[0073] The negative sign indicates that the deviation in the desired direction of movement is reduced. The heading angle convergence direction is taken as... This is used to provide the correction direction for minor rotations in the heading angle. The convergence direction update frequency is consistent with the measurement output frequency and is set to 10Hz. Figure 4 The diagram illustrates the planar deviation trajectory and convergence direction. The arrows represent the sign convergence direction for each iteration, and the allowed range rectangles correspond to... and The starting iteration 1, the outlier iteration 5, and the ending iteration 10 were marked. Figure 4 The calculation results show that the deviation in iteration 1 It is 14mm and When the value is -12mm, the convergence direction is , and the direction is consistent with the trajectory of the arrow.

[0074] The three-stage guided cycle is executed in three phases: trial phase, confirmation phase, and expansion phase. In the trial phase, the first guided action is output along the convergence direction. The amplitude of the first guided action is limited by preset trial amplitude parameters. In this embodiment, the planar displacement trial amplitude parameter A1 is set to 5mm, and the heading angle trial amplitude parameter is set to 0.1°. The confirmation phase acquires the deviation change after the trial action. and If both show a decreasing trend, the guidance is deemed effective. During the volume expansion phase, a second guidance action is output when the guidance is effective. The amplitude of the second guidance action is set according to the preset volume expansion rules and is greater than the amplitude of the first guidance action. After the volume expansion action ends, the next cycle begins, continuing the trial phase until the deviation falls within the allowable deviation range. Figure 2 The mean deviation curve shows a steeper downward trend during the effective volume expansion phase, which is used to reflect the effect of volume expansion on the convergence speed.

[0075] The volume increase rule adopts a volume increase tier mechanism, setting three volume increase tiers. The higher the tier, the larger the amplitude of the second guided action. The amplitude of the second guided action is calculated by a function:

[0076]

[0077] Bit gain The values ​​are as follows: gear 1 corresponds to 2, gear 2 corresponds to 3, and gear 3 corresponds to 4. When two consecutive confirmations are valid, the gear is increased; this increase takes effect immediately and is used for calculating the subsequent volume increase. When two consecutive confirmations are invalid, the gear is decreased, or the second guiding action is canceled at a lower gear, and only the first guiding action is looped. Simultaneously, the current gear is used as one of the limiting conditions for the next trial segment's amplitude, making the trial action amplitude more conservative at lower gears. Figure 3 The correlation between the volume increment mechanism and the magnitude of the movement is given. Figure 3 The calculation results show that when the iteration level is 2, the theoretical output is... Consistent with the table, although the theoretical capacity increase for Iteration 5 is still 10mm, the actual capacity increase is reduced due to the cancellation of abnormal shunt capacity increase. It is 0mm, thus avoiding incorrect feed rate.

[0078] Pre-defined anomaly handling includes root cause shunting, selecting downgrade, pause, or escape based on the characteristics of deviation changes. If the deviation change is opposite to the convergence direction, it will manifest as a trial and error. If the sign of the increasing or dominant component changes away from the target, the guidance is paused and the pile locking is triggered to prevent secondary displacement of the pile at the clamping end. If the deviation change is small, it manifests as... If the deviation is less than 2mm and can be reduced again upon returning to the probing section, an escape action is performed. The escape action involves applying a small reciprocating vibration to the fine-tuning platform and briefly increasing the hydraulic valve opening to overcome static friction and hydraulic hysteresis, before returning to the probing section to continue guidance. If the deviation is reciprocating and cannot be maintained at a reduced level, manifested as multiple consecutive alternations of reduction and increase, then a guidance downgrade is performed and the volume release gear is limited. The limitation method is to forcibly reduce the upper limit of the gear to gear 1 and cancel the volume release section, before returning to the probing section to continue guidance. Figure 5 A timeline diagram of the root cause shunting anomaly handling is given. In iteration 5, the process enters a pause and lock state and the result is confirmed to be invalid. Subsequently, normal guidance is restored and the process remains effective.

[0079] In this embodiment, a plot point occurs at iteration 5. When the pile driver moves the pile above the crushed stone interlayer, the friction coefficient between the clamping end and the pile changes abruptly, and the hydraulic cylinder experiences a brief lag. This causes the deviation change after the trial action to be opposite to the convergence direction. The system determines the action is invalid in the confirmation phase and triggers root cause diversion, executing a pause in guidance and pile loading lock. The operator simultaneously checks the clamping pressure and increases the hydraulic oil temperature compensation parameter by one level. The system then lowers the release level to level 1 and returns to the trial phase to continue. Guidance subsequently resumes monotonic convergence. Figure 4 The calculation results show that the overall positional deviation from iteration 5 to iteration 6 rebounded once, with a rebound amplitude of 7.8mm-6.4mm=1.4mm, which is consistent with the reverse response caused by the gravel interlayer. Figure 5 The calculation results show that, with When an upward movement is used as a bounce criterion, the bounce count is 1, and the bounce does not continue to expand after the pause and lock.

[0080] Table 1 below shows the iterative data for a complete guidance process. The deviation in the table represents the measured value before entering the trial phase in each cycle, and the action amplitude represents the trial amplitude used in this cycle. With the increase in volume The validity determination is the confirmation segment result, and the abnormal diversion result is the triggered root cause diversion processing.

[0081]

[0082] Taking iteration 1 as an example, the comprehensive positional deviation is calculated as follows:

[0083]

[0084] And the attitude deviation is If the allowable deviation range is not met, a three-stage loop is entered. In iteration 3, the gear is increased to 2, and the volume increase is as follows: The calculation, with a larger amplitude than the trial range, is used to accelerate convergence, and related interaction relationships are as follows: Figure 3 As shown. The overall positional deviation at iteration 10 is:

[0085]

[0086] and Simultaneously, if the allowable deviation range is met, the process ends and enters the piling stage. The relevant convergence process is as follows: Figure 2 As shown, the planar trajectory enters the allowed range as follows: Figure 4 As shown.

[0087] From the performance evaluation, convergence was restored even after triggering one reverse root cause shunting of the deviation, ultimately reducing the overall position deviation from 18.4 mm to 1.4 mm and the attitude deviation from 0.62° to 0.12° within 10 iterations. Figure 5 The calculation results show that, compared to a conservative strategy with 14 iterations, this embodiment reduces the number of iterations by approximately 28.6%, and... When rebound is used as the criterion, the number of rebounds is 1. By pausing guidance and locking the pile load, continuous erroneous release under abnormal working conditions is avoided, keeping the maximum deviation peak at 18.4mm and preventing secondary amplification.

[0088] Example 2:

[0089] At a distributed photovoltaic construction site in an alluvial plain at the foot of a mountain, rainfall the previous day had left the site muddy with areas where soft and hard soil met. When the piling machine entered the alignment phase after a low-speed transfer, there was a risk of slight slippage at the end of the piling clamping mechanism. The construction team used a tracked photovoltaic piling machine with a front-end piling clamping mechanism equipped with a clamping pressure sensor and a displacement encoder. The fine-tuning platform provided two degrees of freedom for planar micro-displacement and micro-rotation of the heading angle.

[0090] The measurement system uses RTK to provide the pile location coordinate reference, IMU to provide attitude angle estimation, and front-end camera to provide relative pose correction between pile feature points and pile location markers, outputting a comprehensive planar deviation. deviation from heading angle Planar composite deviation As the primary criterion for double-trial, the actions before and after the first and second trial actions are recorded in each cycle. The value is used to calculate the change in deviation between the two trials for consistency determination and abnormal flow diversion. Figure 6 The loops 1 through 6 are shown. The curves showing the changes before, after, and after the first and second trials are presented, with an event marker highlighting the risk trigger point at loop 5, after the second trial in loop 5. The rebound is consistent with the on-site working conditions where the clamping friction decreases due to muddy and wet mud.

[0091] The first probing action applies a displacement probe along the convergence direction. The second probing action serves as a control response within the same cycle, used to verify the effectiveness of the first probing action and assist in determining the clamping state. The amplitude of the first probing action is 6mm, and the second probing action switches between two types: reverse zeroing and decoupling verification, with the switching determined by the response threshold logic. Figure 7 The first trial response strength for each cycle is given. Compare with the response threshold and label the second trial type above each scatter point.

[0092] Change in deviation from a single trial:

[0093]

[0094] when This represents the change amount for the first probing action. Preset response threshold. .like If the first trial response is deemed too weak, the second trial action is a decoupling verification action with orthogonal convergence direction, applying a 4mm trial to only the orthogonal single degree of freedom and recording the deviation change. If The second trial action is a reverse zero-return action in the same convergence direction, outputting an action opposite to the first trial action and limited by a preset zero-return amplitude parameter. The zero-return amplitude parameter is set to 4mm to ensure the zero-return action does not exceed 4mm to avoid overshoot. Figure 7 It can be seen that loop 2 and loop 6 The value is below 1.0 mm, therefore decoupling verification is used as the second trial action, in cycle 5. The value is 1.2mm, which meets the zero-return selection condition. Therefore, reverse zero-return is used as the second trial action.

[0095] Consistency includes directional consistency and amplitude consistency. Directional consistency requires that the deviation be reduced in both trials, i.e. and Amplitude consistency is determined using a ratio:

[0096]

[0097] And set the ratio range as The cycle guidance is deemed valid only when both directional consistency and amplitude consistency are satisfied simultaneously, and this validity is used as the basis for subsequent volume expansion or holding actions. Figure 8 The results of each loop calculation are given. The chart contains bar charts, and intervals are used to indicate the acceptable range for consistency.

[0098] If the first attempt reduces the deviation but the second attempt does not, an unstable response or failure to return to zero as expected is detected. This triggers a downgrade and limits the amplitude of subsequent attempts, while also initiating a clamping status check. If the first attempt fails to reduce the deviation but the second attempt does, an incorrect convergence direction setting or coupling error is detected. The convergence direction is reset, and the system returns to the trial phase. If neither attempt reduces the deviation, an external disturbance or static friction lock is detected. A pause guidance or escape action is initiated, and the system returns to the trial phase. Figure 9 The changes in the level of diversion action from loop 1 to loop 6 are presented in the form of a timeline, and the three states of normal, reset and pause / lock are displayed in layers. The clamping event trigger point is marked in loop 5.

[0099] The clamping state and slip determination are executed after the second trial action. When a reverse zero-return action is used, it is expected that the zero-return will produce a backlash response corresponding to the first trial and maintain the trend of decreasing deviation. If the deviation change after zero-return does not revert in the preset zero-return response direction and causes... If clamping is found to be loose, a pause in the guidance process is triggered, and the operator is prompted to check the clamping pressure and wear of the gripper pads. When a decoupling verification action is used, the decoupling crosstalk index is calculated:

[0100]

[0101] in This represents the change in target deviation caused by orthogonal degrees of freedom. This represents the accompanying deviation change on non-orthogonal degrees of freedom. Use 0.1 mm to avoid a denominator of 0. If If the pile body is determined to have slippage or crosstalk at the clamping end, the threshold value in this embodiment is taken as follows: This triggers pile locking or detachment processing.

[0102] At cycle 5, a loosening of the clamping mechanism occurred. Muddy conditions caused wet mud to adhere to the surface of the clamping pads. Although the deviation decreased after the first trial action, the zeroing action did not produce the expected control response. The confirmation segment's directional consistency was not met, triggering a loosening of the clamping mechanism. The system paused guidance and increased the clamping pressure setting, while simultaneously locking the pile to prevent further slippage. After the pause was lifted, the next cycle continued, with the double trial restoring consistency and completing alignment.

[0103] Table 2 below shows the data records for a complete double-trial process. Each cycle contains two records: the first trial and the second trial. , ,ratio Consistency results, final validity, and diversion actions are listed in the table. The value represents the overall deviation; the smaller the value, the closer the target pile position is to the target pile position.

[0104]

[0105] To facilitate the verification of consistency determination calculations, in loop 3 , Therefore If the value falls within the range of 0.6 to 1.4 and is positive both times, the calculation is considered valid. Figure 6 Explanation area and Figure 8 The explanation section provides consistent verification results. (Loop 5) For the sake of righteousness If the value is negative, the directional consistency is not met and the zero-return response does not return as expected, it is determined that the clamping is loose and triggers the pause guidance and pile locking.

[0106] From the effect evaluation, under the condition of muddy and soft-hard soil interface, the dual-probe mechanism can distinguish between effective and abnormal responses within a single cycle. In cycle 5, loosening of the clamps was detected in one go, interrupting the erroneous guiding trend and preventing further pile slippage. Combined with... Figure 9 Statistical results show that the convergence direction was reset once during the six cycles due to misdirection triggering, the clamping anomaly was detected once with a detection rate of 100%, and the pausing and locking occurred once, with effective guidance resuming after being released in approximately 12 seconds. At the end of the alignment process, the overall deviation decreased to 5.1 mm, allowing for subsequent finer-grained basic guidance procedures. Ultimately, alignment accuracy of no more than 3 mm for the planar component deviation and no more than 0.2° for the heading angle deviation can be achieved.

[0107] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for guiding the positioning of a photovoltaic piling machine, characterized in that... include: During the pile loading process, obtain the allowable deviation range of the target pile position and the current position deviation and attitude deviation of the pile body; The convergence direction is determined based on the deviation, and a three-stage guidance is executed: Trial stage, where a first guidance action with an amplitude limited by a preset trial amplitude parameter is output along the convergence direction, and the change in deviation after the action is acquired; Confirmation stage, where the deviation is determined to be reduced based on the change in deviation to confirm the effectiveness of the guidance; Volume expansion stage, where a second guidance action is output when the guidance is effective, the amplitude of the second guidance action being set according to a preset volume expansion rule and greater than the amplitude of the first guidance action, and the trial stage, confirmation stage, and volume expansion stage are executed cyclically until the deviation meets the allowable deviation range. If the guidance fails, the preset exception handling will be executed to downgrade, suspend or extricate the guidance, and return to the trial phase to continue the guidance.

2. The method for positioning and guiding the pile of a photovoltaic piling machine according to claim 1, characterized in that... The probing segment sequentially outputs a first probing action and a complementary second probing action along the convergence direction; the confirmation segment determines the validity based on the consistency of the deviation changes after the two probing actions. If both actions reduce the deviation, the action is considered valid; if they are inconsistent, the action is considered invalid and the preset exception handling is triggered.

3. The method for guiding the positioning of a photovoltaic piling machine according to claim 1, characterized in that... The preset volume increase rule has volume increase levels; when the confirmation segment is valid for a preset number of consecutive times, the level is increased to increase the amplitude of the second guiding action; when the preset number of times is invalid, the level is decreased or the second guiding action is canceled and only the first guiding action is cycled. The level is used as the amplitude limit condition for the next cycle of the trial segment.

4. The method for positioning and guiding a photovoltaic piling machine according to claim 1, characterized in that... The preset anomaly handling includes root cause diversion: when the deviation change is opposite to the convergence direction, pause guidance or pile locking is executed; when the deviation change is small and can be reduced upon returning to the trial section, escape action is executed. If the deviation persists and cannot be reduced, a guided downgrade is implemented and the volume increase is limited, then the process returns to the probing phase to continue guiding.

5. The method for guiding the positioning of a photovoltaic piling machine according to claim 2, characterized in that... The complementary second trial action is either a reverse zeroing action in the same convergence direction as the first trial action or a decoupling verification action orthogonal in the convergence direction, so that the two trials are used to obtain the main response and the control response of the deviation change, respectively.

6. The method for guiding the positioning of a photovoltaic piling machine according to claim 2, characterized in that... The consistency determination of the confirmation segment includes directional consistency and amplitude consistency. Directional consistency means that the direction of deviation change after two trials both point to a decrease in deviation. Amplitude consistency means that the ratio of the decrease in deviation after two trials is within a preset ratio range. The determination is valid only when both directional consistency and amplitude consistency are satisfied.

7. The method for guiding the positioning of a photovoltaic piling machine according to claim 2, characterized in that... The preset anomaly handling includes: diverting the response difference between the first and second trial actions; when the first trial action reduces the deviation but the second trial action does not, performing guidance degradation and limiting the amplitude of subsequent trial actions; when the first trial action does not reduce the deviation but the second trial action reduces the deviation, resetting the convergence direction and returning to the trial segment; when neither action reduces the deviation, pausing guidance or escaping action and returning to the trial segment.

8. The method for guiding the positioning of a photovoltaic piling machine according to claim 5, characterized in that... After the first trial action, if the reduction in deviation is lower than the preset response threshold, the second trial action is a decoupling verification action with orthogonal convergence direction; otherwise, the second trial action is a reverse zeroing action with the same convergence direction, so as to obtain the main response and the control response respectively.

9. A method for guiding the positioning of a photovoltaic piling machine according to claim 5, characterized in that... The reverse zero-return action is to output an action that is opposite to the first trial action and whose amplitude is limited by a preset zero-return amplitude parameter while keeping the first trial action degree of freedom unchanged; the decoupling verification action is to apply a trial action only to a single degree of freedom that is orthogonal to the convergence direction, and record the deviation change after two trials as the main response and the control response.

10. A method for positioning and guiding the pile driver of a photovoltaic piling machine according to claim 9, characterized in that... After performing the reverse zeroing action or the decoupling verification action, the main response and the reference response are used to determine the pile clamping state. When the deviation change after the reverse zeroing action does not revert in the preset zeroing response direction, it is determined that the clamping is loose and the guidance is paused. When the deviation change after the decoupling verification action is mainly manifested as the deviation change of non-orthogonal degrees of freedom, it is determined that the pile slips and the pile locking or escape processing is triggered.

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