A whole-process automatic unmanned piling ship pile sinking operation control method

By establishing the transformation relationship between pixel coordinates and the physical world on the pile driving vessel, utilizing disturbance transmission and control response matrices, and combining a dual-layer camera structure, the entire pile driving operation was automated, solving the problem of manual intervention during the pile driving process and improving the automation level and data accuracy of pile driving.

CN122449903APending Publication Date: 2026-07-24CCCC FOURTH HARBOR ENG INST CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CCCC FOURTH HARBOR ENG INST CO LTD
Filing Date
2026-04-27
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

Existing technologies make it difficult to achieve fully automated, unmanned operation of pile driving, requiring manual intervention for pile position correction and adjustment.

Method used

By establishing a transformation relationship between camera pixel coordinates and the real physical world, and using the disturbance transfer matrix H and control response matrix G, combined with a dual-layer camera structure, the movement of the piling vessel can be monitored and adjusted in real time to eliminate swaying interference and achieve automated control.

Benefits of technology

It enables fully automated pile driving operations, reducing human intervention, improving the automation level of the pile driving process, and eliminating errors caused by the swaying of the pile driving vessel through data filtering.

✦ Generated by Eureka AI based on patent content.

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Abstract

The application discloses a kind of whole course automation unmanned piling barge sinking pile operation control method, comprising the following steps: step 1: the conversion relationship of the pixel coordinates of camera is mapped to real physical world coordinates is established, and the response model of piling barge to anchor cable action is established;Step 2: calculate to obtain body state data;Step 3: obtain the target motion expected adjustment amount of piling barge, target motion expected adjustment amount includes the displacement and rotation angle required to be moved by piling barge;Step 4: construct mathematical optimization problem, to find the amount of four anchor cables on piling barge;Step 5: send first control command to winch, winch according to the amount of four anchor cables of first control command, send second control command to piling device, and piling device carries out piling according to the control parameter of second control command to target pile body.The application can realize whole course automation sinking pile operation without personnel participation, and eliminate the error caused by piling barge swing to sinking pile monitoring.
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