CN102535463A - Positioning control method and positioning control system for beach crawler pile driver - Google Patents
Positioning control method and positioning control system for beach crawler pile driver Download PDFInfo
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- CN102535463A CN102535463A CN2012100342758A CN201210034275A CN102535463A CN 102535463 A CN102535463 A CN 102535463A CN 2012100342758 A CN2012100342758 A CN 2012100342758A CN 201210034275 A CN201210034275 A CN 201210034275A CN 102535463 A CN102535463 A CN 102535463A
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Abstract
The invention discloses a positioning control method and a positioning control system for a beach crawler pile driver. Pre-driving positional information and driver current-position information are respectively acquired according to a pre-driving geographical position and a geographical position of the beach crawler pile driver; a linear distance and a line, from the pre-driving position to a rotational center of the driver, and a first included angle, between the line and a transverse direction of a vehicle of the driver passing the rotational center, are obtained according to the pre-driving positional information and the driver current-position information; current construction radius of a mast of the driver and a second included angle between the radial direction of the current mast construction radius and the transverse direction of the vehicle of the driver are acquired, the current mast construction radius is compared to the linear distance, the second included angle is compared to the first included angle, and a mast construction radius deviation and a mast construction angle deviation are obtained; and according to the mast construction radius deviation and the mast construction angle deviation, the practical construction radius of the mast is adjusted and rotation of the mast is operated. Using the method and the system solves the problem of positioning of the beach crawler pile driver.
Description
Technical field
The present invention relates to a kind of pile driver, particularly a kind of beaching crawler pile driver position control method and system.
Background technology
Progressively development along with the offshore wind farm industry; Intertidal zone and coastal waters wind energy turbine set construction special equipment also grow up thereupon; And the installation of application and offshore wind turbine, maintenance work, significantly improved the efficient of offshore wind turbine installation, reduced the installation and maintenance cost of offshore wind turbine.
The beaching crawler pile driver mainly is to be used for carrying out foundation constructions such as pile sinking, filling stake in intertidal zone and the regional soft ground of coastal waters wind energy turbine set.The beaching crawler pile driver is survived under water environment in anhydrous and depth of water beach road traveling and construction under the environment below 25 meters.The piling construction operation process is that concrete stake vertically is hung in the state parallel with mast; Carry out pounding under the continuous pneumatic in vertical direction through mast top diesel hammer; Thereby it is underground that concrete stake is sunk to gradually, and therefore the accurate location of stake position is the accurate location of the mast of crawler belt pile driver.
Because the regional region of intertidal zone and coastal waters wind energy turbine set is wide, complicated geology, bearing capacity is low and the influence of factors such as skewness, more shallow, the marine Changes in weather impermanence of water level; Make the beaching crawler pile driver under intertidal zone and coastal waters wind energy turbine set construction environment, can't accurately locate the preparatory piling of preparatory construction preferably, and find suitable route running fast near the piling in advance of constructing.How stake is placed on the geodetic coordinates point (construction point) of design in advance, makes that the preparatory pile driving position of construction is accurate, guarantee the quality of preparatory piling construction, increasing work efficiency becomes the problem that needs to be resolved hurrily.
Summary of the invention
The object of the present invention is to provide a kind of beaching crawler pile driver position control method and system, can solve the problem that common pile driver can't accurately be located the preparatory piling of preparatory construction preferably better under the beach construction environment.
According to an aspect of the present invention, a kind of beaching crawler pile driver position control method is provided, said method comprises:
Obtain preparatory pile driving position information and beaching crawler pile driver current location information respectively according to the geographical position of preparatory piling and the geographical position of beaching crawler pile driver;
Obtain said preparatory pile driving position to the air line distance of the beaching crawler pile driver centre of gyration and first angle between straight line and said straight line and the process pile driver cross-car of the said centre of gyration according to said preparatory pile driving position information and said beaching crawler pile driver current location information;
Obtain current construction radius of said beaching crawler pile driver mast and the current construction radius of said mast radially and second angle between the said pile driver cross-car; Current construction radius of more said mast and said air line distance; More said simultaneously second angle and said first angle obtain mast construction radius deviate and mast construction angular deviation value;
Adjust mast practice of construction radius and carry out mast revolution operation according to said mast construction radius deviate and said mast construction angular deviation value.
Preferably, the step of obtaining preparatory pile driving position information and beaching crawler pile driver current location information comprises:
Geographical position according to preparatory piling generates preparatory pile driving position information in advance;
According to the geographical position of beaching crawler pile driver via satellite the location survey mode obtain beaching crawler pile driver current location information in real time.
Preferably,
The air line distance of the said centre of gyration of mast front end distance when the current construction radius of said mast is the vertical state of said mast.
Preferably, also comprise before obtaining the step of current construction radius of said mast and said second angle:
Relatively mast maximum construction radius and said air line distance compare maximum angle of revolution of mast and said first angle simultaneously;
Perhaps said first angle is greater than the maximum angle of revolution of said mast if the maximum construction of said mast radius is less than said air line distance, and then alarm moves the complete machine position of said beaching crawler pile driver.
Preferably, the step of adjustment mast practice of construction radius comprises:
Confirm flexible direction of mast and flexible side-play amount according to said mast construction radius deviate;
Carry out the flexible operation of mast according to flexible direction of determined mast and flexible side-play amount.
The step of preferably, carrying out mast revolution operation comprises:
Confirm mast gyratory directions and angle of revolution according to said mast construction angular deviation value;
Carry out mast revolution operation according to determined mast gyratory directions and angle of revolution.
According to a further aspect in the invention, a kind of beaching crawler pile driver positioning control system is provided, said system comprises:
Management map and treating apparatus are used for obtaining preparatory pile driving position information and beaching crawler pile driver current location information respectively according to the geographical position of piling in advance and the geographical position of beaching crawler pile driver;
Control system handles device; Be used for obtaining said preparatory pile driving position to the air line distance of the beaching crawler pile driver centre of gyration and first angle between straight line and said straight line and the process said pile driver cross-car of the said centre of gyration according to said preparatory pile driving position information and said beaching crawler pile driver current location information; Obtain the current construction radius of said beaching crawler pile driver mast radially and second angle between said mast and the said pile driver cross-car; Current construction radius of more said mast and said air line distance; More said simultaneously second angle and said first angle obtain mast construction radius deviate and mast construction angular deviation value;
Carry out the object control device, be used for adjusting mast practice of construction radius and carrying out mast revolution operation according to said mast construction radius deviate and said mast construction angular deviation value.
Preferably, it is characterized in that,
The air line distance of the said centre of gyration of mast front end distance when the current construction radius of said mast is the vertical state of said mast.
Preferably, said control system handles device also comprises:
Comparison module is used for comparison mast maximum construction radius and said air line distance, compares maximum angle of revolution of mast and said first angle simultaneously;
Alarm module is used in the maximum construction of the said mast radius complete machine position that alarm moves said beaching crawler pile driver during greater than the maximum angle of revolution of said mast less than said air line distance or said first angle.
Preferably, said control system handles device also comprises:
The mast determination module that stretches is used for confirming flexible direction of mast and flexible side-play amount according to said mast construction radius deviate;
Mast angle of revolution determination module is used for confirming mast gyratory directions and angle of revolution according to said mast construction angular deviation value.
Preferably, said execution object control device also comprises:
Mast practice of construction radius adjusting module is used for carrying out the flexible operation of mast according to flexible direction of determined mast and flexible side-play amount;
Mast revolution Executive Module is used for carrying out mast revolution operation according to determined mast gyratory directions and angle of revolution.
Preferably, said control system handles device also comprises:
The Satellite Tracking measurement module, be used for according to the geographical position of beaching crawler pile driver via satellite the location survey mode obtain beaching crawler pile driver current location information in real time;
Navigation module is used for generating beaching crawler pile driver travel direction and travel speed control instruction according to said beaching crawler pile driver current location information and said preparatory pile driving position information.
Preferably, said execution object control device also is used for controlling according to said beaching crawler pile driver travel direction and travel speed control instruction the travel direction and the travel speed of said beaching crawler pile driver.
Compared with prior art, beneficial effect of the present invention is: can accurately locate the preparatory piling of preparatory construction preferably, improve the efficiency of construction of beaching crawler pile driver under the beach environment, guarantee the construction construction quality of piling in advance.
Description of drawings
Fig. 1 is the flow chart of a kind of beaching crawler pile driver position control method of providing of the embodiment of the invention one;
Fig. 2 is the flow chart of a kind of beaching crawler pile driver position control method of providing of the embodiment of the invention two;
Fig. 2 a is the beaching crawler pile driver platform coordinate sketch map that the embodiment of the invention two provides;
Fig. 3 is the structural representation of a kind of beaching crawler pile driver positioning control system of providing of the embodiment of the invention.
The specific embodiment
, should be appreciated that following illustrated preferred embodiment only is used for explanation and explains the present invention, and be not used in qualification the present invention a preferred embodiment of the present invention will be described in detail below in conjunction with accompanying drawing.
Fig. 1 is the flow chart of a kind of beaching crawler pile driver position control method of providing of the embodiment of the invention one, and as shown in Figure 1, said method comprises:
Step S101 obtains preparatory pile driving position information and beaching crawler pile driver current location information respectively according to the geographical position of preparatory piling and the geographical position of beaching crawler pile driver.
Specifically, generate preparatory pile driving position information in advance according to the geographical position of preparatory piling, according to the geographical position of beaching crawler pile driver via satellite the location survey mode obtain beaching crawler pile driver current location information in real time.
Step S102 obtains said preparatory pile driving position to the air line distance of the beaching crawler pile driver centre of gyration and first angle between straight line and said straight line and the process said pile driver cross-car of the said centre of gyration according to said preparatory pile driving position information and said beaching crawler pile driver current location information.
Step S103; Obtain current construction radius of said beaching crawler pile driver mast and the current construction radius of said mast radially and second angle between the said pile driver cross-car; Current construction radius of more said mast and said air line distance; More said simultaneously second angle and said first angle obtain mast construction radius deviate and mast construction angular deviation value.
Compare mast maximum construction radius and said air line distance; Compare maximum angle of revolution of mast and said first angle simultaneously; If the maximum construction of said mast radius less than said air line distance or said first angle greater than the maximum angle of revolution of said mast; Then alarm moves the complete machine position of said beaching crawler pile driver; Otherwise, obtain second angle between current construction radius of said beaching crawler pile driver mast and said mast and the said pile driver cross-car, current construction radius of more said mast and said air line distance; More said simultaneously second angle and said first angle obtain mast construction radius deviate and mast construction angular deviation value.The air line distance of the said centre of gyration of mast front end distance when wherein, the current construction radius of said mast is the vertical state of said mast.
Step S104 adjusts mast practice of construction radius and carries out mast revolution operation according to said mast construction radius deviate and said mast construction angular deviation value.
Specifically, confirm flexible direction of mast and flexible side-play amount, carry out the flexible operation of mast according to flexible direction of determined mast and flexible side-play amount according to said mast construction radius deviate.Confirm mast gyratory directions and angle of revolution according to said mast construction angular deviation value, carry out mast revolution operation according to determined mast gyratory directions and angle of revolution.
Fig. 2 is a kind of beaching crawler pile driver navigation that provides of the embodiment of the invention two and the flow chart of position control method, and as shown in Figure 2, said method comprises:
Step S201 reads preparatory pile driving position information and pile driver current location information.
The beaching crawler pile driver is before carrying out the mast location, and the geography information that must will drive piles in advance shows on display screen (being used for the physical location that shows stake directly perceived), and the beaching crawler pile driver is gone near preparatory piling.Display screen is sent to preparatory pile driving position information in the positional information calculation method through CAN (Controller Area Network, controller local area network) 2.0 buses.Fig. 2 a is the beaching crawler pile driver platform coordinate sketch map that the embodiment of the invention two provides; Shown in Fig. 2 a, beaching crawler pile driver platform is an initial point with the centre of gyration O of pile driver, and the straight line that belongs to pile driver cross-car direction is the X axle; Straight line with pile driver car body forward travel direction place is the Y axle; C is a bottom position, and D is preparatory pile driving position, and said preparatory pile driving position information is the positional information of D under the XY coordinate.
Step S202, executing location information calculations method.
The positional information calculation method is changed the preparatory pile driving position information of input, is XY coordinate data display format with CAN2.0 bus data format conversion.The the 1st and the 2nd byte of first frame data of CAN2.0 bus (node ID is 0x1c1f0010) is defined as the data of X-direction; The the 3rd and the 4th byte of first frame data of CAN2.0 bus (node is that NOID is 0x1c1f0010) is defined as the data of Y direction, and (definition coordinate system translation purpose is to be the convenient angle of calculating; Make things convenient for the relatively calculating of mast construction radius, shortcut calculation).The positional information calculation method is according to triangular relationship, and calculating preparatory pile driving position is first angle apart from the air line distance of the beaching crawler pile driver centre of gyration and preparatory pile driving position to the angle value of beaching crawler pile driver center and horizontal X axle.Specifically; Shown in accompanying drawing 2a; The car body of receiving satellite certificate sign on A, 2 expression pile drivers of B; Because therefore the fixed-site between car body sign A, B and the centre of gyration O just can calculate first angle between air line distance OD and OD and the X axle through the triangular relationship between car body sign A, B and the preparatory pile driving position D.Owing to influenced by the Design of Mechanical Structure of complete machine; The maximum construction of mast radius, maximum angle of revolution scope generally change with the model difference of car; Compare with the air line distance OD that calculates according to the maximum construction of pre-set mast radius value; The maximum angle of revolution of first angle that will calculate simultaneously and the mast of setting compares; Perhaps said first angle is greater than the maximum angle of revolution of said mast if the maximum construction of said mast radius is less than said air line distance, and then alarm moves the complete machine position of said beaching crawler pile driver, otherwise execution in step S203.When wherein, the mast angle of revolution is the vertical state of mast along with the angle of centre of gyration rotation.
Step S203 carries out the mast control method for movement.
The mast control method for movement mainly according to the mast action command information instruct mast reach, after action such as move, move to left, move to right.The current construction radius of piling radius ratio mast is big in advance in definition, and the flexible direction of mast is a forward; The revolution of definition mast clockwise direction is the forward revolution, otherwise is the negative sense revolution.
Angle between first angle that the mast control method for movement calculates according to the positional information calculation method and these two parameters of air line distance and the current construction radius of mast and mast construction radius and the X axle calculates mast current construction radius deviate and the current construction angular deviation of mast value respectively.Confirm flexible side-play amount and the flexible direction that mast moves to preparatory piling through the current construction radius of mast deviate, confirm mast angle of revolution and gyratory directions through the current construction angular deviation of mast value.The mast control method for movement sends to the flexible direction of mast, control instructions such as flexible side-play amount, mast angle of revolution and gyratory directions and carries out control hydraulic pressure and dynamical system object method.
Step S204 carries out control hydraulic pressure and dynamical system object method.
Control hydraulic pressure and dynamical system object method mainly are to calculate speed and the dynamical system control and regulation method that hydraulic system is carried out the control of object needs according to the control instruction that draws in the mast control method for movement.
The logic of mast electromagnetic valve action is confirmed in the flexible direction of mast that control hydraulic pressure and dynamical system object method calculate according to the mast control method for movement, the flexible side-play amount of mast, mast gyratory directions, mast angle of revolution.Can arrive the direction of preparatory piling if gyratory directions is forward revolution, then the forward rotary magnetic valve opened, and stop speed and reduction of speed rate value according to what the angle of revolution calculated that corresponding speed of gyration, revolution acceleration, revolution be about to put in place.If gyratory directions is negative sense revolution, then control the object control algolithm negative sense rotary magnetic valve is opened, and the reduction of speed speed and the acceleration at stall value that put in place according to the corresponding speed of gyration in angle of revolution, revolution acceleration, revolution.The control of flexible direction of mast and mobile side-play amount is prior art, repeats no more here.
Fig. 3 is a kind of beaching crawler pile driver navigation that provides of the embodiment of the invention and the structural representation of positioning control system; As shown in Figure 3, said system comprises power supply managing device, management map and treating apparatus, control system handles device, carries out the object control device.
The power supply managing device mainly is used for managing whole device power distribution and power supply control, and its main core component is that internal relay and control logic circuit are formed.The power supply managing device mainly is responsible for the management role to the complete machine power-supply system of beaching crawler pile driver, mainly comprises the management to engine system power supply, system illumination lamp power supply, control device power supply etc.This device is different according to applying working condition, and power supply managing carries out the power distribution management to the various piece power supply.The power supply managing device provides enough power supplys to supply whole system work in beaching crawler pile driver mast location and Navigation Control Unit.
Management map and treating apparatus mainly are responsible for obtaining pile driver current location information and preparatory pile driving position information, and its core component is that map display screen (standard display unit) has the function of deal with data computing simultaneously, has the bus communication interface of standard.Management map and treating apparatus mainly are responsible for (being undertaken pre-rendered by construction party the map of job site; Show the positional information on piling basis in advance in the map) in display unit, show, the information that shows in the display unit simultaneously sends in the control system handles device through EBI.In the time of beaching crawler pile driver transport condition; The positional information that sends over through EBI (international standard communication interface) receiving control system treating apparatus in the display unit when front truck; And in display unit, show; For the driver provides navigation information, management map and treating apparatus have mainly adopted present Satellite Tracking Measurement Algorithm and measuring system, so the navigation way that shows in the display screen and actual path guarantee that error is in 1 meter control range.
Calculating, the complete machine that control system handles device mainly is responsible for location information goes and the calculation task of mast action control information, and its core component is that information processing controller constitutes.Control system handles device comprises: comparison module, alarm module, the flexible determination module of mast, mast angle of revolution determination module, Satellite Tracking measurement module, navigation module.
The Satellite Tracking measurement module is the location survey mode via satellite, and the positional information with current control system handles device is sent in the control system handles device in real time.The beaching crawler pile driver is carrying out driving cycle following time; The navigation module of control system handles device sends the pile driver current position information to the display unit of management map and treating apparatus in real time through the control bus interface, ceaselessly the positional information of current complete machine is proofreaied and correct simultaneously and upgrades the pile driver current location information.Therefore in display device, can show the positional information of current complete machine in real time, realize navigation function.During the position, the positional information that management map and treating apparatus will be driven piles through EBI (international standard communication interface) in advance sends in the control system handles device near the beaching crawler pile driver drives to preparatory piling.
Comparison module is the maximum air line distance of constructing between radius and the preparatory pile driving position and the pile driver centre of gyration of mast relatively; Simultaneously relatively the maximum angle of revolution of mast and in advance pile driving position and the pile driver cross-car through the pile driver centre of gyration be first angle between the X axle, and comparative result is sent to alarm module.
Alarm module is in the maximum construction of the mast radius complete machine position that alarm moves said beaching crawler pile driver during greater than the maximum angle of revolution of said mast less than said air line distance or said first angle.
The flexible determination module of mast is confirmed flexible direction of mast and flexible side-play amount, and mast angle of revolution determination module is confirmed mast gyratory directions and angle of revolution.If the maximum construction of mast radius more than or equal to the air line distance between pile driving position in advance and the pile driver centre of gyration and said first angle smaller or equal to mast maximum angle of revolution; Control system handles device obtains second angle between the current construction radius of said beaching crawler pile driver mast and current construction radius of said mast and the X axle; Air line distance between the current construction radius of more said mast and the preparatory pile driving position and the pile driver centre of gyration; More said simultaneously second angle and said first angle obtain mast construction radius deviate and mast construction angular deviation value.The flexible determination module of mast is confirmed flexible direction of mast and flexible side-play amount according to said mast construction radius deviate.Mast angle of revolution determination module is confirmed mast gyratory directions and angle of revolution according to said mast construction angular deviation value.Control system handles device sends the flexible direction of mast, control instructions such as flexible side-play amount, mast gyratory directions and angle of revolution to carry out in the object control device at last.
Carry out the object control device and mainly control carrying out object according to the control instruction that control system handles device sends, its main core component is the drive circuit of control logic circuit and drive controlling object.Carry out the information that the object control device transmits through EBI receiving control system treating apparatus.Under the beaching crawler pile driver goes the navigation operating mode; Control system handles device transmits control complete machine travel direction and gives with the travel speed control instruction and carry out the object control device, make the beaching crawler pile driver under the control of carrying out the object control device to the direction running of being scheduled to.
Carry out under the operating mode of mast location at the beaching crawler pile driver, carry out mast control instruction that object control device receiving control system treating apparatus sends and move the state (open, close, speed controlling) of control object (normally linear solenoid valve group with have the electromagnetic valve group of the on off state of logic control function) according to the corresponding mast of these commands for controlling.The mast practice of construction radius adjusting module of carrying out the object control device carries out the flexible operation of mast according to flexible direction of determined mast and flexible side-play amount; When the flexible length of mast equaled to stretch side-play amount, execution object control device control mast slowly reduction of speed stopped; The mast revolution Executive Module of carrying out the object control device carries out mast revolution operation according to determined mast gyratory directions and angle of revolution; When mast was turned back to the angle of revolution of control system handles device transmission, slowly slowing down stopped revolution carrying out object control device control revolution control execution object (linear solenoid valve group and the electromagnetic switch valve gear with logic function usually).Specifically, carry out the object control device is confirmed the action of mast electromagnetic valve according to the flexible direction of the mast that receives, the flexible side-play amount of mast, mast gyratory directions, mast angle of revolution logic.Can arrive the direction of preparatory piling if gyratory directions is forward revolution, then the forward rotary magnetic valve opened, and stop speed and reduction of speed rate value according to what the angle of revolution calculated that corresponding speed of gyration, revolution acceleration, revolution be about to put in place.If gyratory directions is negative sense revolution, then control the object control algolithm negative sense rotary magnetic valve is opened, and the reduction of speed speed and the acceleration at stall value that put in place according to the corresponding speed of gyration in angle of revolution, revolution acceleration, revolution.
Can safeguard, conveniently use designing requirement according to system; Consider the problem such as the space structures position in machine system, installation, maintenance of whole device; In the above four sub-means system integration to a switch board, the switch board outside directly is connected with corresponding control object through the wire harness mode.In beaching crawler pile driver mast location and Navigation Control Unit, must the unified use simultaneously of above four ingredients just can be reached and realize that the beaching crawler pile driver is in wide shoal area navigation, to the pinpoint function of mast.
In sum; The present invention is through comparing current construction radius of mast and the air line distance of preparatory piling with the centre of gyration; Relatively angle between current construction radius of mast and the X axle and the angle between said air line distance and the X axle simultaneously; The flexible direction of mast, flexible side-play amount, gyratory directions and revolution side-play amount have been confirmed; Solved in intertidal zone and the basic orientation problem of coastal waters wind energy turbine set area construction stake, can realize accurate automatically location, had the high and control flatness advantages of higher of mast positioning accuracy beaching crawler pile driver mast.
Although preceding text specify the present invention, the invention is not restricted to this, those skilled in the art of the present technique can carry out various modifications according to principle of the present invention.Therefore, all modifications of doing according to the principle of the invention all are to be understood that to falling into protection scope of the present invention.
Claims (13)
1. beaching crawler pile driver position control method is characterized in that said method comprises:
Obtain preparatory pile driving position information and beaching crawler pile driver current location information respectively according to the geographical position of preparatory piling and the geographical position of beaching crawler pile driver;
Obtain said preparatory pile driving position to the air line distance of the beaching crawler pile driver centre of gyration and first angle between straight line and said straight line and the process beaching crawler pile driver cross-car of the said centre of gyration according to said preparatory pile driving position information and said beaching crawler pile driver current location information;
Obtain current construction radius of said beaching crawler pile driver mast and the current construction radius of said mast radially and second angle between the said beaching crawler pile driver cross-car; Current construction radius of more said mast and said air line distance; More said simultaneously second angle and said first angle obtain mast construction radius deviate and mast construction angular deviation value;
Adjust mast practice of construction radius and carry out mast revolution operation according to said mast construction radius deviate and said mast construction angular deviation value.
2. method according to claim 1 is characterized in that, the step of obtaining preparatory pile driving position information and beaching crawler pile driver current location information comprises:
Geographical position according to preparatory piling generates preparatory pile driving position information in advance;
According to the geographical position of beaching crawler pile driver via satellite the location survey mode obtain beaching crawler pile driver current location information in real time.
3. method according to claim 1 is characterized in that,
The air line distance of the said centre of gyration of mast front end distance when the current construction radius of said mast is the vertical state of said mast.
4. method according to claim 3 is characterized in that, the step of obtaining current construction radius of said mast and said second angle also comprises before:
Relatively mast maximum construction radius and said air line distance compare maximum angle of revolution of mast and said first angle simultaneously;
Perhaps said first angle is greater than the maximum angle of revolution of said mast if the maximum construction of said mast radius is less than said air line distance, and then alarm moves the complete machine position of said beaching crawler pile driver.
5. method according to claim 1 is characterized in that, the step of adjustment mast practice of construction radius comprises:
Confirm flexible direction of mast and flexible side-play amount according to said mast construction radius deviate;
Carry out the flexible operation of mast according to flexible direction of determined mast and flexible side-play amount.
6. method according to claim 1 is characterized in that, the step of carrying out mast revolution operation comprises:
Confirm mast gyratory directions and angle of revolution according to said mast construction angular deviation value;
Carry out mast revolution operation according to determined mast gyratory directions and angle of revolution.
7. beaching crawler pile driver positioning control system is characterized in that said system comprises:
Management map and treating apparatus are used for obtaining preparatory pile driving position information and beaching crawler pile driver current location information respectively according to the geographical position of piling in advance and the geographical position of beaching crawler pile driver;
Control system handles device; Be used for obtaining said preparatory pile driving position to the air line distance of the beaching crawler pile driver centre of gyration and first angle between straight line and said straight line and the process said pile driver cross-car of the said centre of gyration according to said preparatory pile driving position information and said beaching crawler pile driver current location information; Obtain the current construction radius of said beaching crawler pile driver mast radially and second angle between said mast and the said pile driver cross-car; Current construction radius of more said mast and said air line distance; More said simultaneously second angle and said first angle obtain mast construction radius deviate and mast construction angular deviation value;
Carry out the object control device, be used for adjusting mast practice of construction radius and carrying out mast revolution operation according to said mast construction radius deviate and said mast construction angular deviation value.
8. beaching crawler pile driver positioning control system according to claim 7 is characterized in that,
The air line distance of the said centre of gyration of mast front end distance when the current construction radius of said mast is the vertical state of said mast.
9. beaching crawler pile driver positioning control system according to claim 7 is characterized in that, said control system handles device also comprises:
Comparison module is used for comparison mast maximum construction radius and said air line distance, compares maximum angle of revolution of mast and said first angle simultaneously;
Alarm module is used in the maximum construction of the said mast radius complete machine position that alarm moves said beaching crawler pile driver during greater than the maximum angle of revolution of said mast less than said air line distance or said first angle.
10. system according to claim 7 is characterized in that, said control system handles device also comprises:
The mast determination module that stretches is used for confirming flexible direction of mast and flexible side-play amount according to said mast construction radius deviate;
Mast angle of revolution determination module is used for confirming mast gyratory directions and angle of revolution according to said mast construction angular deviation value.
11. system according to claim 10 is characterized in that, said execution object control device also comprises:
Mast practice of construction radius adjusting module is used for carrying out the flexible operation of mast according to flexible direction of determined mast and flexible side-play amount;
Mast revolution Executive Module is used for carrying out mast revolution operation according to determined mast gyratory directions and angle of revolution.
12. system according to claim 7 is characterized in that, said control system handles device also comprises:
The Satellite Tracking measurement module, be used for according to the geographical position of beaching crawler pile driver via satellite the location survey mode obtain beaching crawler pile driver current location information in real time;
Navigation module is used for generating beaching crawler pile driver travel direction and travel speed control instruction according to said beaching crawler pile driver current location information and said preparatory pile driving position information.
13. system according to claim 12 is characterized in that, said execution object control device also is used for controlling according to said beaching crawler pile driver travel direction and travel speed control instruction the travel direction and the travel speed of said beaching crawler pile driver.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105220689A (en) * | 2015-10-28 | 2016-01-06 | 安徽恒坤地基基础工程有限公司 | A kind of photovoltaic pile driver |
| CN106383471A (en) * | 2016-10-25 | 2017-02-08 | 广州中海达定位技术有限公司 | Control system and control method for assisting in construction of land piling vehicle |
| CN109469060A (en) * | 2019-01-15 | 2019-03-15 | 安徽恒坤地基基础工程有限公司 | A kind of pile driving equipment that can accurately drive piles |
| CN111343434A (en) * | 2020-03-24 | 2020-06-26 | 深圳市赛特雷德科技有限公司 | Military vehicle training and examination method, system and device |
| CN112761149A (en) * | 2021-01-19 | 2021-05-07 | 鞍山紫竹高科装备制造有限公司 | Rotary bolt positioning device for engineering machinery |
| CN112761148A (en) * | 2021-01-19 | 2021-05-07 | 鞍山紫竹高科装备制造有限公司 | Rotation positioning tilting device suitable for piling machinery |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105220689A (en) * | 2015-10-28 | 2016-01-06 | 安徽恒坤地基基础工程有限公司 | A kind of photovoltaic pile driver |
| CN105220689B (en) * | 2015-10-28 | 2017-04-05 | 安徽恒坤地基基础工程有限公司 | A kind of photovoltaic piling machine |
| CN106383471A (en) * | 2016-10-25 | 2017-02-08 | 广州中海达定位技术有限公司 | Control system and control method for assisting in construction of land piling vehicle |
| CN109469060A (en) * | 2019-01-15 | 2019-03-15 | 安徽恒坤地基基础工程有限公司 | A kind of pile driving equipment that can accurately drive piles |
| CN111343434A (en) * | 2020-03-24 | 2020-06-26 | 深圳市赛特雷德科技有限公司 | Military vehicle training and examination method, system and device |
| CN111343434B (en) * | 2020-03-24 | 2022-02-22 | 深圳市赛特雷德科技有限公司 | Military vehicle training and examination method, system and device |
| CN112761149A (en) * | 2021-01-19 | 2021-05-07 | 鞍山紫竹高科装备制造有限公司 | Rotary bolt positioning device for engineering machinery |
| CN112761148A (en) * | 2021-01-19 | 2021-05-07 | 鞍山紫竹高科装备制造有限公司 | Rotation positioning tilting device suitable for piling machinery |
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