CN106013149B - Full-automatic static pile press positioning control system based on GPS technology - Google Patents
Full-automatic static pile press positioning control system based on GPS technology Download PDFInfo
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- CN106013149B CN106013149B CN201610441593.4A CN201610441593A CN106013149B CN 106013149 B CN106013149 B CN 106013149B CN 201610441593 A CN201610441593 A CN 201610441593A CN 106013149 B CN106013149 B CN 106013149B
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- Prior art keywords
- press machine
- pile press
- gps
- pile
- airborne
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
- E02D7/20—Placing by pressure or pulling power
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses the full-automatic static pile press positioning control system based on GPS technology, including GPS positioning system, pile press machine control computer and pile press machine traverse gear；GPS positioning system includes GPS reference station and Airborne GPS, and GPS reference station is fixed on the known coordinate point near pile press machine, and the Airborne GPS is fixed on pile press machine fuselage；Pile press machine control computer is connected to Airborne GPS, obtain the centre coordinate of current pile press machine mechanism by the calculating of the position coordinates gathered to Airborne GPS and be compared with predetermined pressing pile construction coordinate, pile press machine traverse gear, which is controlled, according to comparison result moves pile press machine, until the error between the centre coordinate of pile press machine mechanism and construction coordinate is less than construction requirement；The present invention obtains the exact position of pile press machine by carrier phase difference technology, pile press machine can be made accurately to be automatically positioned and horizontal attitude adjust automatically with higher positioning precision.
Description
Technical field
The present invention relates to construction project field, the full-automatic static pile press location control system of GPS technology is based especially on
System.
Background technology
Prefabricated pile basis engineering, it is the construction work that prefabricated pile is squeezed into design code position and depth using pile press machine.
Hugging pressure type hydraulic static pile pressing machine is the key equipment of pile foundation construction, and its course of work is：Stake machine walking mechanism is controlled, will be pre-
Stake processed is pin-pointed to precalculated position；Hydraulic holding mechanism " embracing " lives pile body side, produces clamping friction power, piling hydraulic mechanism
Using reaction force caused by stake machine own wt, by prefabricated pile press-in soil.The hugging pressure type hydraulic static that the country generally uses
Pile press machine positioning is manual operation mode, and stake machine standard of fuselage gesture stability and position of p ile machine control typically pass through grating sensing
The equipment such as device, obliquity sensor and PLC, proportional control valve, by the manually operated shifting for carrying out stake machine of stake machine operating personnel
Dynamic and pose adjustment, and at the scene under the command and guide of e measurement technology personnel, utilize micrometer instrument or total powerstation manual measurement
Carry out position of p ile machine.Pile foundation construction is influenceed big by orographic condition, weather condition, and speed of application is slower.Due to plant equipment
The reasons such as trueness error, the operating error of stake machine operating personnel, the measurement error of survey crew, often result in concrete-pile positioning
Precision does not reach code requirement, or even the great quality accidents such as leakage stake, wrong stake occurs, and bad shadow is caused to follow-up foundation construction
Ring.
GPS positioning technology is able to extensive use in mechanical field in recent years, but because civilian GPS position error up to counts
Rice so that GPS location is used for the field not high to position precise requirements at present, must when GPS is used for the positioning of pile press machine
GPS positioning precision must be significantly lifted, otherwise can not meet the pile body positioning accuracy request of piling.
The content of the invention
The present invention proposes the full-automatic static pile press positioning control system based on GPS technology, passes through carrier phase difference
Technology obtains the exact position of pile press machine, can be made with higher positioning precision pile press machine be accurately automatically positioned with horizontal attitude from
Dynamic adjustment.
The present invention uses following technical scheme.
Full-automatic static pile press positioning control system based on GPS technology, the positioning control system include GPS location
System, pile press machine control computer and pile press machine traverse gear, the pile press machine traverse gear drive including pile press machine walking mechanism
Dynamic device, pile press machine horizontal attitude driver, long shipping agency walks electric hydraulic control valve, short shipping agency walks electric hydraulic control valve and supporting leg electrichydraulic control
Valve；The GPS positioning system includes GPS reference station and Airborne GPS, and the GPS reference station is fixed on known near pile press machine
In coordinate points, the Airborne GPS is fixed on pile press machine fuselage platform；The pile press machine control computer is connected to Airborne GPS,
Pile press machine control computer carries out that current pile press machine mechanism center is calculated by the position accurate coordinates for gathering Airborne GPS
Coordinate is simultaneously compared with predetermined pressing pile construction coordinate, and pile press machine control computer walks machine certainly according to comparison result to pile press machine
Structure, which is controlled, moves pile press machine, until the error between the centre coordinate and predetermined pressing pile construction coordinate of pile press machine mechanism is small
In the requirement of job specfication.
The GPS positioning system is to GPS reference station, the position coordinates of Airborne GPS collection with carrier phase difference technology
Calculated, so as to obtain the accurate coordinates of Airborne GPS.
The quantity of the Airborne GPS for being fixed on pile press machine fuselage is three or more, the installation position set of each Airborne GPS
In the sustained height and not on the same line of pile press machine fuselage platform, plane is as GPS where the installation site of each Airborne GPS
Level reference uses, and pile press machine control computer calculates current GPS level references according to the accurate coordinates of Airborne GPS
Gradient, and according to gradient to being controlled to pile press machine traverse gear, until the horizontal attitude of pile press machine meets that piling is applied
Work requirement.
When pile press machine control computer is controlled to pile press machine traverse gear, the pile press machine walking mechanism driver
Electric hydraulic control valve is walked according to the long shipping agency of control instruction driving with pile press machine horizontal attitude driver and short shipping agency walks electric hydraulic control valve,
The long ship in left and right of driven pile press machine advances or retreated, and drives the front and rear short ship of pile press machine to move left and right or rotate, makes piling
Machine moves to specified coordinate, while drives the supporting leg jacking hydraulic cylinder lifting of supporting leg electric hydraulic control valve control pile press machine, makes piling
The horizontal attitude of machine meets pressing pile construction requirement.
Acquisition of the pile press machine control computer to the centre coordinate of pile press machine mechanism, coordinate compare and to pile press machine
This three operations of the control of traverse gear circulate progress in a manner of closed-loop control, until mechanism of pile centre coordinate position error
Requirement and pile press machine horizontal attitude less than job specfication meet pressing pile construction requirement.
It is connected between the Airborne GPS and pile press machine control computer with data wire.
In the present invention, the position coordinates of GPS reference station, Airborne GPS collection is calculated with carrier phase difference technology,
The error of the position coordinates of Airborne GPS collection is eliminated according to result of calculation, so as to obtain the accurate coordinates of Airborne GPS；This sets
Meter is as a result of carrier phase difference technology, therefore energy nationality is stood Lai the quick coordinate setting for obtaining degree of precision by multiple GPS,
Its precision is up to Centimeter Level, and including plane coordinates and height coordinate, so as to meet the construction positioning of pile press machine pile body
Demand, and which can eliminate GPS position error with faster speed, so as to make the centre coordinate of pile press machine mechanism
Calculating can be synchronous with the position movement holding of pile press machine, is adapted to the running fix needs of pile press machine.
In the present invention, plane where the installation site of each Airborne GPS uses as GPS level references, pile press machine control
Computer calculates the gradient of current GPS level references according to the accurate coordinates of Airborne GPS, and according to gradient to pressure
Stake machine traverse gear is controlled；The design can dynamically assess the horizontal attitude and nothing of pile press machine in pile press machine motion process
Manual intervention is needed, is adapted to the action that pile press machine is automatically controlled with automatic closed loop control mode.
The positioning and Automated condtrol of the present invention uses independent GPS module, driver and control valve, therefore is well suited for using
In carrying out automatic improving to traditional hugging pressure type hydraulic static pile pressing machine, position of p ile machine accuracy and speed is greatly improved, is ensured
Pile foundation construction quality, there is preferable economic benefit and social benefit.
Brief description of the drawings
The present invention is described in more detail with reference to the accompanying drawings and detailed description：
Accompanying drawing 1 is the control system architecture schematic diagram of the present invention
Accompanying drawing 2 is the pile machine equipment arrangement schematic diagram of the present invention
In figure：1st, pile press machine fuselage；21~22, the long ship in left and right；31~34, supporting leg jacking hydraulic cylinder；41~42, it is front and rear short
Ship；51~54, short ship lifting hydraulic cylinder；6th, mechanism of pile；7th, pile press machine control computer；8th, crane；101 ~ 103, it is airborne
GPS。
Embodiment
As shown in Figure 1, 2, the full-automatic static pile press positioning control system based on GPS technology, it is characterised in that：It is described
Positioning control system includes GPS positioning system, pile press machine control computer and pile press machine traverse gear, and the pile press machine walks machine certainly
Structure includes pile press machine walking mechanism driver, pile press machine horizontal attitude driver, long shipping agency and walks electric hydraulic control valve, the short shipping agency leakage of electricity
Hydraulic control valve and supporting leg electric hydraulic control valve；The GPS positioning system includes GPS reference station and Airborne GPS 101,102 and 103, institute
State on the known coordinate point that GPS reference station is fixed near pile press machine, the Airborne GPS 101,102 and 103 is fixed on pile press machine
On the platform of fuselage 1；The pile press machine control computer 7 is connected to Airborne GPS, and pile press machine control computer passes through to Airborne GPS
The position accurate coordinates of collection carry out that current pile press machine mechanism centre coordinate is calculated and entered with predetermined pressing pile construction coordinate
Row compares, and pile press machine control computer is controlled according to comparison result to pile press machine traverse gear moves pile press machine, until
Error between the centre coordinate of pile press machine mechanism and predetermined pressing pile construction coordinate is less than the requirement of job specfication.
The GPS positioning system is to GPS reference station, the position coordinates of Airborne GPS collection with carrier phase difference technology
Calculated, the error of the position coordinates of Airborne GPS collection is eliminated according to result of calculation, so as to obtain the accurate of Airborne GPS
Coordinate.
The quantity of the Airborne GPS for being fixed on pile press machine fuselage is three or more, each Airborne GPS 101,102 and 103
Installation site be located at the sustained height and not on the same line of pile press machine fuselage platform, the installation site institute of each Airborne GPS
Used in plane as GPS level references, pile press machine control computer 7 calculates currently according to the accurate coordinates of Airborne GPS
The gradient of GPS level references, and according to gradient to being controlled to pile press machine traverse gear, until the level of pile press machine
Posture meets pressing pile construction requirement.
When pile press machine control computer is controlled to pile press machine traverse gear, the pile press machine walking mechanism driver
Electric hydraulic control valve is walked according to the long shipping agency of control instruction driving with pile press machine horizontal attitude driver and short shipping agency walks electric hydraulic control valve,
The long ship 21 and 22 in the left and right of driven pile press machine advances or retreated, drive the front and rear short ship 41 and 42 of pile press machine move left and right or
Rotation, pile press machine is moved to specified coordinate, while drive the supporting leg jacking hydraulic cylinder of supporting leg electric hydraulic control valve control pile press machine
Lifting, makes the horizontal attitude of pile press machine meet pressing pile construction requirement.
Acquisition of the pile press machine control computer to pile press machine centre coordinate, coordinate compare and to pile press machine from walking machine
This three operations of the control of structure circulate progress in a manner of closed-loop control, are applied until mechanism of pile centre coordinate position error is less than
The requirement of work specification and pile press machine horizontal attitude meet pressing pile construction requirement.
It is connected between the Airborne GPS and pile press machine control computer with data wire.
Embodiment：
Pile press machine fuselage is provided with mechanism of pile 6, the accurate coordinates that pile press machine control computer gathers according to Airborne GPS,
This coordinate includes plane coordinates and height coordinate, and the centre coordinate of mechanism of pile and the posture of pile press machine are calculated according to this coordinate
Parameter, control pile press machine is advanced towards pressing pile construction place, and the horizontal attitude of pile press machine is met pressing pile construction requirement；Work as piling
The center of machine mechanism reaches the top of pressing pile construction coordinate location, and the centre coordinate position error of pile press machine mechanism is less than
When the requirement of job specfication, pile press machine horizontal attitude meet pressing pile construction requirement, location control terminates, and crane 8 is concrete-pile
Construction coordinate point is hung to, mechanism of pile 6 carries out piling operation.
Claims (4)
1. the full-automatic static pile press positioning control system based on GPS technology, it is characterised in that：The positioning control system bag
GPS positioning system, pile press machine control computer and pile press machine traverse gear are included, the pile press machine traverse gear includes pile press machine row
Walk that mechanism drive, pile press machine horizontal attitude driver, long shipping agency walk electric hydraulic control valve, short shipping agency walks electric hydraulic control valve and supporting leg
Electric hydraulic control valve；The GPS positioning system includes GPS reference station and Airborne GPS, and it is attached that the GPS reference station is fixed on pile press machine
On near known coordinate point, the Airborne GPS is fixed on pile press machine fuselage platform；The pile press machine control computer is connected to
Airborne GPS, pile press machine control computer by the position accurate coordinates for gathering Airborne GPS carry out that current pile press machine is calculated
Mechanism centre coordinate is simultaneously compared with predetermined pressing pile construction coordinate, and pile press machine control computer is according to comparison result to piling
Machine traverse gear, which is controlled, moves pile press machine, until between the centre coordinate and predetermined pressing pile construction coordinate of pile press machine mechanism
Error be less than job specfication requirement；
The GPS positioning system is that the position coordinates of GPS reference station, Airborne GPS collection is carried out with carrier phase difference technology
Calculate, so as to obtain the accurate coordinates of Airborne GPS；
The quantity of the Airborne GPS for being fixed on pile press machine fuselage is three or more, and the installation site of each Airborne GPS is positioned at pressure
The sustained height of stake machine fuselage platform and not on the same line, plane is horizontal as GPS where the installation site of each Airborne GPS
Reference plane uses, and pile press machine control computer calculates the inclination of current GPS level references according to the accurate coordinates of Airborne GPS
Degree, and pile press machine traverse gear is controlled according to gradient, until the horizontal attitude of pile press machine meets pressing pile construction requirement；
Mechanism of pile of each Airborne GPS on pile press machine is set.
2. the full-automatic static pile press positioning control system according to claim 1 based on GPS technology, its feature exist
In：When pile press machine control computer is controlled to pile press machine traverse gear, the pile press machine walking mechanism driver and pressure
Stake machine horizontal attitude driver walks electric hydraulic control valve according to the long shipping agency of control instruction driving and short shipping agency walks electric hydraulic control valve, alternately
Drive the long ship in left and right of pile press machine to advance or retreat, drive the front and rear short ship of pile press machine to move left and right or rotate, make pile press machine to
Specified coordinate moves, while drives the supporting leg jacking hydraulic cylinder lifting of supporting leg electric hydraulic control valve control pile press machine, makes pile press machine
Horizontal attitude meets pressing pile construction requirement.
3. the full-automatic static pile press positioning control system according to claim 1 based on GPS technology, its feature exist
In：Acquisition of the pile press machine control computer to the centre coordinate of pile press machine mechanism, coordinate compare and to pile press machine from walking machine
This three operations of the control of structure circulate progress in a manner of closed-loop control, until pile press machine mechanism centre coordinate position error is less than
The requirement of job specfication and pile press machine horizontal attitude meet pressing pile construction requirement.
4. the full-automatic static pile press positioning control system according to claim 1 based on GPS technology, its feature exist
In：It is connected between the Airborne GPS and pile press machine control computer with data wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610441593.4A CN106013149B (en) | 2016-06-20 | 2016-06-20 | Full-automatic static pile press positioning control system based on GPS technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610441593.4A CN106013149B (en) | 2016-06-20 | 2016-06-20 | Full-automatic static pile press positioning control system based on GPS technology |
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| CN106013149A CN106013149A (en) | 2016-10-12 |
| CN106013149B true CN106013149B (en) | 2017-12-08 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106988312B (en) * | 2017-04-24 | 2019-01-25 | 乐琦（北京）科技有限公司 | Mechanical equipment correction to centre method and system based on Beidou direction and location technology |
| CN107269267A (en) * | 2017-07-31 | 2017-10-20 | 中国铁道科学研究院 | The measuring method and system of a kind of machine drill hole depth and speed |
| CN107989038A (en) * | 2017-11-29 | 2018-05-04 | 浙江跃龙园林建设有限公司 | A kind of static pressure prestressing force construction of prefabricated piles method |
| CN110077524A (en) * | 2019-04-22 | 2019-08-02 | 杭州集益科技有限公司 | A kind of real-time hull balance monitoring system and method |
| CN111058447A (en) * | 2019-12-27 | 2020-04-24 | 福建建中建设科技有限责任公司 | Automatic position finding method and system for pile press |
| CN114687351A (en) * | 2020-12-27 | 2022-07-01 | 中国电建集团华东勘测设计研究院有限公司 | Pine pile supporting device with automatic positioning system and pine pile supporting method |
| CN113047290A (en) * | 2021-04-23 | 2021-06-29 | 北京三一智造科技有限公司 | Hole aligning method and device of pile machine, pile machine and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3676277B2 (en) * | 2001-09-27 | 2005-07-27 | 復建調査設計株式会社 | Pile driving method |
| CN2649653Y (en) * | 2003-09-25 | 2004-10-20 | 佛山市顺德区力源液压机械有限公司 | Automatic levelling device |
| CN203768906U (en) * | 2014-04-10 | 2014-08-13 | 任丘市永基建筑安装工程有限公司 | Automatic positioning static pile press machine |
| CN204740347U (en) * | 2015-04-15 | 2015-11-04 | 广州市地平线岩土工程有限公司 | Pile location auxiliary system based on RTK technique |
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Inventor after: Wu Chengbin Inventor after: Wu Zheng Inventor after: Cheng Aiyu Inventor after: Li Liang Inventor before: Li Liang Inventor before: Wu Chengbin Inventor before: Cheng Aiyu Inventor before: Wu Zheng |
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