CN111538282A - Automatic piling control system and automatic piling control method - Google Patents

Automatic piling control system and automatic piling control method Download PDF

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Publication number
CN111538282A
CN111538282A CN202010648792.9A CN202010648792A CN111538282A CN 111538282 A CN111538282 A CN 111538282A CN 202010648792 A CN202010648792 A CN 202010648792A CN 111538282 A CN111538282 A CN 111538282A
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pile
hammering
depth
jth
piling
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CN111538282B (en
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张铁
卢海东
余国斌
章庆生
崔亚昆
薛海波
郭胜
陈赟
唐文献
潘虎
余珲
尚勇志
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Shanghai Xiongcheng Marine Engineering Co ltd
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Shanghai Xiongcheng Marine Engineering Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • 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
    • E02D7/02—Placing by driving
    • E02D7/06—Power-driven drivers
    • E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller

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  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)

Abstract

The application discloses automatic pile driving control system and control method of automatic pile driving, wherein the control method of automatic pile driving includes the following steps: calculating the accumulated depth of the piles into the mud before the mth hammering of the jth pile according to the actual depth of the piles into the mud after the piles before the mth hammering of the jth pile are hammered; fitting a mathematical relation between the driving resistance of the jth pile at any target mud entering depth and the mth hammering of the jth pile when the pile is at any depth through a multiple linear regression equation model; predicting a predicted value of required hammering energy when the mth hammering of the jth pile reaches the target mud entering depth according to the calculated accumulated mud entering depth of the pile and the mathematical relation between the target mud entering depth and the piling resistance when the jth pile is at a certain depth; and controlling the piling hammer to pile according to the predicted value of the predicted hammering energy.

Description

Automatic piling control system and automatic piling control method
Technical Field
The invention relates to the field of piling, in particular to an automatic piling control system and an automatic piling control method.
Background
With the continuous development of offshore energy, more and more offshore foundations are invested in construction. The sea base is complicated in case, in order to enable the foundation equipment to be stably supported on the sea base. Therefore, it is necessary to pile on the sea bed. Not only sea-based, on some land, it is also necessary to pile the pile on the ground for geological reasons.
At present, most of piles driven on the sea foundation use a pile driving hammer to drive a foundation pile into a sea bottom soil layer to serve as a bearing foundation. Due to the complex seabed geological conditions, the hammering energy of the pile hammer is difficult to predict, the hammering energy is too low, the mud penetration depth of the foundation pile after each hammering is small, and the pile driving efficiency is low; the hammering energy is too high, so that a pile cap or a foundation pile is easily damaged, and even a pile slipping accident is caused.
In the existing piling operation, the hammering energy of the piling hammer is adjusted by the experience of workers, hysteresis exists, and the adjusting effect is poor. In addition, whether pile slipping happens to the foundation pile or not is difficult to predict through manual operation, and potential safety hazards exist.
The patent application No. 200910087406.7 discloses a method for optimally designing a matching of a pile hammer and a riser pipe. When the pile driving resistance is calculated, only the soil characteristics of marine engineering survey data, namely soil layer exploration data are considered, the data are obtained by sampling and exploration, the exploration result is influenced by the sampling density and the distribution rule of a seabed soil layer, exploration errors exist, and particularly in pile group construction, if the pile driving resistance is deduced and calculated according to the same exploration data at different pile driving positions, the pile slipping or hammer rejection situation is easy to happen.
Disclosure of Invention
The invention discloses an automatic pile driving control system and an automatic pile driving control method, wherein pile slipping can be effectively prevented when pile driving is carried out by adopting the automatic pile driving control system and the automatic pile driving control method.
The invention discloses an automatic piling control system and an automatic piling control method, wherein the technical scheme adopted by the invention is used for fitting the equivalent piling resistance at any depth H, so that the finally predicted hammering energy can be more accurate, and the probability of pile slipping or hammer rejection is greatly reduced during subsequent hammering.
To solve the above technical problem, the present invention provides an automatic piling control system, wherein the automatic piling control system includes:
the analysis module is arranged to receive the actual depth of the pile into the mud after the pile is hammered before the mth hammering of the jth pile, which is acquired through collection, and calculate the depth of the pile into the mud accumulated before the mth hammering of the jth pile;
the fitting module is in communication connection with the analysis module, and fits a mathematical relation between driving resistance of the jth pile at any target mud penetration depth and driving resistance of the jth pile at any depth through a multiple linear regression equation model according to exploration driving resistance, driving resistance actually measured by a pile which is driven before the jth pile and the measured driving resistance of the jth pile before the mth hammering;
the prediction module is connected with the fitting module in a communication mode, and predicts a predicted value of required hammering energy when the mth hammering of the jth pile reaches the target mud entering depth according to the accumulated mud entering depth of the pile calculated by the analysis module and a mathematical relation between the target mud entering depth and the piling resistance when the pile is at a certain depth; and
a control module, wherein the control module is communicatively coupled to the prediction module, wherein the control module controls a pile driving hammer according to a predicted value of the hammering energy predicted by the prediction module.
According to an embodiment of the present invention, the prediction module calculates a predicted value of the required hammering energy according to a composite trapezoidal formula.
According to an embodiment of the invention, the prediction module calculates an accurate value of the required hammering energy by a Roeberg algorithm according to the estimated value of the predicted hammering energy, wherein the control module assigns the accurate value of the hammering energy to the hammering energy for controlling the pile driving hammer.
According to an embodiment of the present invention, the automatic pile driving control system further includes a judging module, wherein the judging module is communicably connected to the analyzing module and the control module, wherein the judging module is capable of judging a magnitude between the depth of accumulated mud entering into the j-th pile before the m-th hammering of the j-th pile analyzed by the analyzing module and the predicted total depth of expected mud entering into the j-th pile before the m-th hammering of the j-th pile, and the control module determines whether to stop driving the j-th pile according to a judgment result formed by the judging module.
According to an embodiment of the invention, the target depth of penetration is in the range of [0.02m,0.08m ].
According to an embodiment of the invention, the automatic pile driving control system comprises a feedback module and an input module, the input module is configured to receive an input predicted mud penetration depth of the (m-1) th hammering of the j-th pile, the analysis module is configured to analyze an error between the predicted mud penetration depth of the (m-1) th hammering of the j-th pile and a monitored mud penetration depth of the (m-1) th hammering of the j-th pile, the feedback module is communicatively connected to the control module, the feedback module compares whether the error is within a predetermined error range, and the control module determines whether to continue pile driving according to a comparison result.
According to an embodiment of the present invention, the maximum value of the predetermined error range is in a range of (0.01, 0.02).
According to an embodiment of the present invention, the minimum value of the predetermined error range is within a range of (-0.02, -0.01).
To solve the above technical problem, according to another aspect of the present invention, there is provided an automatic pile driving control system, wherein the method of automatically driving a pile includes the steps of:
calculating the accumulated depth of the piles into the mud before the mth hammering of the jth pile according to the actual depth of the piles into the mud after the piles before the mth hammering of the jth pile are hammered;
fitting a mathematical relation between the m-th hammering resistance of the jth pile and the piling resistance of any target mud entering depth when the jth pile is at any depth through a multiple linear regression equation model according to the exploration piling resistance, the actually measured piling resistance of the pile which is already driven before the jth pile and the measured piling resistance of the current jth pile before the mth hammering;
predicting a predicted value of required hammering energy when the mth hammering of the jth pile reaches the target mud entering depth according to the calculated accumulated mud entering depth of the pile and the mathematical relation between the target mud entering depth and the piling resistance when the jth pile is at a certain depth; and
and controlling the piling hammer to pile according to the predicted value of the predicted hammering energy.
According to an embodiment of the present invention, the control method of automatic piling further includes the steps of:
judging the size between the accumulated depth of the pile into the mud before the mth hammering of the jth pile and the predicted total depth of the pile into the mud before the mth hammering of the jth pile; and
and determining whether to stop piling the jth pile or not according to the judgment result.
According to an embodiment of the present invention, the control method of automatic piling further includes the steps of:
analyzing an error between the predicted mud entering depth of the (m-1) th hammering of the jth pile and the monitored mud entering depth of the (m-1) th hammering of the jth pile;
comparing whether the error is within a preset error range; and
and determining whether to continue piling according to the comparison result.
The invention has the beneficial effects that:
(1) the hammering energy predicted by the system is adopted to control the piling hammer to pile, the experience of operators is not relied on, and the efficiency, stability and safety of piling are improved;
(2) the equivalent piling resistance model is fitted by utilizing multivariate linear regression, and the model is obtained by fusing exploration piling resistance, actually measured piling resistance and the piling resistance of the current pile, so that the accuracy of the equivalent resistance prediction model is improved;
(3) the rough estimation of the hammering energy is obtained by using a composite trapezoidal formula, and the accurate estimation of the hammering energy is obtained by using a Roeberg algorithm, so that the accurate prediction of the hammering energy is ensured;
(4) the system judges whether pile slipping and hammer rejection phenomena occur or not according to the error values of the predicted mud entering depth and the monitored mud entering depth, and improves the safety of the piling process.
Description of the drawings:
fig. 1 is a block diagram of the automatic pile driving control system of the present invention.
Fig. 2 is a flow chart of the control method of the automatic piling of the present invention.
FIG. 3 is a diagram of the mud penetration depth monitoring device of the present invention.
Figure 4 shows a graph of pile driving resistance versus depth into the mud.
The specific implementation mode is as follows:
the preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
An automatic pile driving control system and a control method thereof according to a preferred embodiment of the present invention will be further described below with reference to fig. 1 to 3.
The components are mounted on a piling barge 100. The piling barge 100 is provided with a pile frame 10, at least one camera 20, a right-angle cursor 30 and at least one pile gripper 40. The pile gripper 40 grips the pile 900. The end of the pile 900 is provided with a pile cap 50 and a pile hammer 60, and the pile 900 sinks for a certain distance after the pile hammer 60 is hammered each time;
in one example of the invention, the manner of monitoring the depth of penetration is as follows: the right-angle curser 30 projects a straight beam on the surface of the pile 900, the pile 900 surface is provided with a pile height scale, and the right-angle curser 30 projects the straight beam on the pile 900 pile height scale; the camera 20 collects the pile 900 high scale image, which includes a linear beam; analyzing the scale value of the position of the linear light beam according to the image; calculating the mud penetration depth of the hammering according to the scale value and the last measured scale value; obtaining a monitored depth of accumulated mud
Figure 655773DEST_PATH_IMAGE001
。
A controller is provided on the piling vessel 100. The piling hammer 60 is controllably connected to the controller 60. The right angle curser 30 is electrically connected to the controller. The automatic pile driving control system is preset to the controller 60 and is capable of controlling the pile driving hammer 60 to automatically hammer the pile 900 according to corresponding data.
Specifically, the automatic pile driving control system includes an analysis module 81, a fitting module 82, and a prediction module 83. The analysis module 81 and the prediction module 83 are each communicably connected to the fitting module 82.
The analysis module 81 is configured to receive the actual depth of the impacted pile 900 into the mud after the m-th hammering of the j-th pile monitored by the rectangular coordinator 30 obtained through the collecting
Figure DEST_PATH_IMAGE002
And calculating the cumulative depth of the pile 900 into the mud before the mth hammering of the jth pile
Figure DEST_PATH_IMAGE003
：
Figure 199012DEST_PATH_IMAGE004
；
The fitting module 82 fits the m-th hammer of the j-th pile to a target depth of penetration when the pile 900 is at depth H according to a predetermined mathematical model
Figure DEST_PATH_IMAGE005
Resistance to piling
Figure 604848DEST_PATH_IMAGE006
A mathematical relationship therebetween.
The prediction module 83 calculates the cumulative mud penetration depth of the pile 900 according to the analysis module 81 and the m-th hammering depth of the jth pile to a target mud penetration depth when the pile 900 is at the depth H
Figure DEST_PATH_IMAGE007
And resistance to piling
Figure 57DEST_PATH_IMAGE006
The mathematic relation between the depth and the depth of the jth hammering to reach a target mud entering depth is predicted
Figure 440528DEST_PATH_IMAGE008
Figure DEST_PATH_IMAGE009
Required hammering energy
Figure 262991DEST_PATH_IMAGE010
。
The automatic pile driving control system further comprises a control module 84, wherein the control module 84 is communicatively connected to the prediction module 83. The control module 84 is configured to hammer the jth pile based on the prediction module 83.
Preferably, the mathematical model on which the fitting module 82 is based is a multiple linear regression model to fit the equivalent pile driving resistance
Figure 156123DEST_PATH_IMAGE006
. Specifically, let the model be
Figure DEST_PATH_IMAGE011
；
Figure 105755DEST_PATH_IMAGE012
The method is used for exploring the pile driving resistance and is obtained by calculating soil layer exploration data, wherein the soil layer exploration parameters are the relation between the soil layer non-drainage shear strength, the friction coefficient and the soil layer depth;
Figure DEST_PATH_IMAGE013
obtaining pile driving resistance of other piles driven to a preset depth before the current pile from the measured pile driving data of the previous pile;
Figure 650000DEST_PATH_IMAGE014
the piling resistance of the current pile measured in the mud penetration depth before the current hammering times,
Figure 394096DEST_PATH_IMAGE014
the hammering parameters of the current pile before the hammering can be obtained;
that is, the
Figure 23792DEST_PATH_IMAGE012
、
Figure 511536DEST_PATH_IMAGE013
And
Figure 34922DEST_PATH_IMAGE014
the relation with the depth of the soil layer can be obtained. Such as shown in fig. 4.
More specifically, let the column vector
Figure DEST_PATH_IMAGE015
B is a constant, for unknown weights. Known depth
Figure 90865DEST_PATH_IMAGE016
Figure DEST_PATH_IMAGE017
At various resistances, we put the constant b into the weight vector
Figure 207856DEST_PATH_IMAGE018
Obtaining a 4-dimensional weight vector
Figure DEST_PATH_IMAGE019
. Order to
Figure 233712DEST_PATH_IMAGE020
，
Figure DEST_PATH_IMAGE021
Then 4-dimensional weight vector
Figure 503282DEST_PATH_IMAGE022
Can be solved by multiple linear regression
Figure DEST_PATH_IMAGE023
Then any depth H of the pile is driven according to the equivalent pile driving resistance
Figure 737252DEST_PATH_IMAGE006
Model, to obtain the corresponding equivalent piling resistance
Figure 466173DEST_PATH_IMAGE006
。
More preferably, the prediction module 83 may predict the required hammering energy according to both the complex trapezoidal equation and the Roeberg algorithm
Figure 544988DEST_PATH_IMAGE024
。
Specifically, will
Figure DEST_PATH_IMAGE025
Is divided into n equal parts and points are
Figure 669064DEST_PATH_IMAGE026
Wherein
Figure DEST_PATH_IMAGE027
For integrating the step length, the estimated value of the hammering energy is obtained by using a composite trapezoidal formula
Figure 66810DEST_PATH_IMAGE028
；
Figure DEST_PATH_IMAGE029
Wherein
Figure 768180DEST_PATH_IMAGE030
Obtained according to a multiple linear regression model.
Accordingly, the prediction module 83 assigns values
Figure DEST_PATH_IMAGE031
To cause the control module 84 to control the pile hammer to predict an estimate of the pile hammer
Figure 526052DEST_PATH_IMAGE032
Piling.
Figure 629268DEST_PATH_IMAGE025
The division into n equal parts can also be 2n, and the 2n equal parts are used for obtaining the estimated value of the hammering energy
Figure DEST_PATH_IMAGE033
. More preferably, the
Figure 197915DEST_PATH_IMAGE034
It may also be 4n, and an estimate of the hammering energy may be obtained
Figure DEST_PATH_IMAGE035
. The hammer energy is then accurately estimated by the lobeberg algorithm:
Figure 511216DEST_PATH_IMAGE036
；
wherein
Figure DEST_PATH_IMAGE037
I.e. the Roeberg sequence, as hammering energy
Figure 557932DEST_PATH_IMAGE024
More accurate estimation. Accordingly, the prediction module 83 assigns values
Figure 30501DEST_PATH_IMAGE038
So that the control module 84 controls the pile driving hammer to predict the precise value of the pile driving hammer
Figure 894683DEST_PATH_IMAGE037
Piling.
Further, the automatic pile driving control system further includes a determination module 85. The determination module 85 is communicably connected to the analysis module 81 and the control module 84. The judging module 85 judges that the depth of the accumulated mud of the pile 900 is the m-th hammering time of the j-th pile obtained by analyzing by the analyzing module 81
Figure DEST_PATH_IMAGE039
Expected total depth of penetration of said pile 900 prior to predicted mth hammer blow of said jth pile
Figure 321379DEST_PATH_IMAGE040
The size of (2).
The control module 84 determines whether to stop piling the jth pile according to the judgment result formed by the judgment module 85.
In particular, when
Figure DEST_PATH_IMAGE041
Or
Figure 171785DEST_PATH_IMAGE042
Then, the jth pile is driven continuously;
if it is
Figure DEST_PATH_IMAGE043
And finishing piling to finish the piling operation of the jth pile. Preferably, the first and second electrodes are formed of a metal,
Figure 233282DEST_PATH_IMAGE044
as an empirical value, [0.06,0.08 ] is taken]。
It is worth mentioning that the first-mentioned type of the coating,
Figure DEST_PATH_IMAGE045
wherein
Figure DEST_PATH_IMAGE046
The target mud penetration depth for the mth hammering of the jth pile,
Figure 143732DEST_PATH_IMAGE047
(ii) a If j =1 and m =1, the target mud penetration depth
Figure 158920DEST_PATH_IMAGE046
Taking an empirical value; otherwise, taking the first mud penetration depth of the j-1 st pile;
targetDepth of penetration into the mud
Figure 62285DEST_PATH_IMAGE046
The empirical value is an interval value
Figure DEST_PATH_IMAGE048
(based on experience,
Figure 869966DEST_PATH_IMAGE049
taking [0.02,0.04 ]]，
Figure DEST_PATH_IMAGE050
Taking [0.06,0.08 ]]In m), it is preferable, in order to improve the piling efficiency,
Figure 813301DEST_PATH_IMAGE046
the empirical value is taken as the larger value within the interval.
The automatic pile driving control system includes a feedback module 86 and an input module 87. The input module 87 is configured to receive an input of the predicted depth of penetration for the (m-1) th hammered of the jth pile
Figure 463856DEST_PATH_IMAGE051
. The analysis module 81 is arranged to analyse the predicted depth of penetration of the (m-1) th hammer of the jth pile
Figure 29967DEST_PATH_IMAGE051
And the monitored mud penetration depth of the (m-1) th hammering of the jth pile
Figure DEST_PATH_IMAGE052
An error e between, wherein
Figure 833100DEST_PATH_IMAGE053
；
If it is
Figure DEST_PATH_IMAGE054
E is obtained according to the hammering energy and the mud entering depth parameters of the j-1 th pile;
if it is
Figure 819773DEST_PATH_IMAGE055
Then e takes 0.
The feedback module 86 compares the error e to a predetermined error range
Figure DEST_PATH_IMAGE056
If e is within the predetermined error range, and
Figure 459089DEST_PATH_IMAGE057
and then the piling is continued.
If e is not within the predetermined error range, and
Figure DEST_PATH_IMAGE058
then the foundation pile is easy to slip when being hammered next time, and the target mud penetration depth is reduced
Figure 917025DEST_PATH_IMAGE059
The control module 84 controls the hammer 60 to reduce the hammering energy;
if it is
Figure DEST_PATH_IMAGE060
The foundation pile is easy to miss the hammer in the next hammering, and the target mud penetration depth is increased
Figure 433720DEST_PATH_IMAGE007
The control module 84 controls the hammer 60 to increase the hammering energy.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (13)

1. An automatic pile driving control system, wherein the automatic pile driving control system comprises:
the analysis module is arranged to receive the actual depth of the pile into the mud after the pile is hammered before the mth hammering of the jth pile, which is acquired through collection, and calculate the depth of the pile into the mud accumulated before the mth hammering of the jth pile;
the fitting module is in communication connection with the analysis module, and fits a mathematical relation between driving resistance of the jth pile at any target mud penetration depth and driving resistance of the jth pile at any depth through a multiple linear regression equation model according to exploration driving resistance, driving resistance actually measured by a pile which is driven before the jth pile and the measured driving resistance of the jth pile before the mth hammering;
the prediction module is connected with the fitting module in a communication mode, and predicts a predicted value of required hammering energy when the mth hammering of the jth pile reaches the target mud entering depth according to the accumulated mud entering depth of the pile calculated by the analysis module and a mathematical relation between the target mud entering depth and the piling resistance when the pile is at a certain depth; and
a control module, wherein the control module is communicatively coupled to the prediction module, wherein the control module controls a pile driving hammer according to a predicted value of the hammering energy predicted by the prediction module.
2. The automatic pile driving control system of claim 1, wherein the prediction module calculates a predicted value of required hammering energy according to a complex trapezoidal equation.
3. An automatic pile driving control system as claimed in claim 1, wherein the prediction module calculates an accurate value of the required hammering energy by a Roeberg algorithm based on the estimated value of the predicted hammering energy, wherein the control module assigns the accurate value of the hammering energy to the hammering energy for controlling the pile driving hammer.
4. The automatic pile driving control system according to claim 1, wherein the automatic pile driving control system further comprises a determination module, wherein the determination module is communicably connected to the analysis module and the control module, wherein the determination module is capable of determining a magnitude between the accumulated depth of the pile into the mud before the mth hammering of the jth pile analyzed by the analysis module and the predicted total depth of the pile into the mud before the mth hammering of the jth pile, wherein the control module determines whether to stop driving the jth pile according to a determination result formed by the determination module.
5. The automatic piling control system according to claim 1 or 4, wherein the target depth of penetration is in a range of [0.02m,0.08m ].
6. An automatic pile driving control system as claimed in claim 1 or 4, wherein the automatic pile driving control system comprises a feedback module and an input module, the input module being configured to receive an input predicted depth of penetration of the m-1 th hammer of the j-th pile, the analysis module being configured to analyze an error between the predicted depth of penetration of the m-1 th hammer of the j-th pile and a monitored depth of penetration of the m-1 th hammer of the j-th pile, wherein the feedback module is communicatively coupled to the control module, the feedback module compares whether the error is within a predetermined error range, and the control module determines whether to continue driving according to the comparison.
7. The automatic pile driving control system according to claim 6, wherein a maximum value of the predetermined error range is in a range of (0.01, 0.02).
8. The automatic pile driving control system according to claim 6, wherein the predetermined error range has a minimum value in a range of (-0.02, -0.01).
9. A method of controlling automatic piling, wherein the method of automatic piling comprises the steps of:
calculating the accumulated depth of the piles into the mud before the mth hammering of the jth pile according to the actual depth of the piles into the mud after the piles before the mth hammering of the jth pile are hammered;
fitting a mathematical relation between the m-th hammering resistance of the jth pile and the piling resistance of any target mud entering depth when the jth pile is at any depth through a multiple linear regression equation model according to the exploration piling resistance, the actually measured piling resistance of the pile which is already driven before the jth pile and the measured piling resistance of the current jth pile before the mth hammering;
predicting a predicted value of required hammering energy when the mth hammering of the jth pile reaches the target mud entering depth according to the calculated accumulated mud entering depth of the pile and the mathematical relation between the target mud entering depth and the piling resistance when the jth pile is at a certain depth; and
and controlling the piling hammer to pile according to the predicted value of the predicted hammering energy.
10. The control method of automatic piling of claim 9, wherein the control method of automatic piling further comprises the steps of:
judging the size between the accumulated depth of the pile into the mud before the mth hammering of the jth pile and the predicted total depth of the pile into the mud before the mth hammering of the jth pile; and
and determining whether to stop piling the jth pile or not according to the judgment result.
11. The control method of automatic piling of claim 9, wherein the control method of automatic piling further comprises the steps of:
analyzing an error between the predicted mud entering depth of the (m-1) th hammering of the jth pile and the monitored mud entering depth of the (m-1) th hammering of the jth pile;
comparing whether the error is within a preset error range; and
and determining whether to continue piling according to the comparison result.
12. A control method for automatic piling according to claim 9 wherein the estimated value of required hammering energy is calculated according to a complex trapezoidal equation.
13. The control method of automatically piling according to claim 12, wherein the control method of automatically piling further includes the steps of:
and calculating an accurate value of the required hammering energy according to the estimated value of the hammering energy and the predicted hammering energy by a Roeberg algorithm, and assigning the accurate value of the hammering energy as the hammering energy for controlling the pile hammer.
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CN113065188A (en) * 2021-04-08 2021-07-02 佛山市顺德区建设工程质量安全监督检测中心有限公司 Pile sinking process evaluation method based on machine learning, storage medium and electronic equipment
CN113093552A (en) * 2021-04-08 2021-07-09 佛山市顺德区建设工程质量安全监督检测中心有限公司 Automatic piling control method
CN117853077A (en) * 2024-03-07 2024-04-09 中建三局集团华南有限公司 Piling process management method, device, equipment and storage medium

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CN101581197A (en) * 2009-06-24 2009-11-18 中国海洋石油总公司 Design method for optimization of matching between pile hammer and riser pipe
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Publication number Priority date Publication date Assignee Title
CN113065188A (en) * 2021-04-08 2021-07-02 佛山市顺德区建设工程质量安全监督检测中心有限公司 Pile sinking process evaluation method based on machine learning, storage medium and electronic equipment
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CN117853077A (en) * 2024-03-07 2024-04-09 中建三局集团华南有限公司 Piling process management method, device, equipment and storage medium

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