CN113737797A - Piling spatial position recognition device - Google Patents
Piling spatial position recognition device Download PDFInfo
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- CN113737797A CN113737797A CN202111002278.9A CN202111002278A CN113737797A CN 113737797 A CN113737797 A CN 113737797A CN 202111002278 A CN202111002278 A CN 202111002278A CN 113737797 A CN113737797 A CN 113737797A
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- pile
- arm
- clamping
- piling
- bearing platform
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- 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
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- 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
- E02D13/04—Guide devices; Guide frames
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- 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
- E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The invention relates to the technical field of engineering machinery, in particular to a piling space position identification device. The piling space position recognition device comprises a recognition vehicle and a moving mechanism, wherein the recognition vehicle comprises a vehicle body and a camera unit arranged on the vehicle body, and the camera unit can rotate along with the vehicle body so as to enable the camera unit to be vertically arranged with an object to be shot; the moving mechanism comprises a bearing platform and a sliding clamping structure arranged at the bottom of the bearing platform, the sliding clamping structure is configured to enable the bearing platform to walk on the piled pile, and the recognition vehicle is arranged at the top of the bearing platform. According to the invention, the camera unit is arranged, the camera unit obtains position information of the piled pile and the position information of the pile to be piled, an operator controls the vehicle body to grab the pile to be piled according to the position information and realizes the aim of pile alignment, and the moving mechanism is used for driving the recognition vehicle to walk on the piled pile, so that the recognition vehicle can grab the pile or align the pile without auxiliary personnel.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a piling space position identification device.
Background
The hydraulic excavating pile driver is a differentiated product based on a hydraulic excavator, and based on a base platform of the hydraulic excavator, the hydraulic excavating pile driver clamps various piles through clamping by a large arm, a middle arm, a small arm, a hanging bracket, a vibrating hammer head, a clamping part and the like, utilizes high-speed rotation of an eccentric mechanism in the vibrating hammer head to generate exciting force, controls the large arm, the middle arm, the small arm and the hanging bracket to press the vibrating hammer head and the clamping part down, enables the piles to be driven into the ground, and is widely applied to construction such as deep excavation, river dredging, pipeline corridors and the like.
In the pile driving process, an operator sits in a cab to control the whole machine, the distance from the operator to a pile is far, the position and the state of the pile cannot be effectively identified, particularly when the Larsen steel plate pile is driven, the pile is required to be effectively locked with the pile when the pile is to be driven and driven, and auxiliary staff are required to assist the pile in the field, guide the pile and align the pile in the pile driving process. In the operation process, an auxiliary worker is needed to stand the pile edge on site, the pile guide pile and the pile are grasped by hands, and the whole machine operator is instructed to synchronously control the actions of the movable arm, the middle arm, the small arm and the hammer head through gestures in the pile guide and pile alignment processes, so that pile alignment is realized. The pile compresses tightly the pile body through the centre gripping hydro-cylinder and the clamp plate of tup, through frictional force centre gripping stake, because stake weight is big itself, to the stake in-process, if appear that the centre gripping hydro-cylinder reveals or other reasons lead to the stake to have the slippage or the phenomenon of droing, then have very big potential safety hazard to the auxiliary staff of standing the stake next door.
Therefore, a device for identifying the spatial position of the pile is needed to solve the above technical problems.
Disclosure of Invention
The present invention is directed to a pile driving spatial position recognition device that can obtain the latest spatial position where a pile has been driven and the spatial position where the pile is to be driven, and thus achieve the purpose of pile driving without an assistant.
In order to achieve the purpose, the invention adopts the following technical scheme:
there is provided a piling space position recognition apparatus including:
the identification vehicle comprises a vehicle body and a camera unit arranged on the vehicle body, wherein the camera unit can rotate along with the vehicle body so as to enable the camera unit to be vertically arranged with an object to be shot, and the object to be shot comprises a piled pile and an object to be shot;
the moving mechanism comprises a bearing platform and a sliding clamping structure arranged at the bottom of the bearing platform, the sliding clamping structure is configured to enable the bearing platform to walk on the piled pile, and the identification vehicle is fixedly arranged at the top of the bearing platform.
As a preferable technical solution of the device for identifying the spatial position of the pile, the sliding clamping structure includes a traveling unit and a clamping unit, the clamping unit is disposed at two ends of the traveling unit, the traveling unit is configured to drive the bearing platform to travel on the pile, and the clamping unit is configured to clamp the bearing platform to the pile.
As a preferable technical solution of the device for identifying the spatial position of the pile, the traveling unit includes a traveling roller and a traveling driving structure, and the traveling driving structure is in transmission connection with the traveling roller.
As a preferable technical solution of the device for identifying a spatial position of pile driving, the clamping unit includes a clamping portion and an adjusting portion, one end of the clamping portion is connected to the bearing platform, the other end of the clamping portion is connected to the adjusting portion, and the adjusting portion is configured to adjust a distance between the clamping portion and the pile driven.
As a preferable technical solution of the above pile driving spatial position recognition apparatus, the clamping portion includes a clamping roller and a connecting frame, the adjusting portion includes an adjusting cylinder and a connecting rod, a cylinder rod of the adjusting cylinder is connected to the connecting rod, a cylinder body of the adjusting cylinder is connected to the bearing table, the connecting rod is fixedly connected to one end of each of the connecting frames, the other end of each of the connecting frames is rotatably connected to the bearing table, and each of the connecting frames is rotatably provided with one of the clamping rollers, and the clamping roller can rotate relative to the connecting frame.
As a preferred technical scheme of the piling space position identification device, the vehicle body comprises a revolving frame, a revolving driving mechanism and a grabbing manipulator, the revolving frame is in transmission connection with the revolving driving mechanism, and the grabbing manipulator is in rotation connection with the revolving frame.
As a preferable technical scheme of the piling spatial position recognition device, the rotary driving mechanism comprises a rotating gear and a rotary driving piece, the rotary driving piece is connected with the rotating gear, a gear ring is nested in the rotary frame, and the rotating gear is meshed with the gear ring.
As a preferable technical solution of the above-mentioned piling spatial position recognition device, the grasping manipulator includes a first arm, a second arm, a third arm, a grasping driving structure, a grasping arm, a first driving joint, a second driving joint, a third driving joint, and a fourth driving joint, the first arm is connected with the revolving frame through the first driving joint, the first arm is connected with the second arm through the second driving joint, the third arm is rotationally connected with the second arm through a third driving joint, the third arm is rotationally connected with the clamping arm through a fourth driving joint, the clamping driving structure is arranged in a cavity formed at one end of the second arm and is fixedly connected with the camera unit, the camera shooting unit is arranged in a cavity formed by the third arm, and the third arm is provided with an imaging hole.
As a preferable technical solution of the device for identifying the spatial position of the pile driving, a fixing plate is disposed at one end of the second arm connected to the third arm, the clamping driving structure is disposed on the fixing plate, a through hole for an output shaft of the clamping driving structure to pass through is disposed on the fixing plate, and the output shaft is fixedly connected to the image pickup unit.
As a preferable aspect of the device for identifying a spatial position of a pile, the second arm is provided with a position sensor.
The invention has the beneficial effects that:
the piling space position recognition device comprises a recognition vehicle and a moving mechanism, wherein the recognition vehicle comprises a vehicle body and a camera unit arranged on the vehicle body, and the camera unit can rotate along with the vehicle body so as to enable the camera unit to be vertically arranged with an object to be shot; the moving mechanism comprises a bearing platform and a sliding clamping structure arranged at the bottom of the bearing platform, the sliding clamping structure is configured to enable the bearing platform to walk on the piled pile, and the recognition vehicle is arranged at the top of the bearing platform. According to the invention, the camera unit is arranged, the camera unit obtains position information of the piled pile and the position information of the pile to be piled, an operator controls the vehicle body to grab the pile to be piled according to the position information and realizes the aim of pile alignment, and the moving mechanism is used for driving the recognition vehicle to walk on the piled pile, so that the recognition vehicle can grab the pile or align the pile without auxiliary personnel.
Drawings
Fig. 1 is a schematic structural diagram of a first view angle of a piling space position identification device provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a second view angle of the piling space position identification device provided by the embodiment of the invention;
FIG. 3 is an enlarged view of a portion of the second arm, the third arm, and the clamp arm shown in connection with one embodiment of the present invention;
fig. 4 is a schematic structural diagram of the piling space position identification device provided by the embodiment of the invention when the piling space position identification device works on piled piles.
In the figure:
1. a vehicle body; 11. a revolving frame; 12. a rotation driving mechanism; 121. a rotating gear; 122. a rotary drive member; 123. a ring gear; 13. a grabbing manipulator; 131. a first arm; 132. a second arm; 133. a third arm; 1331. an imaging aperture; 134. a clamping drive structure; 135. a clamp arm; 136. a first drive joint; 137. a second drive joint; 138. a third drive joint; 139. a fourth drive joint; 140. a fixing plate; 14. a position sensor;
2. an image pickup unit;
3. a bearing table;
4. a traveling unit; 41. a traveling roller; 42. a travel drive structure;
5. a clamping unit; 51. a clamping portion; 511. a grip roller; 512. a connecting frame; 52. an adjustment section; 521. an adjusting cylinder; 522. a connecting rod;
6. a controller;
7. a power supply unit;
8. the pile has been driven.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
In the existing pile planting process, auxiliary personnel are needed to assist piles, guide piles and align piles on site. In the operation process, an auxiliary worker is needed to stand the pile edge on site, the pile guide pile and the pile are grasped by hands, and the whole machine operator is instructed to synchronously control the actions of the movable arm, the middle arm, the small arm and the hammer head through gestures in the pile guide and pile alignment processes, so that pile alignment is realized. The pile compresses tightly the pile body through the centre gripping hydro-cylinder and the clamp plate of tup, through frictional force centre gripping stake, because stake weight is big itself, to stake in-process pile body stake, if appear that the centre gripping hydro-cylinder reveals or other reasons lead to the stake to have the slippage or the phenomenon of droing, then have very big potential safety hazard to the auxiliary staff on the stake next door of standing. For this reason, the present embodiment provides a piling spatial position identification device, which can identify the spatial positions of the piled pile 8 and the pile to be piled, and grab the pile to be piled to the piled pile 8 to realize pile piling, and the device can directly realize the task of pile piling in the pile driver without the need of auxiliary personnel to operate on site.
The piling space position recognition device comprises a recognition vehicle and a moving mechanism, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, wherein the recognition vehicle comprises a vehicle body 1 and a camera unit 2 arranged on the vehicle body 1, and the camera unit 2 can rotate along with the vehicle body 1 so that the camera unit 2 is arranged vertically to an object to be shot; wherein the object with camera is in this embodiment the pile to be driven and the pile driven 8. The moving mechanism comprises a bearing platform 3 and a sliding clamping structure arranged at the bottom of the bearing platform 3, the sliding clamping structure is configured to enable the bearing platform 3 to walk on the piled pile 8, and the recognition vehicle is arranged at the top of the bearing platform 3.
In this embodiment, by arranging the camera unit 2, the camera unit 2 obtains the position information of the piled pile 8 and the pile to be piled, the operator controls the vehicle body 1 to grab the pile to be piled and realize the purpose of piling the pile according to the position information, and the moving mechanism is used for driving the recognition vehicle to travel on the piled pile 8, so that the recognition vehicle can grab the pile or butt the pile without an assistant.
Optionally, in this embodiment, the sliding clamping structure should ensure clamping of the piled pile 8 while walking, and prevent the piled pile 8 from shaking left and right during moving, for this reason, referring to fig. 2, the sliding clamping structure includes a walking unit 4 and a clamping unit 5, the clamping unit 5 is disposed at two ends of the walking unit 4, the walking unit 4 is used to drive the bearing platform 3 to walk on the piled pile 8, the clamping unit 5 is used to clamp the bearing platform 3 to the piled pile 8, and the clamping unit 5 and the walking unit 4 are matched with each other to clamp the piled pile 8 and walk on the piled pile 8.
Alternatively, in other embodiments, in order to enable the carrier 3 to travel on the pile 8 with non-linear pile, the carrier 3 comprises a plurality of pivotally connected work tables, the work tables can travel under the drive of the travel rollers 41, and the angular offset can be achieved under the action of the pivots.
Alternatively, as shown in fig. 2, the walking unit 4 includes walking rollers 41 and a walking driving structure 42, and the walking driving structure 42 is in transmission connection with the walking rollers 41. The plurality of traveling rollers 41 are arranged in parallel. The walking driving structure 42 includes a plurality of motors, the motors are disposed on the sidewalls of the platform 3 at intervals, wherein the motors can be disposed on the sidewalls of one side of the platform 3, and can also be disposed on the sidewalls of two sides of the platform 3. A plurality of motors and a plurality of walking roller 41 one-to-one setting, every motor is connected with a walking roller 41 promptly, the motor drives the walking roller 41 of being connected with it and rotates, a plurality of walking rollers 41 rotate simultaneously and can drive plummer 3 and remove from piling 8, and then realize the purpose that the discernment car removed, in other embodiments, walking unit 4 can include the motor, driving roller and track, the driving roller sets up the both ends at plummer 3, one of them driving roller is connected with the motor, the track setting is on two driving rollers, the motor drives the driving roller of being connected with it and rotates, can realize that the driving roller that is located the track both ends drives the track and rotates, and then can realize that plummer 3 removes and gos forward.
Optionally, the clamping unit 5 comprises a clamping portion 51 and an adjusting portion 52, one end of the clamping portion 51 is rotatably connected to the carrier table 3, and with continued reference to fig. 2, the end of the clamping portion 51 extending into the carrier table 3 is rotatable relative to the carrier table 3. The other end of the clamping portion 51 is connected to an adjusting portion 52, and the adjusting portion 52 is used for adjusting the distance between the clamping portion 51 and the driven pile 8. The clamping part 51 and the adjusting part 52 work together to stably arrange the bearing platform 3 on the driven pile 8, although the width of the driven pile 8 is the same, a certain manufacturing error exists in the actual manufacturing process, the driven pile 8 may deform in the implantation process, when a large gap exists between the clamping part 51 and the driven pile 8, the bearing platform 3 swings in the moving process and the imaging effect of the camera unit 2 is affected, in the embodiment, in order to obtain good imaging, the adjusting part 52 is provided, the adjusting part 52 can adjust the positions of the clamping part 51 and the driven pile 8 according to the width of different driven piles 8, so that the clamping part 51 can clamp the driven pile 8, the recognition vehicle is more stable in the walking process, and the camera unit 2 arranged on the vehicle body 1 does not shake violently in the walking process, so that a good image can be obtained, the controller 6 can calculate the distance between the spatial position of the pile to be driven and the spatial position of the pile driven 8 more accurately, and errors are effectively reduced.
Optionally, the clamping portion 51 includes clamping rollers 511 and connecting frames 512, the adjusting portion 52 includes an adjusting cylinder 521 and a connecting rod 522, a cylinder rod of the adjusting cylinder 521 is connected with the connecting rod 522, a cylinder body of the adjusting cylinder 521 is connected with the bearing platform 3, the connecting rod 522 is fixedly connected with one end of the connecting frames 512, the other end of the connecting frame 512 is rotatably connected with the bearing platform 3, each connecting frame 512 is rotatably provided with one clamping roller 511, and the clamping rollers 511 can rotate relative to the connecting frames 512. The stretching of the cylinder rod can drive the connecting rod 522 to move, at the moment, the connecting frame 512 rotates relative to the bearing table 3 or the walking roller 41 along with the movement of the connecting rod 522, and the connecting frame 512 can rotate around a preset axis, so that the relative positions of the clamping rollers 511 on the two sides of the bearing table 3 can be adjusted. The clamping roller 511 can rotate on the connecting frame 512, so that the friction of the clamping part 51 on the bearing platform 3 during the movement of the bearing platform 3 is rolling friction instead of sliding friction, the rolling friction is less in resistance compared with the sliding friction, the movement speed of the bearing platform 3 during the movement is fast and more stable, and the clamping roller 511 can not clamp the piled pile 8 during the movement of the bearing platform 3.
Optionally, the vehicle body 1 comprises a revolving frame 11, a revolving driving mechanism 12 and a grabbing manipulator 13, wherein the revolving frame 11 is in transmission connection with the revolving driving mechanism 12, and the grabbing manipulator 13 is in rotation connection with the revolving frame 11. The revolving frame 11 can rotate on the bearing platform 3 under the action of the revolving driving mechanism 12, so that the camera unit 2 can rotate at the fixed position of the bearing platform 3, and the camera unit 2 can detect the spatial relative position of the lock edge of the pile 8 on the bearing platform 3 without a dead angle of 360 degrees.
Referring to fig. 1, the rotary driving mechanism 12 includes a rotating gear 121 and a rotary driver 122, the rotary driver 122 is connected to the rotating gear 121, a gear ring 123 is nested in the rotary frame 11, and the rotating gear 121 and the gear ring 123 are engaged. The rotary driving mechanism 12 comprises a fixed shaft and a fixed frame, the rotating gear 121 is rotatably arranged on the fixed shaft, the fixed shaft is fixedly arranged on the bearing table 3, the fixed frame is arranged on the fixed shaft, the rotating gear 121 is positioned in a cavity formed by the fixed frame, the rotating gear 121 is meshed with the gear ring 123, and the rotary frame 11 rotates along with the gear ring 123 in the rotating process of the gear ring 123, so that the position of the recognition vehicle is adjusted.
Alternatively, in this embodiment, as shown in fig. 1 and 3, the grasping robot 13 includes a first arm 131, a second arm 132, a third arm 133, a holding drive structure 134, the imaging device comprises a clamping arm 135, a first driving joint 136, a second driving joint 137, a third driving joint 138 and a fourth driving joint 139, wherein the first arm 131 is connected with the revolving frame 11 through the first driving joint 136, the first arm 131 is connected with the second arm 132 through the second driving joint 137, the third arm 133 is rotatably connected with the second arm 132 through the third driving joint 138, the third arm 133 is rotatably connected with the clamping arm 135 through the fourth driving joint 139, the clamping driving structure 134 is arranged in a cavity formed at one end of the second arm 132, the clamping driving structure 134 is fixedly connected with the imaging unit 2, the imaging unit 2 is arranged in the cavity formed by the third arm 133, and the third arm 133 is provided with an imaging hole 1331. The first driving joint 136, the second driving joint 137, the third driving joint 138, and the fourth driving joint 139 are one or more of a hydraulic driving joint, a pneumatic driving joint, and an electromagnetic driving joint, and the hydraulic driving joint, the pneumatic driving joint, and the electromagnetic driving joint are conventional joints, and the structures thereof are not described again.
The second arm 132 can rotate in the Y direction relative to the first arm 131, the first arm 131 can rotate in the Y direction relative to the revolving frame 11, the third arm 133 can rotate in the Z direction relative to the second arm 132, the revolving frame 11 can drive the first arm 131 to rotate in the Z direction, the clamping arm 135 can change the position under the action of the revolving frame 11, the first arm 131, the second arm 132 and the third arm 133, and the revolving frame 11, the first arm 131, the second arm 132 and the third arm 133 can finely adjust the position of the clamping arm 135, so that the positioning of the image pickup unit 2 is more accurate.
Optionally, a fixing plate 140 is disposed at an end of the second arm 132 connected to the third arm 133, the clamping driving structure 134 is disposed on the fixing plate 140, a through hole for passing an output shaft of the clamping driving structure 134 is disposed on the fixing plate 140, and the output shaft is fixedly connected to the image capturing unit 2. The clamping driving structure 134 is a clamping motor, the clamping motor drives the camera unit 2 to rotate, and the third arm 133 is provided with shooting holes for shooting the image of the piled pile 8 and the image to be piled by the camera unit 2 up and down, and the clamping arm 135 is used for clamping the image to be piled to prevent the image to be piled from shaking in space.
In order to enable a fast positioning of the camera unit 2 during operation, in the present embodiment, the second arm 132 is provided with a position sensor 14. The principle of use and structure of the position sensor 14 is prior art and will not be described in detail herein.
In the present embodiment, as shown in fig. 1, the device for identifying the spatial position of pile driving further includes a controller 6 and a power supply unit 7, the controller 6 is capable of receiving the image transmitted by the camera unit 2 and calculating the coordinates of the pile to be driven and the pile driven 8 according to the image, the controller 6 sends the coordinates to the pile driver, the pile driver feeds back a command to the controller 6 according to the coordinates, and the controller 6 controls the walking drive structure 42, the first transmission mechanism, the adjusting cylinder 521, the swing drive mechanism 12, the clamping drive structure 134 to cooperate with the first drive joint 136, the second drive joint 137, the third drive joint 138 and the fourth drive joint 139 according to the command fed back by the pile driver, so as to achieve the purpose of driving the pile. The power supply unit 7 supplies electric energy to the controller 6, the walking driving mechanism 42, the first transmission mechanism, the adjusting cylinder 521, the rotation driving mechanism 12, the clamping driving mechanism 134, the first driving joint 136, the second driving joint 137, the third driving joint 138 and the fourth driving joint 139.
In this embodiment, the controller 6 may be a centralized or distributed controller, for example, the controller 6 may be a single-chip microcomputer or may be composed of a plurality of distributed single-chip microcomputers, and a control program may be run in the single-chip microcomputers to control each component to implement its function.
The initial state image pickup unit 2 is downward, the image which is piled 8 is scanned and calculated and analyzed through the controller 6, then the image pickup unit 2 rotates 180 degrees, the image pickup unit 2 is upward, the image which is to be piled is scanned and calculated and analyzed through the controller 6; since the position point of the camera unit is unchanged, the camera unit is rotated by 180 degrees, and the relative coordinate difference (x, y, z) of the spatial positions of the pile to be driven and the pile driven 8 is calculated by two image scanning and calculation analysis and taking the 180-degree rotation of the camera unit 2 into consideration, and is transmitted to the display device in the cab through the controller 6, and the large arm, the middle arm and the small arm of the pile driver are moved in the cab according to the coordinate difference. The processing of the image and the calculation to obtain the spatial position coordinates or coordinate differences are prior art and will not be described herein.
As shown in fig. 4, the piling space position identification device specifically works as follows:
an operator of the whole machine sits in a cab of the pile driver, the piling spatial position identification device can crawl on the piled pile 8 and crawl to the position close to the finally piled pile 8 by remotely controlling the piling spatial position identification device, the operator realizes pile picking by controlling the whole machine and hangs the pile to the position close to the piled pile 8, at the moment, the piling spatial position identification device adjusts the spatial positions of the first arm 131 and the second arm 132, so that the second arm 132 is horizontally parallel to the ground, the image scanning is carried out on the piled pile 8 by the camera unit 2 on the second arm 132, then the camera unit 2 is driven by the clamping driving structure 134 on the second arm 132 to rotate for 180 degrees, and the image scanning is carried out on the pile to be piled; the controller 6 analyzes and calculates the image of the piled pile 8 and the image of the piled pile to calculate the spatial position distance between the piled pile 8 and the pile to be driven and transmits the spatial position distance to a display in a cab of the whole machine, an operator can visually observe the states of the piled pile 8 and the pile to be driven through the display, when the operator controls a movable arm, a middle arm and a small arm of the pile driver to enable a hammer head and the pile to approach the piled pile 8, the camera unit 2 scans and calculates secondary images of the piled pile 8 and calculates the spatial relative position of the locking edge of the pile and transmits the spatial relative positions to the controller 6 of the whole machine controller and the pile driving spatial position recognition device respectively, the controller 6 of the pile driving spatial position recognition device grasps the pile edge in spatial positions by adjusting a first arm 131, a second arm 132 and a clamping arm 135 of the pile driving spatial position recognition device, and the controller of the whole machine controls the movable arm of the pile driver, The middle arm and the small arm act and realize pile guiding and pile aligning under the guidance of the pile driving space position identification device. Pile driving spatial position recognition device grabs the pile limit and avoids swinging phenomenon in the adjustment of pile space, prevents to be difficult for the problem appearance to the pile. Need not on-spot auxiliary staff and can realize reducing operator quantity to the stake, reduce cost, solve auxiliary pile personnel simultaneously and draw the stake, to the stake potential safety hazard problem.
After the pile is finished, the operator of the whole machine presses an automatic pile driving button of a pile driver, an automatic pile driving system of the pile driver firstly calculates and obtains spatial position coordinates of the hammer head and the pile to be driven, and the pile to be driven is in a vertical state in the pile driving process, so a track route of the pile to be driven in the pile driving process can be calculated according to the spatial position coordinates of the hammer head in the initial stage of the pile driving process and the pile to be driven, a control unit discretizes the track route, then the required angle changes of the large arm, the middle arm and the small arm of the pile driver under any discrete track route unit are calculated, the required length information of the first oil cylinder, the second oil cylinder and the third oil cylinder of the pile driver is calculated according to the angle change value, the actions of each relevant valve group in an electric control valve of the pile driver are controlled so as to control the actions of the first oil cylinder, the second oil cylinder and the third oil cylinder, and further realize the angle changes of the large arm, the middle arm and the small arm, therefore, the pile is driven and pressed in a vertical state to be driven, and the perpendicularity in the pile driving process is guaranteed.
Correspondingly, in this embodiment, the pile driver is provided with an auxiliary pile driving system, the auxiliary pile driving system includes a verticality sensor, three angle sensors and an inertia unit, the three angle sensors and the inertia unit are respectively electrically connected with the controller of the whole machine, the three angle sensors are respectively a first angle sensor, a second angle sensor and a third angle sensor, wherein the first angle sensor is arranged on the large arm and is used for detecting the angle information of the large arm relative to the upper frame of the pile driver; the second angle sensor is arranged on the middle arm and used for detecting the angle information of the large arm and the middle arm; the third angle sensor is arranged on the small arm and used for detecting the angle information of the small arm and the middle arm; the inertia unit is used for detecting the space and angle information of the upper frame of the pile driver, namely the construction surface where the whole pile driver is located. The perpendicularity sensor is arranged on the hammer head of the pile driver and used for detecting perpendicularity information of the pile to be driven and transmitting the information to the complete machine controller.
After the automatic piling function is started by a manipulator, the whole machine controller calculates a space pose matrix T of a hinge point of the forearm and the hanger relative to the construction ground where the pile driver is located according to structural parameters of a first oil cylinder, a large arm, a second oil cylinder, a middle arm, a third oil cylinder and a small arm which are stored in the whole machine controller, and further calculates space position coordinates A (x, y and z) of the hinge point of the small arm and the hanger, wherein the x direction is the direction from the hinge point to the upper frame, u is the vertical direction of the hinge point, and z is the left-right direction of the hinge point.
The perpendicularity of the pile is guaranteed in the piling process, namely in the piling process to be piled, the space coordinate of a hinge point A, the coordinate values of x and z directions are unchanged, and only the y coordinate value is changed.
The whole machine controller calculates and obtains the spatial position coordinate A (x, y, z) of the hinge point of the rear forearm and the hanger of the pile according to the driving depth h of the pile to be driven (the spatial position coordinate A (x, y, z) is discretized into n points), and the target track Ci (i is 0-n) of the pile in the driving process is obtained. The perpendicularity sensor is used for monitoring the perpendicularity of the pile in real time and feeding back the perpendicularity to the complete machine controller, and the complete machine controller corrects compensation feedback on a target track C of a space position coordinate A of a hinged point of the forearm and the hanging bracket in real time to ensure the perpendicularity of the pile in the pile driving process; and meanwhile, the verticality sensor transmits the vertical information of the pile to the cab and displays the information through the display unit.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A piling space position recognition apparatus, comprising:
the identification vehicle comprises a vehicle body (1) and a camera unit (2) arranged on the vehicle body (1), wherein the camera unit (2) can rotate along with the vehicle body (1) so that the camera unit (2) is arranged perpendicular to an object to be shot, and the object to be shot comprises a piled pile (8) and an object to be shot;
the moving mechanism comprises a bearing platform (3) and a sliding clamping structure arranged at the bottom of the bearing platform (3), the sliding clamping structure is configured to enable the bearing platform (3) to walk on the piled pile (8), and the identification vehicle is fixedly arranged at the top of the bearing platform (3).
2. Piling spatial position recognition device according to claim 1, characterized in that the sliding clamping structure comprises a walking unit (4) and a clamping unit (5), the clamping unit (5) is disposed at both ends of the walking unit (4), the walking unit (4) is used to drive the bearing platform (3) to walk on the piled pile (8), and the clamping unit (5) is used to clamp the bearing platform (3) to the piled pile (8).
3. Piling spatial position identification device according to claim 2, characterized in that the walking unit (4) comprises a walking roller (41) and a walking drive structure (42), the walking drive structure (42) being in transmission connection with the walking roller (41).
4. Piling spatial position recognition device according to claim 2, characterized in that the clamping unit (5) comprises a clamping part (51) and an adjusting part (52), the clamping part (51) being connected with the bearing platform (3) at one end and with the adjusting part (52) at the other end, the adjusting part (52) being used to adjust the distance between the clamping part (51) and the piled pile (8).
5. The piling spatial position recognition device according to claim 4, wherein the clamping part (51) comprises a clamping roller (511) and a connecting frame (512), the adjusting part (52) comprises an adjusting cylinder (521) and a connecting rod (522), a cylinder rod of the adjusting cylinder (521) is connected with the connecting rod (522), a cylinder body of the adjusting cylinder (521) is connected with the bearing platform (3), the connecting rod (522) is fixedly connected with one end of the connecting frames (512), the other end of the connecting frame (512) is rotatably connected with the bearing platform (3), one clamping roller (511) is rotatably arranged on each connecting frame (512), and the clamping roller (511) can rotate relative to the connecting frame (512).
6. Piling spatial position recognition device according to claim 1, characterized in that the vehicle body (1) comprises a turret (11), a rotary drive mechanism (12) and a grabbing manipulator (13), the turret (11) is in transmission connection with the rotary drive mechanism (12), and the grabbing manipulator (13) is in rotational connection with the turret (11).
7. Piling spatial position recognition device according to claim 6, characterized in that the rotary drive mechanism (12) comprises a rotary gear (121) and a rotary drive member (122), the rotary drive member (122) is connected with the rotary gear (121), the rotary frame (11) is nested with a gear ring (123), and the rotary gear (121) and the gear ring (123) are meshed.
8. Piling spatial position recognition device according to claim 6, characterized in that the grasping robot (13) includes a first arm (131), a second arm (132), a third arm (133), a grasping drive structure (134), a grasping arm (135), a first drive joint (136), a second drive joint (137), a third drive joint (138), and a fourth drive joint (139), the first arm (131) and the turret (11) are connected by the first drive joint (136), the first arm (131) and the second arm (132) are connected by the second drive joint (137), the third arm (133) and the second arm (132) are rotatably connected by the third drive joint (138), the third arm (133) and the grasping arm (135) are rotatably connected by the fourth drive joint (139), centre gripping drive structure (134) set up in the cavity that second arm (132) one end formed, centre gripping drive structure (134) with unit (2) fixed connection makes a video recording, unit (2) set up in the cavity that third arm (133) formed, third arm (133) are provided with formation of image hole (1331).
9. Piling spatial position recognition device according to claim 8, characterized in that a fixing plate (140) is provided at one end of the second arm (132) connected to the third arm (133), the clamping driving structure (134) is provided on the fixing plate (140), a through hole for passing an output shaft of the clamping driving structure (134) is provided on the fixing plate (140), and the output shaft is fixedly connected to the camera unit (2).
10. Piling spatial position identification means according to claim 8, characterized in that a position sensor (14) is provided on the second arm (132).
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| CN113737797B (en) | 2022-08-30 |
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Address after: No.2676 Kejia Road, high tech Zone, Jinan City, Shandong Province, 250104 Patentee after: Lingong Heavy Machinery Co.,Ltd. Address before: No.2676 Kejia Road, high tech Zone, Jinan City, Shandong Province, 250104 Patentee before: LINGONG GROUP JINAN HEAVY MACHINERY Co.,Ltd. |
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