CN114922179A - Side-clamping type hydraulic pile driver pose monitoring system and pose inverse solution method thereof - Google Patents
Side-clamping type hydraulic pile driver pose monitoring system and pose inverse solution method thereof Download PDFInfo
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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
- E02D7/02—Placing by driving
- E02D7/06—Power-driven drivers
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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
- E02D7/02—Placing by driving
- E02D7/06—Power-driven drivers
- E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
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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
- E02D7/02—Placing by driving
- E02D7/06—Power-driven drivers
- E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
- E02D7/16—Scaffolds or supports for drivers
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Abstract
The invention discloses a side-clamping type hydraulic pile driver pose monitoring system and a pose inverse solution method thereof, wherein the side-clamping type hydraulic pile driver pose monitoring system comprises a pose sensing unit, a displacement sensing unit, a data acquisition module, a data processing module, a communication management mechanism module and a monitoring system module which are arranged on a pile driver body; the position and posture sensing unit is arranged at the central part of the pile driver tail end deflection mechanism and used for measuring the three-axis direction position and posture information of the pile body X, Y, Z clamped by the pile driver tail end deflection mechanism; the displacement sensing unit is arranged on three groups of movable arm oil cylinders of the mechanical arm of the pile driver and is used for measuring the propelling stroke of a piston of the hydraulic oil cylinder of the mechanical arm of the pile driver; the deflection angle of the mechanical arm joint of the pile driver can be reversely solved through the known pose information of the pile body, so that the propelling strokes of three groups of movable arm oil cylinder pistons of a large arm, a small arm and a deflection mechanism at the tail end of the pile driver are determined, and data reference is provided for an operator to adjust the pose of the pile body.
Description
Technical Field
The invention relates to the technical field of piling machinery, in particular to a side-clamping type hydraulic pile driver pose monitoring system and a pose inverse solution method thereof.
Background
With the rapid development of Chinese capital construction, the demand of pile driving machines is increasing. More and more deep pile sinking foundation projects of high-rise buildings are required, and higher requirements are provided for pile sinking precision and construction efficiency of a pile driver. At present, the traditional pile sinking monitoring mainly depends on manual measurement or common level gauge measurement, the posture of a pile body is changed and the posture of the pile body cannot be continuously measured due to the influence of a series of external factors such as vibration and the like in the pile sinking process, so that the construction efficiency is low and the pile sinking precision is difficult to guarantee. In addition, the side-clamping type hydraulic pile driver relates to hardware devices such as a deflection mechanism, a clamping mechanism, a vibration box body and a bottom clamp, and the combination action is complex and difficult to control when the posture of the pile body is adjusted.
Disclosure of Invention
In view of the technical defects, the invention aims to provide a side-clamping type hydraulic pile driver pose monitoring system and a pose inverse solution method thereof, which can inversely solve the joint deflection angle of a pile driver mechanical arm through the known pose information of a pile body, so as to determine the propelling strokes of three groups of movable arm oil cylinder pistons of a pile driver mechanical large arm, a pile driver mechanical small arm and a deflection mechanism, and thus provide data reference for an operator to adjust the pose of the pile body.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a side-clamping type hydraulic pile driver pose monitoring system, which comprises a pose sensing unit, a displacement sensing unit, a data acquisition module, a data processing module, a communication management mechanism module and a monitoring system module, wherein the pose sensing unit, the displacement sensing unit, the data acquisition module, the data processing module, the communication management mechanism module and the monitoring system module are arranged on a pile driver body; the position and posture sensing unit is arranged at the central part of the tail end deflection mechanism of the pile driver and is used for measuring the three-axis direction position and posture information of the pile X, Y, Z clamped by the tail end deflection mechanism of the pile driver; the displacement sensing unit is arranged on three groups of movable arm oil cylinders of the mechanical arm of the pile driver and is used for measuring the propelling stroke of a piston of the hydraulic oil cylinder of the mechanical arm of the pile driver; the data acquisition module is electrically connected with the pose sensing unit and the displacement sensing unit and is used for acquiring electric signals converted by the pose sensing unit and the displacement sensing unit and sending the converted electric signals to the data processing module; the data processing module is used for calculating the electric signals acquired by the data acquisition module by using a preset function to obtain the three-axis position and attitude information of the de-piling body X, Y, Z and the propelling stroke of the hydraulic cylinder piston; the communication management mechanism module is used for connecting the data processing module with the monitoring system module; and the monitoring system module is used for displaying the pose information of the pile body and the dynamic model of the pile driver.
Preferably, the displacement sensing units are divided into three groups and arranged on three groups of hydraulic oil cylinders of a mechanical arm of the pile driver, and the first group is arranged on a hydraulic oil cylinder of a large arm of the pile driver; the second group is arranged on a hydraulic oil cylinder of a mechanical small arm of the pile driver; the third group is arranged on a hydraulic oil cylinder of the deflection mechanism at the tail end of the pile driver.
Preferably, the pose sensing unit and the displacement sensing unit are connected with the data acquisition module by adopting an RS232 bus, and the communication management mechanism module is connected with the monitoring system module by adopting a UDP communication protocol.
Preferably, the monitoring system module comprises a monitoring data display interface and a virtual model display interface, and the monitoring data display interface is used for displaying the monitoring data of the pose sensing unit and the displacement sensing unit; and the virtual model display interface is used for displaying the real-time dynamics of the pile driver.
Preferably, the X, Y, Z three axes are based on a pile driver base coordinate system { oxyz } as a coordinate system, wherein: the basic coordinate system { oxyz } takes the vertical upward direction of the pile driver as the positive direction of the z axis of the basic coordinate system, the extending direction of the mechanical arm of the pile driver as the positive direction of the x axis of the basic coordinate system, and the y axis direction of the basic coordinate system is determined by right hand determination.
The invention also provides a pose inverse solution method of the system, which is characterized by comprising the following steps of:
(1) pile body pose data monitored by the pose sensing unit and stroke data of the hydraulic oil cylinder monitored by the displacement sensing unit are collected through a data collection module;
(2) analyzing the data in the step (1) through a data processing module, and establishing a T1 matrix for the analyzed pile body pose data; meanwhile, according to six sets of freedom parameters of the mechanical arm model of the pile driver, a transformation matrix T2 of the tail end actuating mechanism coordinate system relative to the pile driver base coordinate system is established; solving each joint deflection angle of the pile driver by using a mechanism kinematics inverse solution method for the obtained T1 and T2 matrixes, and solving the propelling stroke data of three groups of hydraulic oil cylinder pistons, namely a mechanical large arm, a mechanical small arm and a pile driver tail end deflection mechanism, of the pile driver by using the joint deflection angles;
(3) performing format conversion on the propulsion data of the hydraulic oil cylinder obtained in the step (2) by using the communication management mechanism module, and transmitting the propulsion data to the monitoring system module through a UDP (user Datagram protocol) protocol;
(4) displaying the data of the pose sensing unit through the monitoring data display interface of the monitoring system module, displaying the displacement data of the hydraulic cylinder piston obtained in the step (3) through the virtual model display interface of the monitoring system module, and driving the mechanical arm of the pile driver model by using the displacement data.
Preferably, in step (2):
The invention has the beneficial effects that:
according to the invention, through automatic monitoring, the sinking pose information of the pile body can be timely and accurately mastered, and accurate pose information of the pile body can be provided for operators; meanwhile, the mechanism inverse solution algorithm is used for calculating the joint deflection angle required by each mechanical arm when the pile body keeps the target pose, the deflection angle is used for calculating the propelling stroke of each hydraulic cylinder piston, effective data support is provided for an operator to adjust the pose of the pile body, and meanwhile, the data is used for driving the pile driver model to move to provide a more visual three-dimensional virtual interface for the operator.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic development flow diagram of a side-clip type pile driver pose monitoring system according to the present invention;
FIG. 2 is a schematic diagram of a hardware construction system of the side-clamping type pile driver pose monitoring system of the invention;
fig. 3 is a schematic diagram of a three-degree-of-freedom structure of the mechanical arm of the side-clamping pile driver according to the invention.
Description of reference numerals:
1. the pile driving system comprises a pile body, 2 a side clamping mechanism, 3 a pile driver tail end deflection mechanism, 4 a position and posture sensing unit, 5 a mechanical arm movable arm oil cylinder, 6 a RS232 serial communication line, 7 a displacement sensing unit and 8 a monitoring system module; l1, link length of pile driver mechanical boom; l2, link length of pile driver mechanical forearm; l3, link length of end effector; firstly, a movable arm hydraulic oil cylinder; secondly, a bucket rod hydraulic oil cylinder; thirdly, a hydraulic oil cylinder of the deflection mechanism; a1, swing arm joint declination; a2, a bucket rod joint declination angle; a3, and the joint deflection angle of the deflection mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, a side-clamping type hydraulic pile driver pose monitoring system comprises a pose sensing unit 4, a displacement sensing unit 7, a data acquisition module, a data processing module, a communication management mechanism module and a monitoring system module 8, which are arranged on a pile driver body; the pose sensing unit 4 is arranged at the center of the pile driver tail end deflection mechanism 3 and used for measuring pose information of the pile body clamped by the pile driver tail end deflection mechanism 3 in the X, Y and Z three-axis directions; the pose sensor clamping mechanism is fixed on the deflection mechanism 3 at the tail end of the pile driver, and when the clamping mechanism clamps the pile body, the pose sensor clamping mechanism, the pile body and the clamping mechanism form a rigid whole. The pile driving machine comprises a pile driving machine mechanical arm, a displacement sensing unit, a position and posture sensing unit, a piston and a piston positioning unit, wherein the position and posture sensing unit 4 arranged on a deflection mechanism at the tail end of the pile driving machine is used for monitoring the spatial position and posture of a pile body, and the displacement sensing unit 7 is arranged on three groups of movable arm oil cylinders of the mechanical arm of the pile driving machine and is used for measuring the propelling stroke of a piston of the mechanical arm hydraulic cylinder of the pile driving machine; the data acquisition module is electrically connected with the pose sensing unit 4 and the displacement sensing unit 7 and is used for acquiring electric signals converted by the pose sensing unit 4 and the displacement sensing unit 7 and sending the converted electric signals to the data processing module; the data processing module is used for calculating the electric signals acquired by the data acquisition module by using a preset function, and solving the three-axis position information of the pile X, Y, Z and the propelling stroke of the hydraulic cylinder piston; the communication management mechanism module is used for connecting the data processing module with the monitoring system module 8; and the monitoring system module 8 is used for displaying pose information of the pile body and a dynamic model of the pile driver.
The three axes of the pile X, Y, Z in this embodiment are the pile foundation coordinate system { oxyz } as the coordinate system, the foundation coordinate system { oxyz } is the positive z-axis direction of the pile foundation coordinate system, the extending direction of the pile driver arm is the positive x-axis direction of the pile foundation coordinate system, and the y-axis direction of the pile foundation coordinate system is determined according to the right-hand rule.
The displacement sensing units 7 are divided into three groups and arranged on three groups of hydraulic oil cylinders of a mechanical arm of the pile driver, and the first group is arranged on a hydraulic oil cylinder of a large arm of the pile driver; the second group is arranged on a hydraulic oil cylinder of a mechanical small arm of the pile driver; the third group is arranged on a hydraulic oil cylinder of the deflection mechanism at the tail end of the pile driver. The pose sensing unit 4 and the displacement sensing unit 7 are connected with the data acquisition module by adopting RS232 buses, the communication management mechanism module and the monitoring system module 8 are connected by adopting a UDP communication protocol, and the high-efficiency data transmission of UDP communication can meet the real-time data transmission of the sensing units. The monitoring system module 8 comprises a monitoring data display interface and a virtual model display interface, and the monitoring data display interface is used for displaying the monitoring data of the pose sensing unit 4 and the displacement sensing unit 7; and the virtual model display interface is used for displaying the real-time dynamics of the pile driver.
The pose sensing unit 4, the displacement sensing unit 7, the data acquisition module, the data processing module, the communication management mechanism module and the monitoring system module 8 of the present embodiment are manufactured by existing products or structures known to those skilled in the art, and the installation positions thereof are installed in existing manners known to those skilled in the art except for those mentioned in the present embodiment.
The pile body 1, the side clamping mechanism 2, the pile driver end swing mechanism 3, the boom cylinder 5 and the pile driver body of the present embodiment are conventional products or structures known to those skilled in the art, and are connected to each other in a conventional manner known to those skilled in the art, and will not be described in detail herein.
The invention also provides a pose inverse solution method of the system, which comprises the following steps:
(1) pile body pose data monitored by the pose sensing unit (4) and stroke data of the hydraulic oil cylinder monitored by the displacement sensing unit 7 are collected through a data collection module;
(2) analyzing the data in the step (1) through a data processing module, and establishing a T1 matrix for the analyzed pile body pose data; meanwhile, according to six sets of freedom parameters of the mechanical arm model of the pile driver, a transformation matrix T2 of a tail end actuating mechanism coordinate system relative to a pile driver base coordinate system is established; solving each joint deflection angle of the pile driver by using a mechanism kinematics inverse solution method for the obtained T1 and T2 matrixes, and solving the propelling stroke data of three groups of hydraulic oil cylinder pistons, namely a mechanical large arm, a mechanical small arm and a pile driver tail end deflection mechanism, of the pile driver by using the joint deflection angles;
(3) performing Json data format conversion on the propulsion data of the hydraulic oil cylinder obtained in the step (2) by using the communication management mechanism module, and transmitting the propulsion data to the monitoring system module 8 through a UDP (user Datagram protocol) protocol;
(4) displaying data of the pose sensing unit (4) through the monitoring data display interface of the monitoring system module 8, displaying displacement data of the hydraulic cylinder piston obtained in the step (3) through the virtual model display interface of the monitoring system module 8, and driving a mechanical arm of the pile driver model through the displacement data.
In the step (2):
The arm of the pile driver of this embodiment has six degrees of freedom and thus six sets a i ,α i ,d i ,θ i Parameter, all joints of the mechanical arm of the pile driver of the embodiment are rotational joints, a i ,α i ,d i ,θ i Of the four parameters, only the joint angle θ i Are variables, the remainder are known quantities; the inverse pose solution of the embodiment is to calculate the rotation angle theta of each joint according to the pose information of the pile body monitored by the sensor i 。
An equation is established by two matrixes of T1 and T2, and an unknown variable theta is solved i ，θ i The angle is the deflection angle of the mechanical arm joint of the pile driver.
Taking the pose information (px, py, pz, γ, β, α) of the pile driver end yaw mechanism monitored by the sensor as an example, (95.8, -114.2, 24.2, 162.5 °, -9.85 °, -168.5 °), a conversion matrix T1 is established from the position and pose data:
and (3) solving each joint angle of the pile driver by using the two matrixes of T1 and T2 to be equal, and solving the propelling stroke of the hydraulic cylinder of the mechanical arm of the pile driver by using the angle of each joint:
solving a joint angle theta i according to a kinematics inverse solution method, and establishing a corresponding mathematical model by utilizing a movable arm joint angle theta 2 and a mechanical large arm oil cylinder propulsion stroke lambda 2; the corresponding relation between the joint angle theta 2 and the driving stroke lambda 2 of the oil cylinder is as follows:
it can be known from fig. 3 that point A, C is the installation pose of the cylinder, point B is the position of the joint of the large arm of the machine, both AB and BC are fixed values, and the advancing stroke λ 2 of the cylinder can be solved to 468.4cm by solving the fixed values AB 550cm, BC 650cm and θ 2 obtained by inverse pose solution to 45 °, and the methods for solving θ 3, θ 4 and θ 5 are similar. Namely, the pile body needs to maintain the posture of (95.8, -114.2, 24.2, 162.5 degrees, -9.85 degrees, -168.5 degrees), and the angles of the joint angles needing to be adjusted are as follows: theta 1 is equal to-50 degrees, theta 2 is equal to 45 degrees, theta 3 is equal to-30 degrees, theta 4 is equal to-35 degrees, theta 5 is equal to 0 degrees, theta 6 is equal to 30 degrees, the propelling distance of the oil cylinder is determined according to the theta i angle adjusted by each joint, and the mechanical large-arm hydraulic oil cylinder needs to be propelled to lambda 2 is equal to 468.4 cm; the propulsion distances and calculation formulas of other cylinders in this embodiment and so on are not described in detail herein.
The virtual model display interface utilizes a mechanism kinematics inverse solution method, adopts the prior art well known by the technical personnel in the field, solves the displacement of each mechanical arm hydraulic oil cylinder according to the pose required to be kept by the pile body, and utilizes the solved displacement data to drive the virtual model of the pile driver. The virtual model display interface can more visually reflect the pile sinking process and provide reliable parameter support for operators to adjust the pose of the pile body.
In the embodiment, in the process of sinking the pile body, the pile body needs to be kept in a specific pose state, and joint angles θ i (i is 1, 2, 3, 4, 5 and 6) of the mechanical arm of the pile driver in the specific pose state are calculated through a pose inverse solution method; then establishing a corresponding mathematical model according to the theta i and each joint oil cylinder, and determining the theoretical propulsion distance of the oil cylinder at each joint through the theta i value; when the pose of the pile body is changed and exceeds the warning value of X, Y, Z three-axis angles set on the data display interface, an operator controls the joint oil cylinder to adjust the pose of the pile body, a displacement sensor arranged on the oil cylinder can monitor the actual propelling distance of the oil cylinder in real time, and when the actual propelling distance of the oil cylinder is equal to the theoretical propelling distance, the pose adjustment of the pile body is completed; according to the pile body of the above example, to maintain the posture of (95.8, -114.2, 24.2, 162.5, -9.85, -168.5), the hydraulic cylinder of the mechanical large arm needs to be pushed to 468.4cm in original position, and the hydraulic cylinder can be lengthened or contracted in the original position. Because λ 2 has a minimum value λ 2min and a maximum value λ 2max, the maximum extent of the mechanical boom raising is determined by λ 2max, and the minimum extent of the mechanical boom lowering is determined by λ 2 min. The whole pile sinking process is completed by jointly adjusting the mechanical large arm oil cylinder, the mechanical small arm oil cylinder, the deflection mechanism oil cylinder and the deflection mechanism at the tail end of the pile driver.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A side-clamping type hydraulic pile driver pose monitoring system and a pose inverse solution method thereof are characterized by comprising a pose sensing unit (4), a displacement sensing unit (7), a data acquisition module, a data processing module, a communication management mechanism module and a monitoring system module (8) which are arranged on a pile driver body; the position and posture sensing unit (4) is arranged at the central part of the pile driver tail end deflection mechanism and is used for measuring the position and posture information of the three-axis direction of the pile X, Y, Z clamped by the pile driver tail end deflection mechanism; the displacement sensing unit (7) is arranged on three groups of movable arm oil cylinders of the mechanical arm of the pile driver and is used for measuring the propelling stroke of a piston of a hydraulic oil cylinder of the mechanical arm of the pile driver; the data acquisition module is electrically connected with the pose sensing unit (4) and the displacement sensing unit (7) and is used for acquiring electric signals converted by the pose sensing unit (4) and the displacement sensing unit (7) and sending the converted electric signals to the data processing module; the data processing module is used for calculating the electric signals acquired by the data acquisition module by using a preset function to obtain the three-axis position and attitude information of the de-piling body X, Y, Z and the propelling stroke of the hydraulic cylinder piston; the communication management mechanism module is used for connecting the data processing module with the monitoring system module (8); and the monitoring system module (8) is used for displaying the pose information of the pile body and the dynamic model of the pile driver.
2. The side-clamping type hydraulic pile driver pose monitoring system according to claim 1, wherein the displacement sensing units (7) are arranged on three groups of hydraulic oil cylinders of a mechanical arm of the pile driver in three groups, and the first group is arranged on a large arm hydraulic oil cylinder of the mechanical arm of the pile driver; the second group is arranged on a hydraulic oil cylinder of a mechanical small arm of the pile driver; the third group is arranged on a hydraulic oil cylinder of the deflection mechanism at the tail end of the pile driver.
3. The side-clamping type hydraulic pile driver pose monitoring system according to claim 1, wherein the pose sensing unit (4) and the displacement sensing unit (7) are connected with the data acquisition module by an RS232 bus, and the communication management mechanism module and the monitoring system module (8) are connected by a UDP communication protocol.
4. The side-clamp hydraulic pile driver pose monitoring system according to claim 1, wherein the monitoring system module (8) comprises a monitoring data display interface and a virtual model display interface, and the monitoring data display interface is used for displaying monitoring data of the pose sensing unit (4) and the displacement sensing unit (7); and the virtual model display interface is used for displaying the real-time dynamics of the pile driver.
5. The side-clamp hydraulic pile driver pose monitoring system of claim 1, wherein the X, Y, Z three axes are a pile driver base coordinate system { oxyz } as a coordinate system, wherein: the basic coordinate system { oxyz } takes the vertical upward direction of the pile driver as the positive direction of the z axis of the basic coordinate system, the extending direction of the mechanical arm of the pile driver as the positive direction of the x axis of the basic coordinate system, and the y axis direction of the basic coordinate system is determined by right hand determination.
6. The pose inverse solution method of the side-clamp hydraulic pile driver pose monitoring system according to any one of claims 1 to 5, comprising the steps of:
(1) pile body pose data monitored by the pose sensing unit (4) and stroke data of the hydraulic oil cylinder monitored by the displacement sensing unit (7) are collected through a data acquisition module;
(2) analyzing the data in the step (1) through a data processing module, and establishing a T1 matrix for the analyzed pile body pose data; meanwhile, according to six sets of freedom parameters of the mechanical arm model of the pile driver, a transformation matrix T2 of a tail end actuating mechanism coordinate system relative to a pile driver base coordinate system is established; solving each joint deflection angle of the pile driver by using a mechanism kinematics inverse solution method for the obtained T1 and T2 matrixes, and solving the propelling stroke data of three groups of hydraulic cylinder pistons including a mechanical large arm, a mechanical small arm and a pile driver tail end deflection mechanism by using the joint deflection angles;
(3) performing format conversion on the propulsion data of the hydraulic oil cylinder obtained in the step (2) by using the communication management mechanism module, and transmitting the propulsion data to the monitoring system module (8) through a UDP (user Datagram protocol) protocol;
(4) displaying data of the position and pose sensing unit (4) through the monitoring data of the monitoring system module (8), displaying displacement data of the hydraulic cylinder piston obtained in the step (3) through the virtual model of the monitoring system module (8), and driving a mechanical arm of a pile driver model through the displacement data.
7. The pose inverse solution method of the side-clamp type hydraulic pile driver pose monitoring system according to claim 6, wherein in the step (2):
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| CN115354658A (en) * | 2022-08-31 | 2022-11-18 | 盐城工学院 | Pile body pose regulating and controlling system and regulating and controlling method for pile driver |
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Application publication date: 20220819 |