CN115127764A - Pile hammer dynamic sensing method, device, equipment and storage medium based on pile machine - Google Patents
Pile hammer dynamic sensing method, device, equipment and storage medium based on pile machine Download PDFInfo
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Abstract
The disclosure provides a pile hammer dynamic sensing method, device, equipment and storage medium based on a pile machine. The method comprises the following steps: acquiring original dynamic data acquired by an angular acceleration sensor in a pile driving process by using a pile hammer; determining structural data generated by the change of the angular acceleration of the pile hammer in the time period based on a preset time period and original dynamic data generated in the time period, and taking the structural data as a sampling value in the time period; storing the sampling value, and determining the dynamic change condition of the pile hammer in the continuous time period according to the sampling value in the continuous time period; and analyzing the data of the dynamic change condition, comparing the dynamic change condition of the pile hammer in a continuous time period with the vibration intensity change under the preset standard hammering, and determining the offset of the pile hammer based on the comparison result. The automatic sensing of the dynamic data of the pile hammer is realized, the cost of the dynamic data sensing of the pile hammer is reduced, and the accuracy of the dynamic data sensing is improved.
Description
Technical Field
The present disclosure relates to the field of engineering machinery, and in particular, to a method, an apparatus, a device, and a storage medium for dynamically sensing a pile hammer based on a pile driver.
Background
In pile foundation engineering, hammering pile sinking is a common construction mode for pile foundation construction. Use the pile hammer to carry out hammering formula pile driving in-process, need monitor the hammering number, the hammering angle etc. of pile hammer, prevent to take place the skew because of the hammering angle and the hammering plane etc. of pile hammer, influence pile sinking quality.
At present, when data in the pile hammer piling process are monitored, an effective digital scheme is not available for management of the pile piling process, manual measurement needs to be carried out manually in a construction stage, and piling actions of the pile hammer are standardized according to the manually measured data. In addition, the existing intelligent equipment is expensive, a pile machine needs to be transformed, the intelligent machine body is configured on the pile machine, and the scheme of additionally installing the intelligent machine body needs to be highly customized, so that the intelligent machine body does not have mass reproducibility. Therefore, the existing scheme for monitoring data in the pile hammer piling process has the problems that the data cannot be automatically sensed, the data accuracy is low, the data monitoring cost is high, and batch copying cannot be performed on the existing pile machine.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a method, an apparatus, a device, and a storage medium for dynamically sensing a pile hammer based on a pile driver, so as to solve the problems in the prior art that data cannot be automatically sensed, data accuracy is low, data monitoring cost is high, and batch replication cannot be performed on the existing pile driver.
In a first aspect of the embodiments of the present disclosure, a pile hammer dynamic sensing method based on a pile machine is provided, including: acquiring original dynamic data acquired by an angular acceleration sensor in the process of piling by using a pile hammer on a pile machine, wherein the angular acceleration sensor is arranged on the pile hammer; determining structured data generated by the change of the angular acceleration of the pile hammer in a time period based on a preset time period and original dynamic data generated in the time period, and taking the structured data as a sampling value in the time period; storing the sampling value, and determining the dynamic change condition of the pile hammer in the continuous time period according to the sampling value in the continuous time period, wherein the dynamic change condition is used for reflecting the condition that the oscillation intensity of the pile hammer on components in different directions changes along with time; and analyzing the data of the dynamic change condition, comparing the dynamic change condition of the pile hammer in a continuous time period with the vibration intensity change under the preset standard hammering, and determining the offset of the pile hammer based on the comparison result.
In a second aspect of the embodiments of the present disclosure, a pile hammer dynamic sensing device based on a pile machine is provided, which includes: the acquisition module is configured to acquire original dynamic data acquired by the angular acceleration sensor in the process of piling by using a pile hammer on the pile machine, wherein the angular acceleration sensor is arranged on the pile hammer; the determination module is configured to determine structured data generated by the angular acceleration change of the pile hammer in a preset time period and based on original dynamic data generated in the preset time period, and the structured data is used as a sampling value in the preset time period; the storage module is configured to perform data storage on the sampling values, and determine the dynamic change condition of the pile hammer in the continuous time period according to the sampling values in the continuous time period, wherein the dynamic change condition is used for reflecting the condition that the oscillation intensity of the pile hammer on components in different directions changes along with time; and the analysis module is configured to perform data analysis on the dynamic change condition, compare the dynamic change condition of the pile hammer in a continuous time period with the vibration intensity change under the preset standard hammering, and determine the offset of the pile hammer based on the comparison result.
In a third aspect of the disclosed embodiments, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method are implemented.
In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.
The embodiment of the present disclosure adopts at least one technical scheme that can achieve the following beneficial effects:
acquiring original dynamic data acquired by an angular acceleration sensor in the process of piling by using a pile hammer on a pile machine, wherein the angular acceleration sensor is arranged on the pile hammer; determining structured data generated by the change of the angular acceleration of the pile hammer in a time period based on a preset time period and original dynamic data generated in the time period, and taking the structured data as a sampling value in the time period; storing the sampling value, and determining the dynamic change condition of the pile hammer in the continuous time period according to the sampling value in the continuous time period, wherein the dynamic change condition is used for reflecting the condition that the oscillation intensity of the pile hammer on components in different directions changes along with time; and analyzing data of the dynamic change condition, comparing the dynamic change condition of the pile hammer in a continuous time period with the vibration intensity change under the preset standard hammering, and determining the offset of the pile hammer based on the comparison result. The pile hammer dynamic sensing system can automatically sense dynamic data generated by a pile hammer, reduce the cost of pile hammer dynamic sensing, improve the precision of the pile hammer dynamic sensing data, and can be copied and applied in batches on the existing pile machine.
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To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
FIG. 1 is a schematic diagram of a pile machine structure and a working principle involved in an actual scene according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram of a pile driver-based method for dynamically sensing a pile hammer according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an oscillation intensity curve in an ideal hammering state according to an embodiment of the disclosure;
fig. 4 is a schematic diagram of an oscillation intensity curve in a flat-offset hammering state according to an embodiment of the disclosure;
fig. 5 is a schematic diagram of an oscillation intensity curve in an angular biased hammering state according to an embodiment of the disclosure;
fig. 6 is a schematic structural diagram of a pile hammer dynamic sensing device based on a pile machine provided in an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
As in the background art, there is no effective digital scheme for managing the pile driving process of the pile hammer in the existing pile foundation engineering, and the quality specification is performed depending on manual measurement in the construction stage. In addition, existing intelligent devices are expensive, must be implemented to deploy the intelligent machines, and are not amenable to mass replication because of the highly customized post-assembly. Therefore, a low-cost, light-weight, and high-precision dynamic data sensing scheme is needed.
In view of the problems in the prior art, the present disclosure provides a pile hammer dynamic sensing method based on a pile machine, which collects dynamic data of a pile hammer in an acceleration state, such as data of a hammering angle, a hammering frequency, a hammering strength and the like of the pile hammer, through an angular acceleration sensor mounted on the pile hammer; further determining structural data formed by the pile hammer due to the change of the angular acceleration within a preset time period according to original dynamic data generated within the time period, and regarding the structural data as a sampling value representing the change of the angular acceleration; storing the sampling value within a period of time through a data cache unit, and determining the dynamic change condition of the pile hammer within a continuous time period based on the stored data; finally, the dynamic change condition of the pile hammer in the continuous time period is compared with the vibration intensity change under the preset standard hammering, the hammering quality, the hammering offset and the like are analyzed based on the comparison result, so that the hammering parameters of the pile hammer are adjusted based on the analysis result, and the influence on pile sinking quality due to the deviation of a hammering angle or a hammering plane and the like is avoided.
In the embodiment of the disclosure, the pile machine is a piling machine which utilizes impact force to penetrate a pile into a stratum and comprises a pile hammer, a pile frame, accessory equipment and the like. The pile driver is also called pile driver, and the basic technical parameters of the pile driver comprise the weight of the impact part, the impact kinetic energy and the impact frequency. The power source of the pile hammer according to the movement can be divided into a drop hammer, a steam hammer, a diesel hammer, a hydraulic hammer and the like. Generally, the pile hammer is attached between two parallel vertical guide rods (commonly called gantry) at the front of the pile frame and is hoisted by a hoisting hook. The pile frame is a steel structure tower frame, and a winch is arranged at the rear part of the pile frame and used for hoisting the pile and the pile hammer. The front of the pile frame is provided with a guide frame consisting of two guide rods for controlling the piling direction so that the pile can accurately penetrate into the stratum according to the designed direction.
Further, the driving force of the pile hammer can be classified into drop hammer, pneumatic hammer, diesel hammer, hydraulic hammer, etc. The types of drivers include, but are not limited to, the following types: screw pile driver, steam hammer pile driver, diesel hammer pile driver, vibrating hammer pile driver, static pile driver, etc. It should be noted that, the embodiment of the present disclosure does not limit the specific structure and type of the pile machine, and any pile machine with any structure and type is suitable for the technical solution of the present disclosure.
The overall structure and the working process of the pile machine related to the embodiment of the present disclosure in an actual scene are described below with reference to the accompanying drawings and specific embodiments, and fig. 1 is a schematic diagram of the structure and the working principle of the pile machine related to the embodiment of the present disclosure in an actual scene. As shown in fig. 1, the overall structure and working process of the pile machine may include the following:
the bottom of the pile machine 101 is mounted with a hammer 102, the hammer 102 is used to apply a downward force to the pile 103, the pile 103 is driven into the soil, in the case of a diesel hammer pile driver, a diesel engine is used to push the weight to a certain height, then the free fall impacts the top of the pile with gravity, and the pile naturally sinks into the soil, thus repeating the cycle until the design height, i.e., the static pressure of the pile top by mechanical force presses the static pressure pile into the soil.
Further, the pile hammer 102 of the embodiment of the present disclosure is provided with an angular acceleration sensor 104, and the angular acceleration sensor 104 is used for acquiring dynamic data generated by the pile hammer 102 in an acceleration state during the piling process. The angular acceleration sensor 104 is an instrument capable of measuring angular acceleration and converting the measurement result into a usable analog or digital signal, and the angular acceleration sensor 104 of the embodiment of the present disclosure is composed of a plurality of gyroscopes, and the angular acceleration sensor 104 may be mounted on a hammer.
Based on the pile driver structure provided in the application scenario, the following fully describes the technical scheme of the pile driver-based pile hammer dynamic sensing method provided by the embodiment of the present disclosure with reference to the accompanying drawings and specific embodiments.
Fig. 2 is a schematic flow chart of a pile driver-based pile hammer dynamic sensing method according to an embodiment of the present disclosure. The pile hammer dynamic sensing method of fig. 2 based on a pile machine may be performed by a program within an angular acceleration sensor. As shown in fig. 2, the pile hammer dynamic sensing method based on the pile driver may specifically include:
s201, acquiring original dynamic data acquired by an angular acceleration sensor in the process of piling by using a pile hammer on a pile machine, wherein the angular acceleration sensor is arranged on the pile hammer;
s202, determining structured data generated by the angular acceleration change of the pile hammer in a time period based on a preset time period and original dynamic data generated in the time period, and taking the structured data as a sampling value in the time period;
s203, storing the data of the sampling value, and determining the dynamic change condition of the pile hammer in the continuous time period according to the sampling value in the continuous time period, wherein the dynamic change condition is used for reflecting the condition that the oscillation intensity of the pile hammer on components in different directions changes along with the time;
and S204, carrying out data analysis on the dynamic change condition, comparing the dynamic change condition of the pile hammer in a continuous time period with the vibration intensity change under the preset standard hammering, and determining the offset of the pile hammer based on the comparison result.
In some embodiments, the acquiring of the raw dynamic data collected by the angular acceleration sensor during pile driving with a pile hammer on the pile machine includes: when a pile driver piles according to a preset hammering frequency, acquiring original dynamic data generated when a pile hammer is hammered by using an angular acceleration sensor arranged on the pile hammer; the angular acceleration sensor comprises a plurality of gyroscopes, and each gyroscope is used for acquiring dynamic data of the pile hammer in different directions.
Specifically, the angular acceleration sensor is composed of a gyroscope, when the pile hammer drives the pile, the pile hammer generates acceleration dynamic, the acceleration dynamic of the pile hammer forms a physical motion track, and the pile hammer drives the angular acceleration sensor to generate variables. In practical application, when the coordinates of the pile hammer in a physical space change, the tilt amplitudes of the pile hammer in different directions (directions corresponding to X, Y, Z axes respectively) can be obtained in real time by using a gyroscope in the angular acceleration sensor.
Further, when the angular acceleration sensor includes a plurality of gyroscopes, the dynamic data corresponding to the pile hammer generated by each gyroscope is superimposed, and the original dynamic data of the pile hammer collected by the angular acceleration sensor can be obtained. The specific installation position of the angular acceleration sensor is not limited too much in the embodiment of the disclosure, and the angular acceleration sensor can be fixedly installed at any position of the pile hammer.
In some embodiments, the method further comprises: when the pile hammer is in an acceleration state, the pile hammer generates a physical motion track, a gyroscope in the angular acceleration sensor generates a variable under the drive of the physical motion track of the pile hammer, and the variable is used as original dynamic data of the gyroscope; wherein, the original dynamic data comprises the hammering angle, the hammering frequency and the hammering strength of the pile hammer.
Specifically, the acceleration state of the pile hammer refers to a state of the pile hammer in a piling process, which is an acceleration dynamic state, the acceleration dynamic state of the pile hammer causes a motion track of the pile hammer in a physical space to change, and since the angular acceleration sensor is mounted on the pile hammer, when the physical motion track of the pile hammer changes, a gyroscope in the angular acceleration sensor can generate a variable accordingly, data sensed by the angular acceleration sensor is used as original dynamic data of the pile hammer, such as a hammering angle, a hammering frequency, a hammering strength and the like of the pile hammer, wherein the hammering strength can also be considered as a hammering amplitude.
In some embodiments, determining structured data generated by the change in the angular acceleration of the hammer over a time period based on a preset time period and the raw dynamic data generated over the time period comprises: acquiring a variable generated by an angular acceleration sensor in a time period, calculating angular acceleration change data of the pile hammer in the time period according to the numerical change of the variable in the time period, and taking the angular acceleration change data generated in the time period as structured data; the angular acceleration change data comprise angle change data and acceleration change data, and the time period comprises a time interval corresponding to the pile hammer in one hammering process.
Specifically, a variable generated by the angular acceleration sensor during a time period forms an angular acceleration change, and angular acceleration change data during the time period is calculated by an angular acceleration calculation unit disposed in the angular acceleration sensor in advance. The data generated after the angular acceleration within the time period changes form structured data, so that the structured data at least comprises angle and acceleration data within one time period, and the angular acceleration change data generated within the time period is used as a sampling value corresponding to the time period.
Further, the time period of the embodiment of the present disclosure may be understood as a time interval corresponding to one hammering process of the hammer, and may also be referred to as a time frame (simply referred to as a frame), so that the structured data generated in one time period may also be regarded as structured data corresponding to one frame, and in practical applications, the structured data may be buffered and counted in units of frames.
In some embodiments, storing the data of the sampled values, and determining the dynamic change of the pile hammer in the continuous time period according to the sampled values in the continuous time period comprises: and transmitting the sampling value in the time period to a data cache unit of the angular acceleration sensor through a line, storing the sampling value in a preset time period by using the data cache unit, and counting the sampling value in the continuous time period to determine the dynamic change condition of the pile hammer in the continuous time period.
Specifically, after the sampling value corresponding to each time period is obtained, the sampling value is transmitted from the angular acceleration calculation unit to the data cache unit through the connection circuit, the data cache unit stores the sampling value corresponding to the continuous time period within a certain time period, and the dynamic change condition within the time period can be drawn by using the sampling value data within the certain time period.
In some embodiments, comparing the dynamic variation of the hammer in a continuous time period with the variation of the oscillation intensity under the preset standard hammering, and determining the offset of the hammer based on the comparison result includes: according to the oscillation effect generated by the pile hammer in the hammering process, the oscillation strength of the pile hammer corresponding to the X axis, the Y axis and the Z axis in the continuous time period is obtained, the oscillation strength of the pile hammer in each direction is compared with the oscillation strength corresponding to the X axis, the Y axis and the Z axis in the standard hammering process, and the offset generated by the pile hammer in the continuous time period is determined based on the comparison result.
Specifically, counting sampling values in a continuous time period to obtain a dynamic change condition of the pile hammer in the continuous time period, transmitting data of the dynamic change condition to a communication unit, sending the data to an algorithm analysis unit by the communication unit in a wired communication or wireless communication mode, and analyzing the obtained data of the dynamic change condition by the algorithm analysis unit to judge the hammering quality, the hammering offset and the like of the pile hammer.
Further, when the hammer head of the pile hammer strikes the pipe pile, environmental vibration is generated, wherein the environmental vibration is generated from variables generated at different positions, and forms, positions, offsets and the like of the hammer head and the pile in the motion process. The angular acceleration sensor is placed on the hammer head or the hammering device, and can also be placed on the ground to measure the ground surface vibration. The pile hammer can generate a vibration effect in each movement process, and the angular acceleration sensor can acquire small changes in the movement process and perform statistics and transmission.
Further, the oscillation effect of the hammer may generate different oscillation intensities and inclination amplitudes in different directions, and the oscillation intensities and inclination amplitudes of the hammer in different directions (i.e. the direction corresponding to the X, Y, Z axis) may be obtained through dynamic change conditions of the hammer in continuous time periods, and a component of the hammer in each direction is the oscillation intensity corresponding to the direction.
In some embodiments, the method further comprises: drawing an oscillation intensity curve of the pile hammer in the continuous time period based on the oscillation intensities respectively corresponding to the pile hammer along the X axis, the Y axis and the Z axis in the continuous time period, and analyzing the hammering quality of the pile hammer in the continuous time period based on the oscillation intensity curve so as to adjust the hammering angle, the hammering frequency and/or the hammering intensity of the pile hammer based on the analysis result of the hammering quality; wherein, the horizontal axis of the oscillation intensity curve represents time, and the vertical axis of the oscillation intensity curve represents the oscillation intensity of the pile hammer in different directions.
Specifically, after the oscillation intensities respectively corresponding to the pile hammer along the X axis, the Y axis and the Z axis in the continuous time period are obtained, the oscillation intensity curve of the pile hammer in the continuous time period can be drawn according to the corresponding relationship between the time and the oscillation intensities in different directions. The following describes in detail oscillation intensity curves in several hammering states, which are drawn according to the embodiments of the present disclosure, with reference to the accompanying drawings; fig. 3 is a schematic diagram of an oscillation intensity curve in an ideal hammering state according to the present disclosure, fig. 4 is a schematic diagram of an oscillation intensity curve in a flat inclined hammering state according to the present disclosure, and fig. 5 is a schematic diagram of an oscillation intensity curve in an angular inclined hammering state according to the present disclosure; as shown in fig. 3 to 5, the process of analyzing the hammering quality of the pile hammer in continuous time periods based on the oscillation intensity curve may include the following steps:
as shown in fig. 3, when the pile hammer and the pile meet the ideal and accurate striking position during the movement process, the high-point surge is formed in the Z-axis, the oscillation effects of the X-axis and the Y-axis are relatively flat and balanced, and the overall variable difference in the periodic work is relatively small.
As shown in fig. 4, when the XY axes of the generated planes do not satisfy the ideal center point during the movement of the hammer and the pile, the oscillation effects of the two axes will show a difference, and the oscillation fed back is higher than the oscillation coefficient of the ideal XY axes.
As shown in fig. 5, when an angle deviation occurs between the hammer and the pile during movement, the deviation value varies from strong to weak due to the variation of the physical quantity, and can be expressed as follows:
A＝t+σ
where ω t represents the angular velocity multiplied by frequency and time, and σ represents the signal offset caused by the return of the signal.
According to the technical scheme provided by the embodiment of the disclosure, in the process of piling by using a pile hammer on a pile machine, the original dynamic data acquired by an angular acceleration sensor is acquired, wherein the angular acceleration sensor is arranged on the pile hammer; determining structured data generated by the change of the angular acceleration of the pile hammer in a time period based on a preset time period and original dynamic data generated in the time period, and taking the structured data as a sampling value in the time period; storing the sampling value, and determining the dynamic change condition of the pile hammer in the continuous time period according to the sampling value in the continuous time period, wherein the dynamic change condition is used for reflecting the condition that the oscillation intensity of the pile hammer on components in different directions changes along with time; and analyzing data of the dynamic change condition, comparing the dynamic change condition of the pile hammer in a continuous time period with the vibration intensity change under the preset standard hammering, and determining the offset of the pile hammer based on the comparison result. The pile hammer dynamic sensing system can automatically sense dynamic data generated by a pile hammer, reduce the cost of pile hammer dynamic sensing, improve the precision of the pile hammer dynamic sensing data, and can be copied and applied in batches on the existing pile machine.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 6 is a schematic structural diagram of a pile hammer dynamic sensing device based on a pile machine according to an embodiment of the present disclosure.
As shown in fig. 6, the pile driver-based pile hammer dynamic sensing apparatus includes:
an obtaining module 601, configured to obtain original dynamic data acquired by an angular acceleration sensor during a process of piling with a pile hammer on a pile machine, wherein the angular acceleration sensor is installed on the pile hammer;
a determining module 602, configured to determine structured data generated by angular acceleration change of the pile hammer in a time period based on a preset time period and original dynamic data generated in the time period, and take the structured data as a sampling value in the time period;
the storage module 603 is configured to perform data storage on the sampling values, and determine a dynamic change condition of the pile hammer in the continuous time period according to the sampling values in the continuous time period, where the dynamic change condition is used for reflecting a condition that oscillation intensities of the pile hammer on components in different directions change with time;
and the analysis module 604 is configured to perform data analysis on the dynamic change condition, compare the dynamic change condition of the pile hammer in the continuous time period with the oscillation intensity change under the preset standard hammering, and determine the offset of the pile hammer based on the comparison result.
In some embodiments, the obtaining module 601 in fig. 6 collects the original dynamic data generated by the pile hammer during hammering by using the angular acceleration sensor mounted on the pile hammer when the pile driver drives the pile according to the preset hammering frequency; the angular acceleration sensor comprises a plurality of gyroscopes, and each gyroscope is used for acquiring dynamic data of the pile hammer in different directions.
In some embodiments, when the pile hammer is in an acceleration state, the acquisition module 601 in fig. 6 generates a physical motion trajectory, and a gyroscope in the angular acceleration sensor generates a variable driven by the physical motion trajectory of the pile hammer, and the variable is used as original dynamic data of the gyroscope; wherein, the original dynamic data comprises the hammering angle, the hammering frequency and the hammering strength of the pile hammer.
In some embodiments, the determining module 602 in fig. 6 obtains a variable generated by the angular acceleration sensor in a time period, calculates angular acceleration change data of the pile hammer in the time period according to a numerical change of the variable in the time period, and uses the angular acceleration change data generated in the time period as the structured data; the angular acceleration change data comprise angle change data and acceleration change data, and the time period comprises a time interval corresponding to the pile hammer in one hammering process.
In some embodiments, the storage module 603 in fig. 6 transfers the sampling values in the time period to a data caching unit of the angular acceleration sensor through a line, stores the sampling values in a preset time period by using the data caching unit, and counts the sampling values in consecutive time periods to determine the dynamic change condition of the pile hammer in the consecutive time periods.
In some embodiments, the analyzing module 604 in fig. 6 obtains the oscillation intensities of the hammer along the X-axis, the Y-axis, and the Z-axis respectively in the continuous time periods according to the oscillation effects of the hammer during the hammering, compares the oscillation intensities of the hammer in each direction with the oscillation intensities of the hammer along the X-axis, the Y-axis, and the Z-axis respectively in the standard hammering, and determines the offset generated by the hammer during the continuous time periods based on the comparison result.
In some embodiments, the analyzing module 604 of fig. 6 plots a vibration intensity curve of the hammer in the continuous time period based on the respective vibration intensities of the hammer in the continuous time period along the X-axis, the Y-axis and the Z-axis, and analyzes the hammering mass of the hammer in the continuous time period based on the vibration intensity curve, so as to adjust the hammering angle, the hammering frequency and/or the hammering intensity of the hammer based on the analysis result of the hammering mass; wherein, the horizontal axis of the oscillation intensity curve represents time, and the vertical axis of the oscillation intensity curve represents the oscillation intensity of the pile hammer in different directions.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
Fig. 7 is a schematic structural diagram of an electronic device 7 according to an embodiment of the present disclosure. As shown in fig. 7, the electronic apparatus 7 of this embodiment includes: a processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable on the processor 701. The steps in the various method embodiments described above are implemented when the computer program 703 is executed by the processor 701. Alternatively, the processor 701 implements the functions of each module/unit in each device embodiment described above when executing the computer program 703.
Illustratively, the computer program 703 may be partitioned into one or more modules/units, which are stored in the memory 702 and executed by the processor 701 to complete the present disclosure. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 703 in the electronic device 7.
The electronic device 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 7 may include, but is not limited to, a processor 701 and a memory 702. Those skilled in the art will appreciate that fig. 7 is merely an example of the electronic device 7, does not constitute a limitation of the electronic device 7, and may include more or less components than those shown, or combine certain components, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 701 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 702 may be an internal storage unit of the electronic device 7, for example, a hard disk or a memory of the electronic device 7. The memory 702 may also be an external storage device of the electronic device 7, for example, a plug-in hard disk provided on the electronic device 7, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. Further, the memory 702 may also include both an internal storage unit of the electronic device 7 and an external storage device. The memory 702 is used to store computer programs and other programs and data required by the electronic device. The memory 702 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/computer device and method may be implemented in other ways. For example, the above-described apparatus/computer device embodiments are merely illustrative, and for example, a division of modules or units, a division of logical functions only, an additional division may be made in actual implementation, multiple units or components may be combined or integrated with another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier signal, telecommunications signal, software distribution medium, etc. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.
Claims (10)
1. A pile hammer dynamic sensing method based on a pile machine is characterized by comprising the following steps:
acquiring original dynamic data acquired by an angular acceleration sensor in the process of piling by using a pile hammer on the pile machine, wherein the angular acceleration sensor is arranged on the pile hammer;
determining structured data generated by the angular acceleration change of the pile hammer in a preset time period and original dynamic data generated in the time period, and taking the structured data as a sampling value in the time period;
performing data storage on the sampling value, and determining the dynamic change condition of the pile hammer in a continuous time period according to the sampling value in the continuous time period, wherein the dynamic change condition is used for reflecting the condition that the oscillation intensity of the pile hammer on components in different directions changes along with time;
and analyzing the data of the dynamic change condition, comparing the dynamic change condition of the pile hammer in the continuous time period with the vibration intensity change under the preset standard hammering, and determining the offset of the pile hammer based on the comparison result.
2. The method according to claim 1, wherein the obtaining of the raw dynamic data collected by the angular acceleration sensor during the driving of the pile with the pile hammer on the pile driver comprises:
when the pile driver drives the pile according to a preset hammering frequency, acquiring original dynamic data generated by the pile hammer during hammering by using the angular acceleration sensor arranged on the pile hammer; the angular acceleration sensor comprises a plurality of gyroscopes, and each gyroscope is used for acquiring dynamic data of the pile hammer in different directions.
3. The method of claim 2, further comprising:
when the pile hammer is in an acceleration state, the pile hammer generates a physical motion track, a gyroscope in the angular acceleration sensor generates a variable under the drive of the physical motion track of the pile hammer, and the variable is used as original dynamic data of the gyroscope; wherein the raw dynamic data comprises a hammer angle, a hammer frequency, and a hammer intensity of the hammer.
4. The method of claim 1, wherein determining the structured data generated by the change in angular acceleration of the hammer over the time period based on a preset time period and the raw dynamic data generated over the time period comprises:
acquiring a variable generated by the angular acceleration sensor in the time period, calculating angular acceleration change data of the pile hammer in the time period according to the numerical change of the variable in the time period, and taking the angular acceleration change data generated in the time period as the structured data; the angular acceleration change data comprises angle change data and acceleration change data, and the time period comprises a time interval corresponding to the pile hammer in one hammering process.
5. The method of claim 1, wherein storing the sampled values and determining the dynamic change of the hammer over successive time periods based on the sampled values over the successive time periods comprises:
and transmitting the sampling value in the time period to a data cache unit of the angular acceleration sensor through a line, storing the sampling value in a preset time period by using the data cache unit, and counting the sampling value in the continuous time period to determine the dynamic change condition of the pile hammer in the continuous time period.
6. The method of claim 1, wherein comparing the dynamic variation of the hammer over the continuous time period with the variation of the oscillation intensity under a preset standard hammer blow, and determining the offset of the hammer based on the comparison comprises:
according to the oscillation effect generated by the pile hammer during hammering, the oscillation strength of the pile hammer along the X axis, the Y axis and the Z axis respectively corresponding to the pile hammer in the continuous time period is obtained, the oscillation strength of the pile hammer in each direction is compared with the oscillation strength of the pile hammer corresponding to the X axis, the Y axis and the Z axis under standard hammering respectively, and the offset generated by the pile hammer in the continuous time period is determined based on the comparison result.
7. The method of claim 6, further comprising:
drawing an oscillation intensity curve of the pile hammer in the continuous time period based on the oscillation intensities respectively corresponding to the pile hammer along an X axis, a Y axis and a Z axis in the continuous time period, and analyzing the hammering quality of the pile hammer in the continuous time period based on the oscillation intensity curve so as to adjust the hammering angle, the hammering frequency and/or the hammering intensity of the pile hammer based on the analysis result of the hammering quality; the horizontal axis of the oscillation intensity curve represents time, and the vertical axis of the oscillation intensity curve represents oscillation intensities of the pile hammer in different directions.
8. A pile hammer dynamic sensing device based on a pile machine is characterized by comprising:
the acquisition module is configured to acquire original dynamic data acquired by an angular acceleration sensor in the process of piling by using a pile hammer on the pile machine, wherein the angular acceleration sensor is arranged on the pile hammer;
the determining module is configured to determine structured data generated by the change of the angular acceleration of the pile hammer in a preset time period and original dynamic data generated in the time period, and the structured data is used as sampling values in the time period;
the storage module is configured to perform data storage on the sampling values, and determine the dynamic change condition of the pile hammer in a continuous time period according to the sampling values in the continuous time period, wherein the dynamic change condition is used for reflecting the condition that the oscillation intensity of the pile hammer on components in different directions changes along with time;
and the analysis module is configured to perform data analysis on the dynamic change condition, compare the dynamic change condition of the pile hammer in the continuous time period with the vibration intensity change of the pile hammer under the preset standard hammering condition, and determine the offset of the pile hammer based on the comparison result.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 7 when executing the program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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| CN202210761062.9A CN115127764A (en) | 2022-06-29 | 2022-06-29 | Pile hammer dynamic sensing method, device, equipment and storage medium based on pile machine |
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| CN202210761062.9A CN115127764A (en) | 2022-06-29 | 2022-06-29 | Pile hammer dynamic sensing method, device, equipment and storage medium based on pile machine |
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