CN116623659B

CN116623659B - Piling monitoring method and device for piling ship, electronic equipment and medium

Info

Publication number: CN116623659B
Application number: CN202310889772.4A
Authority: CN
Inventors: 李立; 刘均良; 刘明; 高小东; 沈家海; 张京; 苏义如; 张宁; 刘国娜; 李健; 刘俊全; 夏冰
Original assignee: CCCC First Harbor Engineering Co Ltd; No 1 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
Current assignee: CCCC First Harbor Engineering Co Ltd; No 1 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
Priority date: 2023-07-20
Filing date: 2023-07-20
Publication date: 2023-10-31
Anticipated expiration: 2043-07-20
Also published as: CN116623659A

Abstract

The application relates to a piling monitoring method, a device, electronic equipment and a medium of a piling ship, and relates to the field of data processing. The application has the effect of improving the piling precision of the piling ship.

Description

Piling monitoring method and device for piling ship, electronic equipment and medium

Technical Field

The application relates to the field of data processing, in particular to a method, a device, electronic equipment and a medium for monitoring piling of a piling ship.

Background

With the development of offshore wind farms and cross-sea bridge water operations, there is an increasing demand for offshore piling operations. The piling operation flow is as follows: firstly, determining a preset position where piling is required, controlling a pile frame to place an engineering pile at the preset position, and finally, using a piling hammer to drive the engineering pile on the land in the sea.

For open sea far from coastline, because of the influence of environmental factors such as large sea wind and sea wave, the pile driving ship is easy to cause deviation between the position of the engineering pile after the final driving and the preset position when driving the open sea, so that how to improve the driving precision of the pile driving ship in open sea is a problem.

Disclosure of Invention

In order to improve the piling accuracy of a piling ship in open sea, the application provides a piling monitoring method, a piling monitoring device, electronic equipment and a medium of the piling ship.

In a first aspect, the application provides a method for monitoring piling of a piling ship, which adopts the following technical scheme:

a method of pile monitoring for a pile driving vessel, comprising:

when the preparation work before the pile frame is finished is detected, current environment information and target position information corresponding to the engineering pile of which the pile frame is required to be driven are obtained, wherein the target position information is the position information corresponding to the engineering pile when the engineering pile is normally installed;

substituting the target position information and the current environment information into a prediction model to obtain first standard attitude information of the pile frame for piling the engineering pile;

acquiring current first posture information and first standard posture information, wherein the first posture information comprises stress information, angle information and position information of a pile frame, the first standard posture information is posture information of the pile frame in a normal state, and the first standard posture information comprises standard stress information, standard angle information and standard position information;

If any one of the first gesture information is different from the first standard gesture information corresponding to the first gesture information, generating first early warning information;

and outputting the first early warning information so that a worker can know that the pile frame is in an abnormal state currently.

By adopting the technical scheme, the first standard attitude information is the attitude information of the pile frame corresponding to the pile under construction and in the pile sinking process when the engineering pile is at the correct position, and specifically comprises standard stress information, standard angle information and standard position information, namely, a plurality of pieces of information of the pile frame are included in the first attitude information, as to whether the engineering pile is at the correct position, the main influencing factor is the pile frame for the pile under construction or pile sinking, and when the engineering pile is at a region with larger wind waves (open sea), the pile frame is higher in height and is greatly influenced by wind force, and the pile frame is connected with a pile driving ship, the main factor influencing the pile driving precision is the pile frame, and the attitude information of the pile frame characterizes the state of the pile frame, so that the current first attitude information and the first standard attitude information can be acquired, and when any one piece of the first attitude information is at the correct position, the first attitude information of the pile frame is not at the correct position, if the pile under construction or pile sinking is carried out on the engineering pile under construction pile according to the current position, the pile driving ship can be conveniently and accurately output the pile under construction, the current position can be conveniently and accurately reached, and the pile driving can be accurately carried out by the pile driving ship in the position under the current position, and the current position can be conveniently and accurately reached.

In another possible implementation, the method further includes:

acquiring a current height value of the engineering pile corresponding to the pile frame at present, wherein the current height value is a height value of the engineering pile from the current submarine land;

if the current height value of the engineering pile is not greater than a first height value, acquiring current second posture information and second standard posture information, wherein the first height value is a height value of the engineering pile from the sea floor land when the engineering pile invades the sea surface, the second posture information comprises weight information, current penetration degree, perpendicularity and hammering number corresponding to the engineering pile, the second standard posture information is posture information of the engineering pile in a normal state, and the second standard posture information comprises standard weight information, current standard penetration degree, standard perpendicularity and standard hammering number;

if any one of the second gesture information is different from the second standard gesture information corresponding to the second gesture information, generating second early warning information;

and outputting the second early warning information so that the staff can know that the engineering pile is in an abnormal state currently.

In another possible implementation, the method further includes:

And if the first posture information which is different from the first standard posture information does not exist, outputting the first posture information.

In another possible implementation, the method further includes:

if the current height value does not reach the second height value and the engineering pile is in an abnormal state, judging whether the abnormal cause in the abnormal state comprises that the current penetration is different from the current standard penetration, wherein the second height value is the height value when the engineering pile is contacted with the submarine land;

if the current penetration is smaller than the current standard penetration, acquiring current hammering force of the current pile hammer;

determining a target hammering force of the piling hammer based on the current penetration, the current standard penetration and the current hammering force;

and controlling the pile driving hammer to hammer the engineering pile by using the target hammering force.

In another possible implementation manner, determining whether the abnormality cause in the abnormal state includes that the current penetration degree is different from the current standard penetration degree includes:

acquiring the hammering times and the current penetration degree corresponding to the current engineering pile;

determining the current standard penetration corresponding to the engineering pile based on the hammering times;

Judging whether the current penetration is the same as the current standard penetration;

if the current penetration degree is different from the current standard penetration degree, determining that the abnormal cause in the abnormal state comprises that the current penetration degree is different from the current standard penetration degree;

and if the current penetration degree is the same as the current standard penetration degree, determining that the abnormal reason in the abnormal state does not comprise the current penetration degree and the current standard penetration degree.

In another possible implementation, the determining the target hammering force of the piling hammer based on the current penetration, the current standard penetration, and the current hammering force includes:

obtaining the last penetration degree and the last standard penetration degree of the engineering pile, wherein the last penetration degree is the penetration degree when the pile hammer hammers the engineering pile last time, and the last standard penetration degree is the corresponding standard penetration degree when the pile hammer hammers the engineering pile last time;

obtaining a current penetration difference value based on the previous penetration and the current penetration, and obtaining a current standard penetration difference value based on the previous standard penetration and the current standard penetration;

obtaining a current unit penetration force based on the current standard penetration difference value and the current hammering force;

And determining the target hammering force based on the current unit penetration force and the current penetration difference.

In a second aspect, the application provides a device for monitoring piling of a piling ship, which adopts the following technical scheme:

a device for pile monitoring of a pile driving vessel, comprising:

the first acquisition module is used for acquiring current environment information and target position information corresponding to the engineering pile of which the pile frame is required to be driven when the pile frame is detected to finish the preparation work before the pile is driven, wherein the target position information is the position information corresponding to the engineering pile when the engineering pile is normally installed;

the substituting module is used for substituting the target position information and the current environment information into a prediction model to obtain first standard attitude information of the pile frame for piling the engineering pile;

the second acquisition module is used for acquiring current first posture information and first standard posture information, wherein the first posture information comprises stress information, angle information and position information of the pile frame, the first standard posture information is posture information of the pile frame in a normal state, and the first standard posture information comprises standard stress information, standard angle information and standard position information;

The first generation module is used for generating first early warning information when any one of the first gesture information is different from the first standard gesture information corresponding to the first gesture information;

the first output module is used for outputting the first early warning information so that a worker can know that the pile frame is in an abnormal state currently.

By adopting the technical scheme, the first acquisition module is used for acquiring the current environment information and the target position information corresponding to the engineering pile of which the pile frame is required to be driven when the pile frame is detected to finish the preparation work before driving the pile, the target position information is the position information corresponding to the engineering pile when the engineering pile is normally installed, the substitution module is used for substituting the target position information and the current environment information into the prediction model to obtain the first standard attitude information of the pile frame for driving the engineering pile, the first standard attitude information is the attitude information of the pile frame corresponding to the pile driving and pile sinking in the process when the engineering pile is at the correct position, the first standard attitude information specifically comprises the standard stress information, the standard angle information and the standard position information, namely the first attitude information comprises a plurality of pieces of information of the pile frame, and as to whether the engineering pile is at the correct position, the main influencing factors are pile frames for lowering or sinking engineering piles, when the pile frames are in a region with larger wind waves (open sea), the pile frames are greatly influenced by wind power due to higher heights, the pile frames are connected with a pile driving ship, the pile driving ship is greatly influenced by sea waves, namely, the main factors influencing the pile driving precision are the pile frames, and the posture information of the pile frames characterizes the state of the pile frames, so that the current first posture information and the first standard posture information can be acquired through a first acquisition module, when any one of the first posture information is corresponding to the first standard posture information, the first posture information of the pile frames is not in a correct position, if the pile frames are continuously lowered according to the current position, the engineering piles cannot be in the correct position, and therefore, the first early warning information can be generated through a first generation module, the follow-up first output module of being convenient for outputs first early warning information to make the staff can in time know current pile frame and be in abnormal state, thereby be convenient for the staff can in time adjust the pile frame, make the pile frame be in under the normal condition, and then make the pile frame can accurately place engineering pile in the exact position, and then reach the effect that improves pile ship pile precision when piling in places such as open sea that the stormy waves are great.

In another possible implementation, the apparatus further includes:

the third acquisition module is used for acquiring a current height value of the engineering pile corresponding to the pile frame at present, wherein the current height value is a height value of the engineering pile from the submarine land at present;

a fourth obtaining module, configured to obtain, when the current height value of the engineering pile is not greater than a first height value, current second posture information and second standard posture information, where the first height value is a height value of the engineering pile from the sea floor land when the engineering pile invades the sea surface, the second posture information includes weight information, current penetration degree, perpendicularity, and hammering number corresponding to the engineering pile, the second standard posture information is posture information of the engineering pile in a normal state, and the second standard posture information includes standard weight information, current standard penetration degree, standard perpendicularity, and standard hammering number;

the second generation module is used for generating second early warning information when any one piece of second gesture information is different from the second standard gesture information corresponding to the second gesture information;

and the second output module is used for outputting the second early warning information so that the staff can know that the engineering pile is in an abnormal state currently.

In another possible implementation, the apparatus further includes:

and the third output module is used for outputting the first posture information when the first posture information which is different from the first standard posture information does not exist.

In another possible implementation, the apparatus further includes:

the judging module is used for judging whether the abnormal reason in the abnormal state comprises that the current penetration is different from the current standard penetration or not when the current height value does not reach a second height value and the engineering pile is in the abnormal state, wherein the second height value is the height value when the engineering pile is in contact with the submarine land;

a fifth obtaining module, configured to obtain a current hammering force of the current pile hammer when the current penetration is included and is smaller than the current standard penetration;

a determining module, configured to determine a target hammering force of the pile hammer based on the current penetration, the current standard penetration, and the current hammering force;

and the control module is used for controlling the pile driving hammer to hammer the engineering pile by using the target hammering force.

In another possible implementation manner, the interpretation module is specifically configured to, when determining whether the cause of the abnormality in the abnormal state includes that the current penetration is different from the current standard penetration:

In another possible implementation manner, the determining module is specifically configured to, when determining the target hammering force of the pile hammer based on the current penetration, the current standard penetration and the current hammering force:

In a third aspect, the present application provides an electronic device, which adopts the following technical scheme:

an electronic device, the electronic device comprising:

at least one processor;

a memory;

at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: a method of pile monitoring of a pile driving vessel according to any one of the possible implementations of the first aspect is performed.

In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:

a computer readable storage medium which when executed in a computer causes the computer to perform a method of pile monitoring of a pile driving vessel according to any one of the first aspects.

In summary, the application has the following beneficial technical effects:

the first standard attitude information is the attitude information of the pile frame corresponding to the pile in the pile lowering and pile sinking process when the engineering pile is at the correct position, and specifically comprises standard stress information, standard angle information and standard position information, namely, a plurality of pieces of information of the pile frame are included in the first attitude information, as the engineering pile is at the correct position, the main influencing factors are the pile frame for lowering or sinking the pile to the engineering pile, and when the engineering pile is in a region with larger stormy waves (open sea), the pile frame is higher in height and is greatly influenced by wind force, and the pile frame is connected with a pile driving ship, the pile driving ship is greatly influenced by sea waves, namely, the main factors influencing the pile driving precision are the pile frame, and the attitude information of the pile frame represents the state of the pile frame, so that the current first attitude information and the first standard attitude information can be acquired, and when any piece of the first attitude information is corresponding to the first standard attitude information, the first attitude information of the pile frame is not at the correct position, if the pile is not in the correct position, the pile driving pile is continuously lowered or sunk according to the current position, the pile driving pile can not be in the position, the pile driving ship can be conveniently and the pile driving ship can be accurately placed at the correct position, the position can be conveniently and the correct position of the pile driving ship can be accurately obtained, and the pile driving ship can be conveniently can be accurately placed at the correct position of the pile frame.

Drawings

Fig. 1 is a flow chart of a method of pile monitoring of a pile driving vessel in an embodiment of the application.

Fig. 2 is a flow chart of a method for monitoring engineering pile anomalies in accordance with an embodiment of the present application.

Fig. 3 is a flowchart of a method for updating hammer strength of a piling hammer according to an embodiment of the present application.

Fig. 4 is a schematic structural view of a pile monitoring device of a pile driving ship in an embodiment of the present application.

Fig. 5 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the accompanying drawings.

Modifications of the embodiments which do not creatively contribute to the application may be made by those skilled in the art after reading the present specification, but are protected by patent laws within the scope of the claims of the present application.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.

Embodiments of the application are described in further detail below with reference to the drawings.

The embodiment of the application provides a piling monitoring method of a piling ship, which is executed by electronic equipment, wherein the electronic equipment can be a server or terminal equipment, and the server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server for providing cloud computing service. The terminal device may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., and the terminal device and the server may be directly or indirectly connected through wired or wireless communication, which is not limited herein, and as shown in fig. 1, the method includes: step S101, step S102, step S103, step S104, and step S105, wherein,

Step S101, when the preparation work before the pile frame is completely driven is detected, current environment information and target position information corresponding to the engineering pile of which the pile frame is required to be driven are obtained.

And S102, substituting the target position information and the current environment information into a prediction model to obtain first standard attitude information of the pile frame for piling the engineering pile.

The target position information is corresponding position information when the engineering pile is normally installed.

For the embodiment of the application, when the pile frame performs pile-driving operation on the engineering pile, the engineering pile is lifted from the ship body bearing the engineering pile, and the engineering pile is arranged at the position of the pile frame where the engineering pile is held, namely, the pile frame is ready to work before pile-driving is performed on the engineering pile, and the prediction model is a model which is set in advance and is trained by staff and used for simulating pile-driving, pile sinking and pile driving processes.

When the pile frame is detected to finish the preparation work, the current pile frame is described to perform the pile-down operation on the engineering pile, so that whether the posture information of the pile frame is normal in the subsequent pile-down process is detected conveniently, the current time, the current environment information and the target position information of the engineering pile, which is required to be installed on the pile frame, of the pile frame can be acquired, the current time, the current environment information and the target position information are input into a prediction model, the prediction model can predict the whole installation process of the engineering pile, which is required to be installed on the target position information, of the current pile-down, so that the first standard posture information of the pile frame for piling the engineering pile is obtained, and the standard posture information of the pile frame is further obtained.

Step S103, current first posture information and first standard posture information are acquired.

The first standard attitude information comprises standard stress information, standard angle information and standard position information.

For the embodiment of the application, the first posture information is attribute information of the pile frame, specifically includes stress information of the pile frame, angle information of the pile frame and position information of the pile frame, and may also include attribute information of the pile frame such as deformation condition of the pile frame, which is not limited herein. The first standard attitude information is attitude information corresponding to a pile frame in the pile-driving and pile-sinking processes when the engineering pile is at the correct position, and specifically comprises standard stress information, standard angle information and standard position information, and can also comprise standard attribute information such as standard deformation conditions. The method comprises the steps of obtaining current first posture information and first standard posture information, and judging whether a pile frame is in a normal state under the current condition or not based on the first posture information and the first standard posture information, namely whether a pile frame pile-down or a pile-sinking engineering pile can be in a correct position under the current condition.

In the embodiment of the application, stress information, angle information, deformation condition and angle information of the pile frame can be obtained through the stress sensor, the angle sensor and the GNSS receiver real-time positioning device.

Step S104, if any one of the first gesture information is different from the first standard gesture information corresponding to the first gesture information, generating first early warning information.

For the embodiment of the application, the first posture information comprises a plurality of pieces of information of the pile frame, when any one of the first posture information is corresponding to the first standard posture information of the first posture information, the first posture information of the pile frame is not in a correct position, if the pile is continuously driven or driven according to the current position, the engineering pile cannot be in the correct position, so that first early warning information can be generated, and the follow-up early warning information can be conveniently based on the first early warning information, so that a worker can timely know the condition that the engineering pile cannot be in the correct position due to the current state of the pile frame.

In the embodiment of the application, the first early warning information may be generated based on first posture information different from the first standard posture information, for example, the current angle information of the pile frame is different from the standard angle information, that is, the first early warning information may be generated based on the angle information, that is, the first early warning information may be "warning: abnormal angle of the current pile frame, etc.

Step S105, outputting first early warning information so that the staff can know that the current pile frame is in an abnormal state.

For the embodiment of the application, the first early warning information is output so that a worker can know that the current pile frame is in an abnormal state in time, so that the worker can adjust the pile frame in time, the pile frame is in a normal state, further, the pile frame can accurately place the engineering pile at a correct position, as the engineering pile is in the correct position, the main influencing factor is the pile frame for lowering or sinking the engineering pile, and when in a region with large wind waves, such as open sea, the pile frame is greatly influenced by wind force due to high height, and the pile frame is connected with a piling ship, namely, the main factor influencing the piling precision is the pile frame, and the attitude information of the pile frame characterizes the state of the pile frame, so that the pile frame can be judged whether the engineering pile can be at the correct position at present or not based on the attitude information of the pile frame, and the early warning effect of improving the piling precision when the piling ship piles in places with large wind waves such as open sea is achieved by outputting the first information.

In the embodiment of the application, the first early warning information can be output to the terminal equipment of the currently-on-duty staff, can be output to the total control display screen of the piling ship, and can be output in a voice broadcasting mode, so that the staff can know the condition that the engineering pile possibly cannot accurately determine the correct position in the current state in time.

Further, in the embodiment of the application, when the pile frame is not found to be in the correct piling position, the pile frame can be adjusted by an error correction device arranged at the pile-holding position of the bow.

A possible implementation manner of the embodiment of the present application, as shown in fig. 2, further includes step S106, step S107, step S108, and step S109, where step S106 may be performed after step S103, may be performed before step S103, may be performed simultaneously with step S103, where,

and S106, acquiring the current height value of the engineering pile corresponding to the pile frame at present.

The current height value is the height value of the engineering pile from the submarine land.

For the embodiment of the application, the current height value is the current height value of the engineering pile from the submarine land, and because the main factor influencing the shaking of the engineering pile is the factor of the pile frame when the engineering pile is not in the sea water, the engineering pile can be influenced by the sea water flow after being immersed in the sea surface, the current height value of the engineering pile corresponding to the pile frame at present is acquired, and whether the current engineering pile is influenced by the sea water or not is conveniently judged.

In the embodiment of the application, when the current height value of the engineering pile is obtained, the current height value can be obtained through an infrared range finder or sonar equipment arranged on a grabbing clamp for clamping the engineering pile.

And step S107, if the current height value of the engineering pile is not greater than the first height value, acquiring current second posture information and second standard posture information.

The first height value is a height value of the engineering pile from the submarine land when the engineering pile invades the sea surface, the second posture information comprises weight information of the engineering pile, current penetration degree, perpendicularity and hammering number corresponding to the engineering pile, the second standard posture information is posture information of the engineering pile in a normal state, and the second standard posture information comprises standard weight information, current standard penetration degree, standard perpendicularity and standard hammering number.

For the embodiment of the application, the first height value is a preset height value, and is a standard height value of the current engineering pile which invades the sea surface, and when the current height value of the engineering pile is not larger than the first height value, the current immersed sea surface of the engineering pile is indicated, namely, the factors affecting the current pile driving precision comprise the influence of sea water flow on the engineering pile, namely, the attitude information of the engineering pile, so that the current second attitude information and the second standard attitude information can be acquired, and whether the engineering pile can be driven into a pile driving position accurately in the current situation can be conveniently judged based on the second attitude information and the second standard attitude information.

In the embodiment of the application, the second posture information comprises weight information, current penetration degree and verticality of the engineering pile and hammering number corresponding to the engineering pile. The second attitude information can obtain the weight information of the engineering pile through a weight sensor arranged on a piling hammer lifting winch, the hammering quantity corresponding to the engineering pile is obtained through a hammering quantity detector, the current penetration degree of the current engineering pile is obtained through a penetration degree monitor, and the perpendicularity of the engineering pile is determined through obtaining the perpendicularity condition of a steel wire corresponding to a piling hammer grabbing clamp.

Further, in the embodiment of the present application, the second standard attitude information may be obtained based on the entire piling process of the engineering pile that is simulated in advance.

Step S108, if any one of the second gesture information is different from the second standard gesture information corresponding to the second gesture information, generating second early warning information.

Step S109, outputting second early warning information.

For the embodiment of the application, when any one of the second gesture information is different from the second standard gesture information corresponding to the second gesture information, the condition that the engineering pile is abnormal is described, the second early warning information is generated, and the second early warning information is output, so that a worker can know the condition that the current engineering pile is in an abnormal state in time.

In the embodiment of the present application, the manner of outputting the second early warning information may be the same as the manner of outputting the first early warning information in step S105, which is not described herein.

In one possible implementation manner of the embodiment of the present application, step S103 further includes:

For the embodiment of the application, when the first posture information different from the first standard posture information does not exist, the current pile frame is in a normal state, and the posture information of the current pile frame can be output, so that a follow-up worker can conveniently check the condition of the pile frame in the piling process.

Furthermore, in the embodiment of the application, the second posture information of the engineering pile can be output, so that the effect of monitoring the whole piling process is achieved.

One possible implementation manner of the embodiment of the present application, as shown in fig. 3, further includes a step S110, a step S111, a step S112, and a step S113, where the step S110 may be performed after the step S108, where,

step S110, if the current height value does not reach the second height value and the engineering pile is in an abnormal state, judging whether the abnormal cause in the abnormal state includes that the current penetration is different from the current standard penetration.

The second height value is the height value when the engineering pile is contacted with the submarine land.

In the embodiment of the application, when the current height value does not reach the second height value, the current process of piling the engineering pile is indicated, and the standard penetration is the penetration of the engineering pile under normal conditions, and the standard penetration is determined by analyzing the soil texture of the submarine land and the material of the combined engineering pile in advance. When the engineering pile is in the piling process and in an abnormal state, judging whether the abnormal cause is that the current penetration degree is different from the standard penetration degree, so as to be convenient for determining whether the engineering pile can be piled by using the hammering force.

Step S111, if the current penetration is smaller than the current standard penetration, the current hammering force of the current pile hammer is obtained.

Step S112, determining a target hammering force of the pile hammer based on the current penetration, the current standard penetration and the current hammering force.

For the embodiment of the application, when the detected abnormal reasons comprise that the current penetration degree is different from the standard penetration degree, the soil quality of the current submarine land is different from the soil quality when the standard penetration degree is determined before, and further, when the current penetration degree is smaller than the current standard penetration degree, the current actual soil quality is harder than the soil quality when the standard penetration degree is calculated, if the engineering pile is driven according to the current hammering force continuously, the engineering pile is likely to deform, so that the current hammering force of the current hammering hammer is acquired, the target hammering force of the hammering hammer can be determined conveniently based on the current hammering force, the current standard penetration degree and the current penetration degree, and the follow-up control of the hammering hammer to hammer the engineering pile is facilitated.

In step S113, the pile hammer is controlled to hammer the engineering pile with the target hammering force.

According to the embodiment of the application, the pile hammer is controlled to hammer the engineering pile by using the target hammering force, so that the deformation of the engineering pile caused by harder soil and larger hammering force is reduced, the situation that the pile needs to be replaced when the engineering pile is deformed is avoided, and the completion speed of pile foundation engineering is improved.

Further, in the embodiment of the application, when the current penetration degree is detected to be different from the current standard penetration degree and is smaller than the current standard penetration degree, the engineering pile is possibly deflected, so that the perpendicularity of the engineering pile is required to be further combined, the hammering force of the piling hammer in the current piling process is judged to be required to be changed, and when the perpendicularity of the engineering pile accords with the standard perpendicularity, the current hammering force of the piling hammer is determined to be changed.

In one possible implementation manner of the embodiment of the present application, when determining whether the cause of the abnormality in the abnormal state includes that the current penetration is different from the current standard penetration, step S110 includes:

acquiring hammering times corresponding to the current engineering pile and current penetration; determining the current standard penetration corresponding to the current engineering pile based on the hammering times; judging whether the current penetration is the same as the current standard penetration; if the current penetration degree is different from the current standard penetration degree, determining that the abnormal reasons in the abnormal state comprise that the current penetration degree is different from the current standard penetration degree; if the current penetration degree is the same as the current standard penetration degree, determining that the abnormal reason in the abnormal state does not comprise the current penetration degree and the current standard penetration degree.

For the embodiment of the application, the hammering times corresponding to the current engineering pile and the current penetration rate are obtained, the current standard penetration rate corresponding to the current engineering pile is determined based on the hammering times, so that the penetration rate under the normal state of the engineering pile can be conveniently determined under the current condition, for example, the hammering times corresponding to the current engineering pile is 10 times, the standard penetration rate corresponding to the hammering times 10 times is 10m, the current penetration rate of the engineering pile is 9m, namely, the current penetration rate is different from the standard penetration rate, and the effect of accurately judging whether the current penetration rate is the same as the current standard penetration rate or not is achieved by determining the standard penetration rate based on the hammering times.

In one possible implementation manner of the embodiment of the present application, step S110 includes, when determining the target hammering force of the pile hammer based on the current penetration, the current standard penetration and the current hammering force:

obtaining the last penetration degree of the engineering pile and the last standard penetration degree; obtaining a current penetration difference value based on the previous penetration and the current penetration, and obtaining a current standard penetration difference value based on the previous standard penetration and the current standard penetration; obtaining the current unit penetration force based on the current standard penetration difference value and the current hammering force; and determining the target hammering strength based on the current unit penetration strength and the current penetration difference.

The last penetration is the penetration of the pile hammer for hammering the engineering pile last time, and the last standard penetration is the corresponding standard penetration of the pile hammer for hammering the primary engineering pile last time.

For the embodiment of the application, the previous penetration of the engineering pile is the penetration corresponding to the previous hammering times of the current hammering times of the pile driving hammer, the previous penetration is the penetration corresponding to the previous hammering times of 9 times, the previous penetration is assumed to be 8m, the standard penetration corresponding to the hammering times is 8m, the current unit penetration force is determined based on the previous penetration and the current penetration, the penetration difference is obtained, in particular, the current penetration is subtracted from the current penetration, the penetration difference is 1m, namely, when the hammering times are 10 times, the engineering pile sinks by 1m based on the previous standard penetration and the current standard penetration, the current standard penetration is 2m based on the current standard penetration, namely, the engineering pile needs to sink by 2m under the current primary force, the current unit penetration is determined based on the current standard penetration difference and the current hammering, namely, the current unit penetration distance is determined based on the current engineering pile, the current penetration is not deformed, in particular, the penetration is obtained, namely, the current penetration is determined to be 50, the current penetration is determined based on the current unit penetration, and the current penetration is determined to be 50, in particular, the current penetration is determined to be the current unit penetration.

The above embodiments describe a method for monitoring the pile driving of a pile driving vessel from the viewpoint of the flow of the method, and the following embodiments describe a device for monitoring the pile driving of a pile driving vessel from the viewpoint of the virtual module or the virtual unit, and the following embodiments are described in detail.

An embodiment of the present application provides a device 40 for monitoring the pile driving of a pile driving ship, as shown in fig. 4, the device 40 for monitoring the pile driving of the pile driving ship may specifically include:

the first obtaining module 401 is configured to obtain current environmental information and target position information corresponding to an engineering pile on which the pile frame is to be driven when it is detected that the pile frame completes a preparation operation before the pile is driven, where the target position information is position information corresponding to the engineering pile when the engineering pile is normally installed;

the substituting module 402 is configured to substitute the target position information and the current environmental information into a prediction model to obtain first standard attitude information of piling the engineering pile by the pile frame;

the second obtaining module 403 is configured to obtain current first posture information and first standard posture information, where the first posture information includes stress information, angle information, and position information of the pile frame, the first standard posture information is posture information of the pile frame in a normal state, and the first standard posture information includes standard stress information, standard angle information, and standard position information;

The first generating module 404 is configured to generate first early warning information when any one of the first gesture information is different from the first standard gesture information corresponding to the first gesture information;

the first output module 405 is configured to output first early warning information, so that a worker knows that the current pile frame is in an abnormal state.

By adopting the above technical solution, the first obtaining module 401 is configured to obtain, when it is detected that the pile frame completes the preparation work before pile driving, current environmental information and target position information corresponding to the engineering pile to which the pile frame is to be driven, where the target position information is position information corresponding to the engineering pile when the engineering pile is normally installed, and the substituting module 402 is configured to substitute the target position information and the current environmental information into the prediction model to obtain first standard posture information of pile driving for the engineering pile, where the first standard posture information is posture information corresponding to the pile frame during pile driving and pile driving when the engineering pile is in a correct position, specifically includes standard stress information, standard angle information and standard position information, that is, the first posture information includes a plurality of information of the pile frame, and because whether the engineering pile is in a correct position, a main influencing factor is the pile frame for pile driving or pile driving for the engineering pile, and when the pile frame is in a region with larger wind waves (open sea), the pile frame is greatly influenced by wind power due to higher height, and is connected with a piling ship, the piling ship is greatly influenced by sea waves, namely, the main factor influencing the piling precision is the pile frame, and the posture information of the pile frame characterizes the state of the pile frame, so that the current first posture information and the first standard posture information can be acquired through the second acquisition module 403, when any one of the first posture information and the first standard posture information corresponding to the first posture information indicate that the first posture information of the pile frame is not in a correct position, if the pile is continuously driven or sunk according to the current position, the engineering pile cannot be in a correct position, so that the first early warning information can be generated through the first generation module 404, the subsequent first output module 405 can conveniently output the first early warning information, so that the staff can know that the current pile frame is in an abnormal state in time, so that the staff can adjust the pile frame in time, the pile frame is in a normal state, the engineering pile can be accurately placed at the correct position by the pile frame, and the effect of improving the pile driving precision of a pile driving ship when driving in places with large stormy waves such as open sea is achieved.

In one possible implementation manner of the embodiment of the present application, the device 40 for monitoring the piling of the piling ship further includes:

the third acquisition module is used for acquiring the current height value of the engineering pile corresponding to the current pile frame, wherein the current height value is the height value of the engineering pile from the current submarine land;

the fourth acquisition module is used for acquiring current second posture information and second standard posture information when the current height value of the engineering pile is not larger than the first height value, wherein the first height value is the height value of the engineering pile from the submarine land when the engineering pile invades the sea surface, the second posture information comprises weight information, current penetration degree, perpendicularity and hammering number corresponding to the engineering pile, the second standard posture information is the posture information of the engineering pile in a normal state, and the second standard posture information comprises standard weight information, current standard penetration degree, standard perpendicularity and standard hammering number;

and the second output module is used for outputting second early warning information so that the staff can know that the current engineering pile is in an abnormal state.

the judging module is used for judging whether the abnormal reason in the abnormal state comprises that the current penetration is different from the current standard penetration or not when the current height value does not reach the second height value and the engineering pile is in the abnormal state, wherein the second height value is the height value when the engineering pile is in contact with the submarine land;

a fifth obtaining module, configured to obtain a current hammering force of the current pile hammer when the current penetration is less than the current standard penetration;

the determining module is used for determining the target hammering strength of the pile hammer based on the current penetration, the current standard penetration and the current hammering strength;

In one possible implementation manner of the embodiment of the present application, when determining whether the abnormal cause in the abnormal state includes that the current penetration degree is different from the current standard penetration degree, the interpretation module is specifically configured to:

Acquiring hammering times corresponding to the current engineering pile and current penetration;

determining the current standard penetration corresponding to the current engineering pile based on the hammering times;

if the current penetration degree is different from the current standard penetration degree, determining that the abnormal reasons in the abnormal state comprise that the current penetration degree is different from the current standard penetration degree;

if the current penetration degree is the same as the current standard penetration degree, determining that the abnormal reason in the abnormal state does not comprise the current penetration degree and the current standard penetration degree.

In one possible implementation manner of the embodiment of the present application, when the determining module determines the target hammering force of the pile hammer based on the current penetration, the current standard penetration and the current hammering force, the determining module is specifically configured to:

obtaining the last penetration degree and the last standard penetration degree of the engineering pile, wherein the last penetration degree is the penetration degree of the piling hammer when hammering the engineering pile last time, and the last standard penetration degree is the corresponding standard penetration degree of the piling hammer when hammering the primary engineering pile last time;

Obtaining the current unit penetration force based on the current standard penetration difference value and the current hammering force;

and determining the target hammering strength based on the current unit penetration strength and the current penetration difference.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In an embodiment of the present application, as shown in fig. 5, an electronic device 50 shown in fig. 5 includes: a processor 501 and a memory 503. The processor 501 is coupled to a memory 503, such as via a bus 502. Optionally, the electronic device 50 may also include a transceiver 504. It should be noted that, in practical applications, the transceiver 504 is not limited to one, and the structure of the electronic device 50 is not limited to the embodiment of the present application.

The processor 501 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor 501 may also be a combination implementing computing functions, e.g. comprising at least one microprocessor combination, a combination of a DSP and a microprocessor, etc.

Bus 502 may include a path to transfer information between the components. Bus 502 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect Standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The bus 502 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or type of bus.

The Memory 503 may be, but is not limited to, ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, EEPROM (Electrically Erasable Programmable Read Only Memory ), CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 503 is used to store application code for performing the implementation of the present application and is controlled by the processor 501 for execution. The processor 501 is configured to execute the application code stored in the memory 503 to implement what is shown in the foregoing method embodiments.

Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. But may also be a server or the like. The electronic device shown in fig. 5 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present application.

Embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above. Compared with the prior art, in the embodiment of the application, the first standard posture information is the posture information of the pile frame corresponding to the pile driving and pile sinking process when the engineering pile is at the correct position, and specifically comprises standard stress information, standard angle information and standard position information, namely, a plurality of pieces of information of the pile frame are included in the first posture information, and as the engineering pile is at the correct position, the main influencing factors are the pile frame for driving or pile sinking the engineering pile, and when the engineering pile is at the region with larger wind waves (open sea), the pile frame is higher in height and is influenced by wind force, and the pile frame is connected with a pile driving ship, the main factors influencing the pile driving precision are the pile frame, and the posture information of the pile frame characterizes the state of the pile frame, so that the current first posture information and the first standard posture information can be acquired, and when any piece of the first posture information and the first standard posture information corresponding to the first posture information are not at the correct position, if the pile driving is carried out according to the current position or pile sinking is continued, the pile driving position of the engineering pile is not at the correct position, the pile driving pile frame can be conveniently and accurately output at the position of the pile driving ship, and the pile driving position can be accurately obtained, and the pile driving can be conveniently and accurately carried out by the pile driving ship in the current position.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations should and are intended to be comprehended within the scope of the present application.

Claims

1. A method of pile monitoring in a pile driving vessel, comprising:

outputting the first early warning information so that a worker knows that the pile frame is in an abnormal state currently;

outputting the second early warning information so that the staff can know that the engineering pile is in an abnormal state currently;

controlling the pile hammer to hammer the engineering pile by using the target hammering force;

the determining a target hammering force of the pile hammer based on the current penetration, the current standard penetration, and the current hammering force includes:

2. A method of pile driving monitoring for a pile driving vessel according to claim 1, characterised in that the method further comprises:

3. A method of pile driving monitoring for a pile driving vessel according to claim 1, wherein determining whether the cause of the anomaly in the anomaly condition includes the current penetration being different from the current standard penetration comprises:

4. A device for pile monitoring in a pile driving vessel, comprising:

the first output module is used for outputting the first early warning information so that a worker can know that the pile frame is in an abnormal state currently;

the apparatus further comprises:

the second output module is used for outputting the second early warning information so that the staff can know that the engineering pile is in an abnormal state currently;

the apparatus further comprises:

the control module is used for controlling the pile driving hammer to hammer the engineering pile by using the target hammering force;

The determining module is specifically configured to, when determining the target hammering force of the pile hammer based on the current penetration, the current standard penetration, and the current hammering force:

5. An electronic device, comprising:

at least one processor;

a memory;

at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: a method of performing pile driving monitoring of a pile driving vessel according to any one of claims 1 to 3.

6. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed in a computer, causes the computer to perform the method of pile driving monitoring of a pile driving vessel according to any of claims 1-3.