CN207109785U

CN207109785U - A kind of dynamic compaction machinery construction navigation system and the dynamic compaction machinery using the construction navigation system

Info

Publication number: CN207109785U
Application number: CN201720865993.8U
Authority: CN
Inventors: 刘磊; 肖观长; 李士攀; 付洪彬; 宋君君
Original assignee: Shandong Four-Dimensional Vision Information Technology Co Ltd
Current assignee: Shandong Four-Dimensional Vision Information Technology Co Ltd
Priority date: 2017-07-17
Filing date: 2017-07-17
Publication date: 2018-03-16
Anticipated expiration: 2027-07-17

Abstract

A kind of dynamic compaction machinery construction navigation system and the dynamic compaction machinery using the construction navigation system, the construction navigation system includes construction navigation host, GNSS base stations, the signal trigger device of the moment lifted for detecting hammer ram and the GNSS antenna I being arranged on hammer ram connector, the construction navigation host includes central processing unit and the GNSS satellite navigation module being connected with central processing unit, the GNSS antenna I is connected with GNSS satellite navigation module, and the GNSS base stations couple with central processing unit.

Description

A kind of dynamic compaction machinery construction navigation system and the dynamic compaction machinery using the construction navigation system

Technical field

The technical field of dynamic compaction machinery and dynamic compaction machinery construction is the utility model is related to, a kind of particularly dynamic compaction machinery construction is led Boat system and the dynamic compaction machinery using the navigation system.

Background technology

Dynamic compaction machinery is one of indispensable large scale equipment in foundation construction, is widely used in cut into a mountain and fills out silt, reclaims land from the sea During heavy construction Foundation Treatment.During the use of reality, dynamic compaction machinery is usually to use 8-40t hammer rams（Most Weight is 200t）It is lifted to certain altitude（Generally 8-30m）, hammer ram is freely fallen, to soil body progress strong compaction, to improve it Intensity, a kind of foundation reinforcement method for reducing its compressibility.At present, tamping depth mainly relies on supervisor during strong rammer Actual measurement obtains, will particularly be swelled along with the whereabouts of hammer ram, the soil of hammer ram surrounding, and in place whether this gives rams Measurement brings very big difficulty.The historgraphic data recording in certain construction can not be recorded to the excellent of construction quality in detail simultaneously Bad judgement brings the problem of very big, for example rams intensity in place, but protuberance due to surrounding ground or sink and cause to supervise The mistake measurement of reason personnel causes ramming times to increase so that the oil consumption of dynamic compaction machinery increases, and activity duration meaningless extension, not only makes Into energy waste, while cause the very big waste of man power and material.

In order to solve the above problems, the patent of Patent No. 2009202454910 discloses one kind and is based on photoelectric encoder Strong rammer depth detection system, during ramming, under each hammer ram fall behind lifting moment, due to the work of soil absorption affinity With now the arm support force deformation of dynamic compaction machinery principal arm is maximum, and now the pressure signal sensed is passed through letter by pressure sensor Number amplification and shaping circuit conversion after produce one triggering（Step）Signal is simultaneously uploaded to microcontroller, and microcontroller detects this Step signal sends control instruction to photoelectric encoder, and due to being related to wind-force and rocking the influence to principal arm, trigger signal must Triggering lower limit rear must be reached to can trigger, microcontroller issues instructions to photoelectric encoder when detecting this trigger signal, it Photoelectric encoder starts to export pulse afterwards, and the pulse signal of output is sent to microcontroller and counted, connect when hammer ram rises to When closely switching default height, proximity switch accordingly sends stopping count signal to microcontroller feedback signal and microcontroller, Synchronize after now microcontroller is handled the data measured according to certain algorithm and over the display display.Due to The utility model need to only detect tamping depth, so being combined with tamping depth test cell with microcontroller measured latter Secondary measured value subtracts the tamping depth that a preceding measured value then obtains each time, and the deflection for the steel wire rope that can will hang roller is mutual Offset, therefore can accurately measure tamping depth.In the technical program, following defect be present：Measuring the mode of tamping depth is Height is converted into come what is compared by the pulse number of photoelectric encoder, is exactly to record hammer ram to reach proximity switch control in fact The rise time of height, but the height that the time of hammer ram each last time rises with hammer ram does not have strict proportionate relationship, wherein Larger error be present, therefore the strong rammer depth of measurement can be caused inaccurate, influence the judgement to construction quality.

The patent of Patent No. 2009202454925 discloses a kind of dynamic compaction machinery tamping depth online monitoring system, rams During, fall behind the moment of lifting under each hammer ram, because soil absorption affinity acts on, now the arm support stress of dynamic compaction machinery principal arm becomes Shape amount is maximum, and now pressure sensor touches the pressure signal of sensing by producing one after signal amplification and shaping circuit conversion Hair（Step）Signal is simultaneously uploaded to microcontroller, and microcontroller detects that this step signal sends measurement to laser depth transducer Control instruction（Due to being directed primarily to wind-force and rocking the influence to dynamic compaction machinery principal arm, therefore trigger signal must reach Triggering lower limit after microcontroller can be triggered, then after microcontroller detects this trigger signal, then to laser depth pass Sensor sends control instruction）.In this programme, following defect be present：Tamping depth is measured by laser depth transducer , after after being fallen due to hammer ram, the soil around hammer ram is easy to above hammer ram, and hammer ram is fallen every time, on hammer ram The native skewness in face, the tamping depth for causing laser sensor to measure is inaccurate, in addition, in the technical program, can not Height when being fallen to hammer ram is monitored, if height when hammer ram is fallen does not reach requirement, easily causes construction quality Reduce.Here it is in place of the deficiencies in the prior art.

Utility model content

Technical problem to be solved in the utility model, aiming at the deficiency present in prior art, and provide a kind of Dynamic compaction machinery construction navigation system and the dynamic compaction machinery using the construction navigation system, its is simple in construction, can more accurately survey Go out tamping depth, effectively control construction quality.

This programme is achieved by the following technical measures：A kind of dynamic compaction machinery construction navigation system, including construction navigation Main frame, GNSS base stations, the signal trigger device of the moment lifted for detecting hammer ram and it is arranged on hammer ram connector GNSS antenna I, the construction navigation host include central processing unit and the GNSS satellite being connected with central processing unit navigation mould Block, the GNSS antenna I are connected with GNSS satellite navigation module, and the GNSS base stations couple with central processing unit.Using this skill Art scheme, GNSS satellite navigation module receive the GNSS data that GNSS antenna I gathers, and GNSS base stations gather base station GNSS data, Two GNSS datas pass through RTK（Real time differential technology）Difference is carried out, obtains the accurately spatial positional information of GNSS antenna I；Letter Number trigger device can judge lifting and putting down for hammer ram by detecting the tensioning state of steel wire rope, when hammer ram connector lifts rammer The moment of hammer, steel wire rope can be tensioned by pulling force, and signal trigger device sends trigger current or voltage signal to central processing unit, The construction navigation system main frame can record the spatial positional information of GNSS antenna I, after hammer ram is fallen next time, hammer ram connection Device lifts the moment of hammer ram again, and steel wire rope can be tensioned by pulling force, and signal trigger device sends tactile again to signal trigger device Generate electricity stream or voltage signal, and the construction navigation system main frame can record the spatial positional information of GNSS antenna I again, twice The difference in height of spatial positional information is the depth that soil is rammed in a hammer ram whereabouts.When hammer ram rises to the position that will be fallen When, construction navigation system main frame can record the spatial positional information of now GNSS antenna I, can effectively judge whether hammer ram reaches To fall moment specified altitude and ram position, the data of whole monitoring process are extremely accurate, are easy to precise manipulation to construct.

Preferably, in addition to the GNSS antenna II that is arranged on dynamic compaction machinery driver's cabin or dynamic compaction machinery principal arm, described GNSS days Line II is connected with GNSS satellite navigation module.Using the technical program, combine the data that GNSS antenna I and GNSS antenna II gather The course angle of dynamic compaction machinery is can be derived that, so as to obtain the construction location of dynamic compaction machinery and Construction State in real time.

Preferably, the signal trigger device includes the tension force sensing being arranged on the steel wire rope of suspension hammer ram connector Device.

Preferably, the tension sensor is connected by spring type radio communication feeder line with central processing unit, the GNSS Antenna I and/or GNSS antenna II are connected by spring type radio communication feeder line with GNSS satellite navigation module.

Preferably, the spring type radio communication feeder line includes radio communication connecting line, power line and PU material pipe, institute State radio communication connecting line and power line is arranged in PU material pipe.Using the technical program, dynamic compaction machinery is avoided in work progress Middle destruction power line, improve service life.

Preferably, the construction navigation host also includes wireless data transfer module, and the GNSS base stations pass through without line number Communicated according to transport module with central processing unit.Using the technical program, the GNSS base stations include GNSS antenna and GNSS is defended Star navigation module, the GNSS satellite navigation module coordinate with GNSS antenna, and base station GNSS data is provided for real time differential.

Preferably, the central processing unit is communicated by wireless data transfer module with command centre.Using this technology side Case, construction navigation host are sent positional information to command centre by wireless data transfer module, and central processing unit can be with The detail design data and construction task of command centre's transmission, dynamic compaction machinery operating personnel are received by wireless data transfer module It can be constructed according to detail design data and construction task.

Preferably, the central processing unit is connected with display screen.Using the technical program, detail design data and construction Task can show that construction data when dynamic compaction machinery works in addition can also be shown by display screen by display screen, Operating personnel can be operated by showing the data-guiding of screen display.

Preferably, the construction navigation host also includes gyro module, and the gyro module connects with central processing unit Connect.Using the technical program, gyro module is provided with MEMS motion sensing tracking functions, can obtain the acceleration of dynamic compaction machinery Degree, angular speed and magnetic force value, and then can be with movable information of the accurate calculation dynamic compaction machinery in space.

Preferably, the construction navigation host is arranged in the driver's cabin of dynamic compaction machinery.

A kind of dynamic compaction machinery, including driver's cabin, principal arm and the power set by Steel rope drive hammer ram, the steel wire rope It is connected by hammer ram connector with hammer ram, in addition to construction navigation host and the signal of the moment lifted for detecting hammer ram touch Transmitting apparatus, GNSS antenna I is provided with the hammer ram connector, and the construction navigation host includes central processing unit and with The GNSS satellite navigation module of central processor connection, the GNSS antenna I are connected with GNSS satellite navigation module, the centre Reason device couples with GNSS base stations.Using the technical program, GNSS satellite navigation module receives the GNSS numbers that GNSS antenna I gathers According to GNSS base stations collection base station GNSS data, two GNSS datas pass through RTK（Real time differential technology）Difference is carried out, is obtained The accurately spatial positional information of GNSS antenna I；Signal trigger device can judge hammer ram by detecting the tensioning state of steel wire rope Lift and put down, when hammer ram connector lifts the moment of hammer ram, steel wire rope can be tensioned by pulling force, and signal trigger device is to center Processor sends trigger current or voltage signal, and the construction navigation system main frame can record the locus of GNSS antenna I Information, after hammer ram is fallen next time, hammer ram connector lifts the moment of hammer ram again, and steel wire rope can be tensioned by pulling force, signal Trigger device sends trigger current or voltage signal again to signal trigger device, and the construction navigation system main frame can be again The spatial positional information of GNSS antenna I is recorded, the difference in height of spatial positional information is that soil is rammed in a hammer ram whereabouts twice Depth.When hammer ram rises to the position that will be fallen, construction navigation system main frame can record the space bit of now GNSS antenna I Confidence ceases, and can effectively judge whether hammer ram reaches the specified altitude for moment of falling and ram position, whole monitoring process Data are extremely accurate, are easy to precise manipulation to construct.

Preferably, GNSS antenna II is provided with the driver's cabin or principal arm, the GNSS antenna II is led with GNSS satellite Model plane block connects.Using the technical program, combine the data that GNSS antenna I and GNSS antenna II gather and can be derived that dynamic compaction machinery Course angle, so as to obtain the construction location of dynamic compaction machinery and Construction State in real time.

Preferably, the tension sensor and/or GNSS antenna I and/or GNSS antenna II and GNSS satellite navigation module Connected by spring type radio communication feeder line.

Preferably, the central processing unit is communicated by wireless data transfer module with command centre.Using this technology side Case, construction navigation host are sent positional information to command centre by wireless data transfer module, and central processing unit can be with The detail design data and construction task of command centre's transmission, dynamic compaction machinery operating personnel are received by wireless data transfer module It can be constructed according to detail design data and construction task.In addition, also can be straight by detail design data and construction task Connect and copy in construction navigation host.

As can be seen here, the utility model compared with prior art, has substantive distinguishing features and progress, its beneficial effect implemented Fruit is also obvious.

Brief description of the drawings

In order to illustrate more clearly of the technical solution of the utility model, the required accompanying drawing used in description will be made below Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the utility model, for this area For those of ordinary skill, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is dynamic compaction machinery construction navigation system control principle schematic diagram；

Fig. 2 is the structural representation of dynamic compaction machinery.

In figure：1- driver's cabins, 2- principal arms, 3- hammer rams, 4- hammer ram connectors, 5-GNSS antennas I, 6- steel wire ropes, 7- tension force Sensor, 8- construction navigation hosts, 9- spring type radio communication feeder lines, 10-GNSS antennas II.

Embodiment

, below will fortune to enable purpose of utility model of the present utility model, feature, advantage more obvious and understandable With specific embodiment and accompanying drawing, the technical scheme of the utility model protection is clearly and completely described, it is clear that below Described embodiment is only the utility model part of the embodiment, and not all embodiment.Based on the reality in this patent Example is applied, all other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, is all belonged to In the scope of this patent protection.

As depicted in figs. 1 and 2, a kind of dynamic compaction machinery construction navigation system, including construction navigation host 8, GNSS base stations, be used for The signal trigger device for the moment that detection hammer ram 3 lifts and the GNSS antenna I 5 being arranged on hammer ram connector 4, the construction Navigation host 8 includes central processing unit and the GNSS satellite navigation module being connected with central processing unit, the GNSS antenna I 5 It is connected with GNSS satellite navigation module, the GNSS base stations couple with central processing unit.Using the technical program, GNSS satellite is led Model plane block receives the GNSS data that GNSS antenna I 5 gathers, GNSS base stations collection base station GNSS data, and two GNSS datas pass through RTK（Real time differential technology）Difference is carried out, obtains the accurately spatial positional information of GNSS antenna I 5；Signal trigger device can pass through The tensioning state of steel wire rope 6 is detected to judge lifting and putting down for hammer ram 3, when hammer ram connector 4 lifts the moment of hammer ram 3, steel Cord 6 can be tensioned by pulling force, and signal trigger device sends trigger current to central processing unit or voltage signal, the construction are led Boat system host 8 can record the spatial positional information of GNSS antenna I 5, and after hammer ram 3 is fallen next time, hammer ram connector 4 is again Lift the moment of hammer ram 3, steel wire rope 6 can be tensioned by pulling force, and signal trigger device sends triggering electricity to signal trigger device again Stream or voltage signal, the construction navigation system main frame 8 can record the spatial positional information of GNSS antenna I 5 again, empty twice Between the difference in height of positional information be that hammer ram 3 falls and rams the depth of soil.When hammer ram 3 rises to the position that will be fallen When, construction navigation system main frame 8 can record the spatial positional information of now GNSS antenna I 5, can effectively judge that hammer ram 3 is It is no reach fall moment specified altitude and ram position, the data of whole monitoring process are extremely accurate, are easy to precise manipulation to apply Work.

Preferably, in addition to the GNSS antenna II 10 that is arranged on dynamic compaction machinery driver's cabin 1 or dynamic compaction machinery principal arm 2, it is described GNSS antenna II 10 is connected with GNSS satellite navigation module.Using the technical program, combine GNSS antenna I 5 and GNSS antenna II The data of 10 collections can be derived that the course angle of dynamic compaction machinery, so as to obtain the construction location of dynamic compaction machinery and construction shape in real time State.

Preferably, the signal trigger device includes the tension force sensing being arranged on the steel wire rope of suspension hammer ram connector 4 Device 7.

Preferably, the tension sensor 7 and/or GNSS antenna I 5 and/or GNSS antenna II 10 navigate with GNSS satellite Module is connected by spring type radio communication feeder line 9.

Preferably, the spring type radio communication feeder line 9 includes radio communication connecting line, power line and PU material pipe, The radio communication connecting line and power line are arranged in PU material pipe.Using the technical program, dynamic compaction machinery is avoided to construct Power line is destroyed in journey, improves service life.

Preferably, the construction navigation host 8 also includes wireless data transfer module, and the GNSS base stations pass through without line number Communicated according to transport module with central processing unit.Using the technical program, the GNSS base stations include GNSS antenna and GNSS is defended Star navigation module, the GNSS satellite navigation module coordinate with GNSS antenna, and base station GNSS data is provided for real time differential.

Preferably, the construction navigation host 8 also includes gyro module, and the gyro module connects with central processing unit Connect.Using the technical program, gyro module is provided with MEMS motion sensing tracking functions, can obtain the acceleration of dynamic compaction machinery Degree, angular speed and magnetic force value, and then can be with movable information of the accurate calculation dynamic compaction machinery in space.

Preferably, the construction navigation host 8 is arranged in the driver's cabin 1 of dynamic compaction machinery.

A kind of dynamic compaction machinery, including driver's cabin 1, principal arm 2 and the power set that hammer ram 3 is driven by steel wire rope 6, the steel Cord 6 is connected by hammer ram connector 4 with hammer ram 3, in addition to construction navigation host 8 and wink for lifting for detecting hammer ram 3 Between signal trigger device, GNSS antenna I 5 is provided with the hammer ram connector 4, the construction navigation host 8 includes center Processor and the GNSS satellite navigation module being connected with central processing unit, the GNSS antenna I 5 and GNSS satellite navigation module Connection, the central processing unit couple with GNSS base stations.Using the technical program, GNSS satellite navigation module receives GNSS antenna The GNSS data of I 5 collections, GNSS base stations collection base station GNSS data, two GNSS datas pass through RTK（Real time differential technology）Enter Row difference, obtain the accurately spatial positional information of GNSS antenna I 5；Signal trigger device can be by detecting the tensioning shape of steel wire rope 6 State judges lifting and putting down for hammer ram 3, and when hammer ram connector 4 lifts the moment of hammer ram 3, steel wire rope 6 can be tensioned by pulling force, be believed Number trigger device sends trigger current or voltage signal to central processing unit, and the construction navigation system main frame 8 can record The spatial positional information of GNSS antenna I 5, after hammer ram 3 is fallen next time, hammer ram connector 4 lifts the moment of hammer ram 3 again, Steel wire rope 6 can be tensioned by pulling force, and signal trigger device sends trigger current or voltage signal, institute again to signal trigger device The height of spatial positional information, twice spatial positional information of GNSS antenna I 5 can be recorded again by stating construction navigation system main frame 8 Difference is the depth that soil is rammed in a whereabouts of hammer ram 3.When hammer ram 3 rises to the position that will be fallen, construct navigation system master Machine 8 can record the spatial positional information of now GNSS antenna I 5, can effectively judge whether hammer ram 3 reaches the rule for moment of falling Determine height and ram position, the data of whole monitoring process are extremely accurate, are easy to precise manipulation to construct.

Preferably, GNSS antenna II 10 is provided with the driver's cabin or principal arm, the GNSS antenna II 10 and GNSS is defended Star navigation module connects.Using the technical program, combine the data that GNSS antenna I 5 and GNSS antenna II 10 gather and can be derived that The course angle of dynamic compaction machinery, so as to obtain the construction location of dynamic compaction machinery and Construction State in real time.

Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, identical similar portion refers to mutually between each embodiment.

The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or new using this practicality Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein The General Principle of justice can be realized in other embodiments in the case where not departing from spirit or scope of the present utility model.Cause This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein With features of novelty, it is creative the characteristics of consistent most wide scope.

Claims

The navigation system 1. a kind of dynamic compaction machinery is constructed, it is characterized in that：Including construction navigation host, GNSS base stations, for detecting hammer ram The signal trigger device of the moment lifted and the GNSS antenna I being arranged on hammer ram connector, the construction navigation host bag The GNSS satellite navigation module for including central processing unit and being connected with central processing unit, the GNSS antenna I are led with GNSS satellite Model plane block connects, and the GNSS base stations couple with central processing unit.
The navigation system 2. dynamic compaction machinery according to claim 1 is constructed, it is characterized in that：Also include being arranged on dynamic compaction machinery driver's cabin Or the GNSS antenna II on dynamic compaction machinery principal arm, the GNSS antenna II are connected with GNSS satellite navigation module.
The navigation system 3. dynamic compaction machinery according to claim 1 or 2 is constructed, it is characterized in that：The signal trigger device includes The tension sensor being arranged on the steel wire rope of suspension hammer ram connector.
The navigation system 4. dynamic compaction machinery according to claim 3 is constructed, it is characterized in that：The tension sensor passes through spring type Radio communication feeder line is connected with central processing unit, and the GNSS antenna I and/or GNSS antenna II are presented by spring type radio communication Line is connected with GNSS satellite navigation module.
The navigation system 5. dynamic compaction machinery according to claim 4 is constructed, it is characterized in that：The spring type radio communication feeder line bag Radio communication connecting line, power line and PU material pipe are included, the radio communication connecting line and power line are arranged on PU material pipe It is interior.
The navigation system 6. dynamic compaction machinery according to claim 1 or 2 is constructed, it is characterized in that：The construction navigation host also wraps Wireless data transfer module is included, the GNSS base stations are communicated by wireless data transfer module with central processing unit.
The navigation system 7. dynamic compaction machinery according to claim 6 is constructed, it is characterized in that：The central processing unit passes through without line number Communicated according to transport module with command centre.
The navigation system 8. dynamic compaction machinery according to claim 7 is constructed, it is characterized in that：The central processing unit is connected with display Screen.
The navigation system 9. dynamic compaction machinery according to claim 1 or 2 is constructed, it is characterized in that：The construction navigation host also wraps Gyro module is included, the gyro module is connected with central processing unit.
The navigation system 10. dynamic compaction machinery according to claim 1 or 2 is constructed, it is characterized in that：The construction navigation host is set In the driver's cabin of dynamic compaction machinery.
11. a kind of dynamic compaction machinery of the dynamic compaction machinery construction navigation system described in usage right requirement any one of 1-10, including driver's cabin, Principal arm and the power set by Steel rope drive hammer ram, the steel wire rope are connected by hammer ram connector with hammer ram, and it is special Sign is：Also include construction navigation host and the signal trigger device of the moment lifted for detecting hammer ram, the hammer ram connection GNSS antenna I is provided with device, the construction navigation host includes central processing unit and the GNSS being connected with central processing unit Satellite navigation module, the GNSS antenna I are connected with GNSS satellite navigation module, and the central processing unit joins with GNSS base stations Connect.
12. dynamic compaction machinery according to claim 11, it is characterized in that：GNSS antenna is provided with the driver's cabin or principal arm II, the GNSS antenna II is connected with GNSS satellite navigation module.
13. the dynamic compaction machinery according to claim 11 or 12, it is characterized in that：The signal trigger device includes being arranged on suspension Tension sensor on the steel wire rope of hammer ram connector.
14. dynamic compaction machinery according to claim 13, it is characterized in that：The tension sensor and/or GNSS antenna I and/or GNSS antenna II is connected with GNSS satellite navigation module by spring type radio communication feeder line.
15. dynamic compaction machinery according to claim 14, it is characterized in that：The spring type radio communication feeder line includes radio communication Connecting line, power line and PU material pipe, the radio communication connecting line and power line are arranged in PU material pipe.
16. dynamic compaction machinery according to claim 11, it is characterized in that：The construction navigation host also includes wireless data transmission Module, the GNSS base stations are communicated by wireless data transfer module with central processing unit.
17. dynamic compaction machinery according to claim 16, it is characterized in that：The central processing unit passes through wireless data transfer module Communicated with command centre.
18. dynamic compaction machinery according to claim 16, it is characterized in that：The central processing unit is connected with display screen.
19. dynamic compaction machinery according to claim 11, it is characterized in that：The construction navigation host also includes gyro module, The gyro module is connected with central processing unit.
20. dynamic compaction machinery according to claim 11, it is characterized in that：The construction navigation host is arranged on the driving of dynamic compaction machinery It is indoor.