Pile driving machine

1. A pile measuring system suitable for determining one or more parameters of a pile during pile driving of the pile, said pile drivable into ground by a pile driver, said pile driver comprising a hammer and a sleeve, said hammer and said sleeve placed at a top of the pile, said pile measuring system comprising:

at least one positioning sensor, wherein the at least one positioning sensor is attached or attachable to a location on the sleeve and configured to measure position coordinates of the respective location on the sleeve during pile driving of the pile; and

a parameter calculator configured to determine the one or more parameters of the pile from the position coordinates measured by the at least one positioning sensor during pile driving of the pile.

2. The pile measuring system according to claim 1 , wherein the one or more parameters comprises position information of the pile.

3. The pile measuring system according to claim 1 , wherein the parameter calculator is configured to provide the one or more parameters to a pile driving control system, said pile driving control system configured to determine one or more actuator parameters from the one or more parameters for moving a gripper, said gripper being configured to position the pile.

4. The pile measuring system according to claim 1 , wherein the parameter calculator is configured to provide the one or more parameters to a pile driving control system, said pile driving control system configured to determine one or more hammer parameters for controlling energy of the hammer.

5. The pile measuring system according to claim 1 , wherein the at least one positioning sensor is attached or attachable to an upper surface of the sleeve.

6. The pile measuring system according to claim 1 , wherein each positioning sensor is configured to measure position coordinates at or substantially close to an uppermost part of the pile.

7. The pile measuring system according to claim 1 , wherein:

each positioning sensor is a global positioning system antenna configured to receive at least three different satellite signals;

the position coordinates are determinable from the at least three different satellite signals; and

the position coordinates comprises longitude information and latitude information, and preferably elevation information.

8. The pile measuring system according to claim 1 , wherein:

the at least one positioning sensor comprises two positioning sensors; and

the one or more parameters determinable by the parameter calculator comprises: orientation information of the pile.

9. The pile measuring system according to claim 8 , wherein the one or more parameters determinable by the parameter calculator comprises inclination information of the pile in a first direction.

10. The pile measuring system according to claim 8 , wherein the one or more parameters determinable by the parameter calculator comprises depth information of the pile.

11. The pile measuring system according to claim 1 , wherein:

the at least one positioning sensor comprises three or more positioning sensors; and

the one or more parameters determinable by the parameter calculator comprises inclination information in a first direction, inclination information in a second direction, and depth information of the pile.

12. The pile measuring system according to claim 1 , further comprises:

a positioning beacon attachable or attached to the pile after the pile driving of the pile, said positioning beacon configured to measure position coordinates at the from satellite signals; and

wherein said system is further configured to provide, to the parameter calculator and during installation of a further pile, a difference between the position coordinates of the beacon on the pile measured from satellite signals and known position coordinates of the beacon at the pile.

13. The pile measuring system according to claim 1 , wherein the one or more parameters comprises orientation information of the pile.

14. The pile measuring system according to claim 1 , wherein the one or more parameters comprises inclination information of the pile in a first direction.

15. The pile measuring system according to claim 14 , wherein the one or more parameters comprises inclination information of the pile in a second direction.

16. The pile measuring system according to claim 15 , wherein the one or more parameters comprises depth information of the pile.

17. A method for determining one or more parameters of a pile, such as position information, orientation information, inclination information, and depth information of the pile, during pile driving of the pile, said pile drivable into ground by a pile driver, said pile driver comprising a hammer and a sleeve, said hammer and said sleeve placed at a top of the pile, said method comprising:

providing at least one positioning sensor attachable on a location on the sleeve;

measuring, during pile driving, by the at least one positioning sensor, position coordinates of the location on the sleeve; and

determining, during pile driving, by a parameter calculator, the one or more parameters of the pile from the position coordinates measured by the at least one positioning sensor.

18. The method according to claim 17 , further comprising providing, by the parameter calculator, the one or more parameters of the pile to a pile driving control system, said pile driving control system comprising:

a gripper parameter calculator configured to determine one or more actuator parameters for moving a gripper, said gripper configured to position the pile.

19. The method according to claim 17 , further comprising:

providing a positioning beacon attachable to the pile after the pile driving of the pile, said positioning beacon configured to measure position coordinates at the pile from satellite signals; and

receiving, at the parameter calculator, a difference between the position coordinates at the pile measured from satellite signals and known position coordinates of the positioning beacon at the pile during an installation of another pile.

20. The method according to claim 17 , further comprising providing, by the parameter calculator, the one or more parameters to a pile driving control system, said pile driving control system comprising:

a hammer parameter calculator configured to determine one or more hammer parameters for controlling energy of the hammer.

21. A computer program product, implemented on computer-readable non-transitory storage medium, the computer program product configured for, when run on a computer, executing a method for determining one or more parameters of a pile, such as position information, orientation information, inclination information, and depth information of the pile, during pile driving of the pile, said pile drivable into ground by a pile driver, said pile driver comprising a hammer and a sleeve, said hammer and said sleeve placed at a top of the pile, said method comprising:

providing at least one positioning sensor attachable on a location on the sleeve;

measuring, during pile driving, by the at least one positioning sensor, position coordinates of the location on the sleeve; and

determining, pile driving, by a parameter calculator, the one or more parameters of the pile from the position coordinates measured by the at least one positioning sensor.