Systems, methods, and machines for automated screw anchor driving
In a machine for driving screw anchors and other foundation components, a desired embedment depth is calculated based on a minimum required embedment depth, work point height and length of available upper leg sections. Once calculated, the machine automatically drives the screw anchor to the depth so that one of the available upper leg lengths will fit between the driven screw anchor and apex truss hardware. If a secondary condition is satisfied that guarantees sufficient pull-out strength, a new upper leg length may be selected and the driving operation terminated prior to reaching the desired embedment depth, reducing the amount of material necessary to construct the truss foundation.
1 . An automated control system for a screw anchor driving machine comprising:
a plurality of control nodes;
a digital processor controllably coupled to the plurality of control nodes to perform an automated screw anchor driving operation with the driving machine to embed a screw anchor;
a plurality of sensor nodes; and
a storage device communicatively coupled to the digital processor, the storage device storing program code executable by the digital processor to cause the digital processor to calculate an upper leg length, to calculate an actual embedment depth based on the calculated upper leg length, and to drive a screw anchor substantially to the actual embedment depth based in part on information received from at least one of the sensor nodes during a driving operation, wherein the program code causes the processor to control the control nodes to determine that reaching the actual embedment depth is not necessary and to terminate the automated screw anchor driving operation prior to reaching the actual embedment depth when the information received from at least one of the sensor nodes indicates that a specified driving condition has occurred.
2 . The control system according to claim 1 , wherein the storage device stores program code executable by the processor to cause it to calculate the upper leg length by calculating an interim leg length based on a stored minimum embedment depth for the screw anchor and a truss work point and increasing the interim length to a final length closest to one of a plurality of available leg lengths.
3 . The control system according to claim 2 , wherein the storage device stores program code executable by the processor to cause the digital processor to calculate the actual embedment depth based on at least the final length.
4 . The control system according to claim 3 , wherein the storage device stores program code executable by the processor to cause it to control the control nodes to autonomously drive the screw anchor substantially to the actual embedment depth based in part on information received by the digital processor from the plurality of sensor nodes during the driving operation.
5 . The control system according to claim 1 , wherein the specified driving condition is correlated to operation of a tool on the screw anchor driving machine during the automated screw anchor driving operation.
6 . The control system according to claim 5 , wherein the tool comprises a drilling tool connected to a drill bit and drill rod extended through the screw anchor during the driving operation, and the specified driving condition is based on a length of screw anchor embedment occurring with assist from the drilling tool.
7 . The control system according to claim 6 , wherein the drilling tool comprises a hydraulic drifter.
8 . The control system according to claim 5 , further comprising program code executable by the processor to cause it to select a new upper leg length from a plurality of available leg lengths after the specified driving condition is satisfied and to calculate a new embedment depth based on the new upper leg length.
9 . The control system according to claim 8 , further comprising program code executable by the processor causing it to terminate the screw anchor driving operation when the new embedment depth is substantially reached.
10 . The control system according to claim 6 , wherein the specified driving condition is at least one measurable operating characteristic, of the drilling tool, that is based on a length of embedment during which the drilling tool operated in the automated driving operation.
11 . The control system according to claim 10 , wherein the at least one measurable operating characteristic, of the drilling tool, that is based on the length of embedment during which the drilling tool operated in the automated driving operation comprises at least one of: a cumulative distance along which the drilling tool operated to provide a drill assist to the driving assembly when embedding the foundation component and a cumulative time during which the drilling tool provided the drill assist to the driving assembly when embedding the foundation component.