Monitoring control system for static pressure pile machine construction and implementation method thereof

Abstract

The invention discloses a monitoring control system for static pressure pile machine construction. The monitoring control system comprises a central control system, a man-machine interaction screen display module, a static pressure pile machine operation module, a construction data acquisition module, a welding quality monitoring module, a pile foundation bearing capacity prediction module and a cloud data storage and presentation module. The invention further discloses an implementation method of the monitoring control system for static pressure pile machine construction. Through linkage of the central control system and the static pressure pile machine, efficient automation and accurate control of the construction process are achieved; in the construction process, the leveling and pile pressing operation of the pile clamping platform and the pile pressing platform can be regulated and controlled through construction data collected in real time, it is ensured that the prestressed concrete pile vertically enters the soil and reaches the designed pile pressing depth, and deviation is avoided; the welding quality monitoring module can monitor the welding quality in real time, and it is ensured that the construction quality meets the standard.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction monitoring and control of static pile drivers, and particularly relates to a monitoring and control system for the construction of static pile drivers and a method for realizing the same. Background Art

[0002] A static pile driver is a pile foundation construction equipment that presses prestressed concrete piles into the soil by static force principle, and is mainly used for pile foundation construction in soft soil foundations. Different from the traditional hammering method, the static pile pressing method avoids the use of impact force by applying uniform vertical pressure, and does not generate noise and vibration. Therefore, it is particularly suitable for areas with strict environmental requirements, such as urban areas, hospitals, etc. Since the construction process is relatively stable, construction workers can monitor and record the pile pressing force in real time, accurately predict the bearing capacity of the pile foundation, and ensure the construction quality and safety. The main advantages of the static pile driver include: low noise and no vibration, suitable for construction environments with high noise sensitivity and vibration requirements, such as around dangerous houses or precision instrument rooms; reliable construction quality, the bearing capacity of the pile body can be effectively guaranteed, and there is no oil fume and mud discharge during the construction process, reducing environmental pollution; high construction efficiency and short construction period, especially suitable for large-scale construction projects; in addition, the static pile driver has strong adaptability, can be constructed in soft soil foundations, and can adjust the pile length according to the soil conditions to ensure the foundation stability. In summary, relying on its advantages of high efficiency, environmental protection, low noise and low vibration, the static pile driver has gradually become the preferred pile foundation construction method in modern urban construction, and is particularly suitable for areas with high environmental and construction quality requirements, with significant application prospects and advantages.

[0003] During the construction of static pile presses, the existing monitoring and control systems of static pile presses have significant deficiencies, restricting the precise control and guarantee of construction quality. First of all, traditional quality inspection methods for prestressed concrete piles, such as the low-strain method, although they can evaluate the integrity of the pile foundation to a certain extent, have limitations in the diagnosis of multi-section pile lengths, applicability, and accuracy under complex geological conditions. This makes it easy for construction units to have loopholes in quality control, thus posing serious potential hazards to project safety. In addition, there is a lack of real-time monitoring of welding quality during the construction process, and defects that may exist during the welding process cannot be detected and repaired in a timely manner, directly affecting the long-term stability and safety of the pile foundation. At the same time, the data of the pile pressing force is usually manually recorded, which not only easily causes recording errors but also cannot accurately reflect the minute changes during the pile pressing process, resulting in a large uncertainty in the prediction of the bearing capacity of the pile foundation. During the pile pressing process, the cracks in the pile body are not effectively monitored, and the lack of real-time data support makes it impossible for construction personnel to take corresponding measures for repair in a timely manner, increasing the project risk. In addition, during the construction process of the static pile press, the verticality of the pile press entering the soil cannot be precisely controlled. If the direction of the pile body entering the soil deviates from the vertical, it may cause uneven stress on the pile foundation, resulting in uneven settlement or pile body damage, thus affecting the stability and bearing capacity of the pile foundation. The deviation of the verticality of the pile press entering the soil may also cause the pile foundation to deflect, making it impossible for the subsequent pile foundation and the upper structure to be accurately connected, further affecting the structural safety and increasing the construction difficulty and risk.

[0004] Generally speaking, the construction of static pile presses lacks a perfect automated monitoring and control system, resulting in the inability to achieve precise monitoring and real-time feedback of key parameters during the construction process. The lack of systematic data support and monitoring capabilities poses great challenges to the control of construction quality and is extremely likely to cause potential safety hazards and risks.

[0005] Therefore, there is an urgent need to introduce more precise and intelligent automated monitoring and control technologies during the construction of static pile presses to improve the controllability of construction quality and the overall safety of the project. Summary of the Invention

[0006] The purpose of the present invention is to provide a monitoring and control system for the construction of static pile presses to solve the problems raised in the above background technology. A monitoring and control system for the construction of static pile presses provided by the present invention has the characteristics of being able to integrate advanced precise and intelligent automated monitoring and control technologies during the construction of static pile presses, constructing comprehensive data support and monitoring capabilities, thereby achieving precise control of the construction process, significantly improving construction quality, and ensuring the overall safety and controllability of the project.

[0007] Another object of the present invention is to provide a method for implementing a monitoring and control system for the construction of static pile presses.

[0008] To achieve the above object, the present invention provides the following technical solutions: A monitoring and control system for the construction of a static pile press, comprising a central control system, a human-machine interaction screen display module, a static pile press operation module, a construction data acquisition module, a welding quality monitoring module, a pile foundation bearing capacity prediction module, and a cloud data storage and presentation module; the human-machine interaction screen display module is used to receive and store construction design information, and display construction data, static pile press status information, welding quality monitoring information, and pile foundation bearing capacity prediction information; the construction data acquisition module is used to collect the verticality of the prestressed concrete pile entering the soil, the hydraulic pressure information of the pile clamping platform of the static pile press, the hydraulic pressure information of the pile pressing platform of the static pile press, the entering depth information of the prestressed concrete pile, the entering speed information of the prestressed concrete pile, and the pile machine construction point positioning information; the central control system processes and calculates according to the pile foundation construction design information and the data information collected by the construction data acquisition module, and controls the static pile press operation module; the welding quality monitoring module is used to realize the welding quality monitoring of the prestressed concrete pile joint by combining a deep learning algorithm; the pile foundation bearing capacity prediction module uses a neural network model to predict the vertical bearing capacity of the prestressed concrete pile for the real-time construction data processed by the central control system, and displays the prediction result in real time on the human-machine interaction screen display module; the cloud data storage and presentation module is used to receive the data uploaded by the central control system to the cloud platform server through mobile communication, store and manage and display the data, and perform iterative training on the model.

[0009] Further in the present invention, the construction design information includes the center point coordinates of the prestressed concrete pile, the designed pile length, the designed pile diameter, the designed pile top elevation, the number of prestressed concrete pile joints, the entering speed of the prestressed concrete pile, the verticality of the prestressed concrete pile, and the designed bearing capacity.

[0010] Further in the present invention, the construction data acquisition module includes a GNSS satellite positioning sensor, a pile pressing platform inclination sensor, a pile pressing depth monitoring sensor, and a hydraulic system pressure sensor.

[0011] Further in the present invention, the hydraulic system pressure sensors are respectively installed in the hydraulic systems of the pile pressing platform and the pile clamping platform, used to detect the pile clamping state, and calculate the entering depth of the prestressed concrete pile by accumulating the effective relative displacement data during the pile clamping process; the pile pressing depth monitoring sensor is a wire-pulling displacement sensor, the wire end of the wire-pulling displacement sensor is fixedly connected to the pile pressing platform, and the hub end of the wire sensor is fixedly installed on the column beside the pile pressing platform.

[0012] Further in the present invention, the static pile driver operation module includes a travel control unit for comparing the central coordinates of the pile position to be constructed and the central coordinates of the pile pressing platform, and controlling the static pile driver to move to the center point of the pile position to be constructed; a leveling control unit for finely adjusting the deviation between the center point of the pile pressing platform and the center point of the pile position, and controlling the verticality deviation value when the prestressed concrete pile is pressed into the ground through the tilt angle data of the pile pressing platform; a pile pressing control unit for transmitting the penetration depth and speed of the prestressed concrete pile to the static pile driver operation module; and the static pile driver operation module controls the clamping pile platform and the pile pressing platform to operate according to the preset execution parameter information until it is monitored that the prestressed concrete pile reaches the specified depth.

[0013] Further in the present invention, the welding quality monitoring module includes a plurality of high-definition vision acquisition units, an infrared thermal imaging acquisition unit, a welding machine working parameter acquisition unit, a welding quality data processing unit, and a welding quality algorithm analysis unit. Among them, the high-definition vision acquisition unit and the infrared thermal imaging acquisition unit are used to obtain the high-definition images and thermal imaging data of the welding area of two prestressed concrete piles before, during, and after welding in real time; the welding machine working parameter acquisition unit acquires the key working parameters generated during the welding process of the welding machine; the welding quality data processing unit is responsible for preprocessing the obtained high-definition images, thermal imaging data, and welding machine working parameters to extract the shape features, contour features, thermal imaging defect features, welding area contour, welding machine working parameters, and weld shape features of the welding area, and fusing the feature data in chronological order to generate a welding quality data set; the welding quality algorithm analysis unit inputs the welding quality data set into a neural network model based on deep learning in real time, uses the model to analyze the generated parameters in real time, outputs a warning message for welding trajectory or welding quality abnormality, and displays it on the human-machine interaction display module.

[0014] Further in the present invention, the pile foundation bearing capacity prediction module includes a bearing capacity prediction data processing unit, a bearing capacity prediction algorithm construction unit, and a bearing capacity prediction calculation unit. Among them, the bearing capacity prediction data processing unit is used to obtain and process the single-pile construction data characteristic factors under different construction design parameter conditions, as well as the corresponding single-pile vertical bearing capacity data measured by the static load test; the bearing capacity prediction algorithm construction unit constructs a neural network model between the construction data and the single-pile vertical bearing capacity based on the construction data characteristic factors, and through a periodic training and verification process, combines the historical database of the construction data characteristic factors and the single-pile vertical bearing capacity to continuously iteratively optimize the neural network model; the bearing capacity prediction calculation unit processes and analyzes the real-time construction data of the target pile foundation according to the trained and optimized neural network model to achieve accurate prediction of the pile foundation vertical bearing capacity.

[0015] In the present invention, further, the data uploaded by the central control system to the cloud platform server includes real-time data during construction, pile-forming quality information, welding quality information, and the state of the pile driver.

[0016] In the present invention, further, a method for implementing a monitoring and control system for static pile driving construction includes the following steps:

[0017] S1: Before construction starts, input or select the saved construction design parameters in the human-machine interaction interface. Based on the center point coordinates of the prestressed concrete pile, the central control system instructs the pile driver to move to the center point position of the prestressed concrete pile to be constructed through the travel control unit;

[0018] S2: Collect real-time construction data such as the center point coordinates of the pile pressing platform, the verticality of the prestressed concrete pile entering the soil, the hydraulic pressure of the pile clamping platform, the hydraulic pressure of pile pressing, the penetration depth and penetration speed of the prestressed concrete pile through the construction data acquisition module;

[0019] S3: The central control system adjusts the leveling control unit and the pile pressing control unit according to the collected construction data to complete the leveling and pile pressing operations of the pile pressing platform. At the same time, during the pile splicing process of the prestressed concrete pile, the welding quality monitoring module monitors the welding quality in real time, and the pile foundation bearing capacity prediction module predicts the ultimate bearing capacity of the prestressed concrete pile based on the real-time construction data;

[0020] S4: The central control system uploads the real-time data, pile-forming quality, welding quality, and pile driver state information during construction to the cloud platform server through mobile communication, and the cloud data storage and presentation module centrally stores, manages, and displays the data.

[0021] In the present invention, further, step S3 includes the following steps:

[0022] S31: Adjust the pile pressing platform through the leveling control unit to accurately align its center point with the center point of the prestressed concrete pile; adjust the tilt angle of the pile pressing platform to ensure that the prestressed concrete pile remains vertical during the process of entering the soil; when the pile pressing platform moves to the highest stroke, the pile clamping platform clamps the prestressed concrete pile, and at this time, the pile clamping state is determined to be "pile clamping in progress";

[0023] S32: The pile pressing platform applies a downward pressure to the clamped prestressed concrete pile through the hydraulic system, and controls the penetration speed and verticality of the pile according to the construction design parameters; the pile pressing depth monitoring sensor records the effective displacement of the prestressed concrete pile. When the pile pressing platform moves to the lowest stroke, the pile clamping platform releases the prestressed concrete pile, and at this time, the pile clamping state is determined as "non-pile clamping". When the pile pressing platform moves to the highest stroke again, the pile pressing depth monitoring sensor does not record this section of the stroke. This process is repeated, and the effective stroke during pile clamping is recorded until the top of the prestressed concrete pile reaches a position lower than the working height of the pile pressing platform;

[0024] S33: The new prestressed concrete pile is placed on the pile pressing platform by the hoisting mechanism so that its bottom is accurately docked with the top of the previous pile. After the pile clamping platform clamps the new prestressed concrete pile, the pile pressing platform moves the docking part of the two piles to the welding working height and starts the welding operation. The welding quality monitoring module monitors the welding process in real time, detects whether there are welding defects such as missed welding, and after the welding quality is qualified, continues the next stage of pile pressing operation until the last prestressed concrete pile is completely pressed into the soil;

[0025] S34: When the pile pressing platform presses the top of the last prestressed concrete pipe pile to a position lower than the working height of the pile pressing platform, the new prestressed concrete pipe pile is placed on the pile pressing platform by the hoisting mechanism so that its bottom is accurately docked with the top of the previous pipe pile. After the pile platform clamps the new pipe pile, the pile pressing platform applies a downward pressure to adjust the docking part of the two pipe piles to the specified pile top elevation. Subsequently, this prestressed concrete pipe pile is pulled out to prepare for the construction of the next pile position;

[0026] S35: The pile foundation bearing capacity prediction module analyzes the construction data in real time, predicts the bearing capacity of the prestressed concrete pile, and judges whether it is necessary to increase the number of pile joints of the prestressed concrete pile according to the original design parameters based on the real-time predicted bearing capacity result. After completing the current pile pressing stage, the hoisting mechanism of the static pile driver moves this prestressed concrete pile away from the pile driver, or it is retracted to the initial position by applying an upward pressure through the pile pressing platform.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. The present invention realizes the efficient automation and precise control of the construction process through the linkage of the central control system and the static pile driver;

[0029] 2. During the construction process of the present invention, the construction data collected in real time can regulate the leveling and pile pressing operations of the pile clamping platform and the pile pressing platform, ensure that the prestressed concrete pile enters the soil vertically and reaches the designed pile pressing depth, and avoid deviations;

[0030] 3. The welding quality monitoring module of the present invention can monitor the welding quality in real time to ensure that the construction quality meets the standards;

[0031] 4. The pile foundation bearing capacity prediction module of the present invention can dynamically predict the pile foundation bearing capacity according to real-time data, timely adjust the construction plan, and improve the safety and stability of construction;

[0032] 5. The present invention realizes centralized storage and management of data through a cloud platform, and all construction data, pile forming quality, welding quality and other information can be traced and displayed at any time, improving management efficiency and transparency, and iteratively training the model to continuously optimize the quality monitoring algorithm;

[0033] 6. The automatic scheduling and intelligent analysis of the present invention not only optimize the construction process, significantly improve the overall quality and construction efficiency of the project, reduce manual operation errors, and reduce safety risks, but also provide efficient and safe technical support for the construction of prestressed concrete piles. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a system block diagram of the present invention;

[0035] Figure 2 is a process schematic diagram of the present invention;

[0036] Figure 3 is a process schematic diagram in step S3 of the present invention;

[0037] Figure 4 is a structural schematic diagram of the static pile press in the present invention.

[0038] In the figure: 100, static pile press; 101, pile pressing platform; 102, pile clamping platform; 103, hoisting mechanism; 104, long ship; 105, short ship; 106, welding quality monitoring module; 107, cable tension sensor; 108, prestressed concrete pipe pile. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] Embodiment 1

[0041] Please refer to Figures 1-4, the present invention provides the following technical solutions: A monitoring and control system for static pile driver construction, including a central control system, a human-machine interaction screen display module, a static pile driver operation module, a construction data acquisition module, a welding quality monitoring module, a pile foundation bearing capacity prediction module, and a cloud data storage and presentation module; The human-machine interaction screen display module is used to receive and store construction design information, and display construction data, static pile driver status information, welding quality monitoring information, and pile foundation bearing capacity prediction information; The construction data acquisition module is used to collect the verticality of the prestressed concrete pile entering the soil, the hydraulic pressure information of the pile clamping platform of the static pile driver, the hydraulic pressure information of the pile pressing platform of the static pile driver, the entering depth information of the prestressed concrete pile, the entering speed information of the prestressed concrete pile, and the positioning information of the pile driver construction point; The central control system processes and calculates according to the pile foundation construction design information and the data information collected by the construction data acquisition module, and controls the static pile driver operation module; The welding quality monitoring module is used to realize the welding quality monitoring of the prestressed concrete pile joint by combining the deep learning algorithm; It is used to analyze whether the welding quality of the prestressed concrete pile joint meets the set standards, and formulate a repair welding decision according to the type and degree of welding defects, so as to realize the quantitative evaluation and diagnosis of the prestressed concrete pile joint quality. The pile foundation bearing capacity prediction module uses a neural network model to predict the vertical bearing capacity of the prestressed concrete pile for the real-time construction data processed by the central control system, and displays the prediction results in real time on the human-machine interaction screen display module; The cloud data storage and presentation module is used to receive the data uploaded by the central control system to the cloud platform server through mobile communication, store and manage and display the data, and perform iterative training on the model to realize the continuous optimization of the quality monitoring algorithm.

[0042] Specifically, the construction design information includes the center point coordinates of the prestressed concrete pile, the designed pile length, the designed pile diameter, the designed pile top elevation, the number of prestressed concrete pile joints, the entering speed of the prestressed concrete pile, the verticality of the prestressed concrete pile, and the designed bearing capacity.

[0043] Specifically, the construction data acquisition module includes a GNSS satellite positioning sensor, a pile pressing platform inclination sensor, a pile pressing depth monitoring sensor, and a hydraulic system pressure sensor. It is used to monitor the pressure change in real time, and all the collected data will be transmitted to the central control system by wire, as the basis for the central control system to issue instructions to each operation subsystem, execute control operations, and perform feedback regulation, so as to ensure that the static pile driver operates precisely according to the predetermined design parameters.

[0044] Among them, the GNSS satellite positioning sensor is equipped with a main antenna and a slave antenna, and accurately obtains the coordinate information of the antenna installation point and the azimuth relationship between the two antennas through a field base station or a local CORS system (Continuous Operational Reference Station). According to the geometric relationship between the installation points of the two antennas and the pile pressing center point, the system derives the accurate coordinates of the pile pressing center point through triangulation, and guides the static pile driver to perform precise pile pressing construction based on this.

[0045] Input the preset execution parameter information and construction design information through the human-machine interaction display module, or select the preset execution parameter information and construction design information corresponding to the pile number from the human-machine interaction display module, and real-time monitor and obtain relevant construction parameter information through the construction data acquisition module. Subsequently, the static pile driver operation module precisely controls the pile driver based on these data. The system collects and calculates various real-time construction parameters, including the positioning of the pile position center point, the inclination of the pile pressing platform, the pile pressing speed, the pile pressing depth, the hydraulic pressure of the pile clamping platform, and the hydraulic pressure of the pile pressing platform, so as to ensure that the construction quality of the static pile driver meets the design requirements.

[0046] Specifically, hydraulic system pressure sensors are respectively installed in the hydraulic systems of the pile pressing platform and the pile clamping platform, used to detect the pile clamping state, and calculate the penetration depth of the prestressed concrete pile by accumulating the effective relative displacement data during the pile clamping process; the pile pressing depth monitoring sensor is a wire-pulling displacement sensor, the wire end of the wire-pulling displacement sensor is fixedly connected to the pile pressing platform, and the hub end of the wire-pulling sensor is fixedly installed on the column beside the pile pressing platform; when the pile pressing platform moves up and down, the wire-pulling displacement sensor realizes accurate displacement recording by monitoring the relative displacement between the pile pressing platform and the column, so as to accurately measure the relative displacement distance between the two.

[0047] In order to ensure accurate recording of the pile penetration depth in the pile clamping state, the system first needs to determine whether it is currently in the pile clamping state. The determination of the pile clamping state can be carried out through the pressure sensor of the pile clamping platform hydraulic system. Specifically, by setting a threshold value P threshold , judge whether the pile clamping state is valid:

[0048]

[0049] This threshold value needs to be calibrated for each static pile driver and each pile type before construction to ensure that the pile clamping platform can stably clamp the pipe pile and can judge the minimum hydraulic value at which the pile clamping platform can stably clamp the pipe pile and move. During the calibration process, the system will determine the minimum hydraulic value threshold according to factors such as the hydraulic system characteristics of each static pile driver and the size and material of each pile type, so as to ensure that the pile clamping platform can stably and accurately clamp the pipe pile during actual construction and avoid misjudgment of the pile clamping state.

[0050] When the pressure P of the hydraulic system hydraulic reaches or exceeds the preset threshold value P threshold , the system enters the pile clamping state; if the pressure is lower than this threshold value, it is judged as the non-pile clamping state, and the displacement data recording is stopped.

[0051] In the pile clamping state, the system monitors the relative displacement of the pile pressing platform through a wire-pulling displacement sensor, and accumulates the effective relative displacement data of pile clamping Finally, the penetration depth D of the prestressed concrete pile is calculated in :

[0052] (only the displacement data accumulated in the pile clamping state);

[0053] To further improve the accuracy of pile depth calculation, after each pile clamping action, the data of the pressure sensor of the pile clamping platform hydraulic system can be used to adjust the calculation formula in real time, ensuring that the calculated penetration depth is dynamically adjusted according to the current actual state and pressure change. By combining the pile clamping state judgment and the accumulation and calculation of effective displacement data, the penetration depth of the pile can be accurately calculated. The judgment of the pile clamping state ensures that only the effective displacement data during the pile clamping process is recorded, thus avoiding the influence of invalid data in the non-pile clamping state on the depth calculation. This method not only improves the accuracy of depth calculation, but also ensures that the system can work stably and reliably during the complex pile pressing operation.

[0054] To further improve the accuracy of pile depth calculation, after each pile clamping action, the system uses the real-time feedback data of the pressure sensor of the pile clamping platform hydraulic system to dynamically adjust the depth calculation formula. This adjustment ensures that the calculated penetration depth can be accurately corrected according to the current pile clamping state and hydraulic pressure change. By combining the pile clamping state determination and the accumulation of effective displacement data, the system can accurately calculate the penetration depth of the pile until the depth sensor confirms that the design depth has been reached, completing the construction of the prestressed concrete pipe pile.

[0055] Specifically, the static pile driver operation module includes a walking control unit, which is used to compare the central coordinates of the pile position to be constructed and the central coordinates of the pile pressing platform, and control the static pile driver to move to the center point of the pile position to be constructed; a leveling control unit, which is used to finely adjust the deviation between the center point of the pile pressing platform and the center point of the pile position, and control the perpendicularity deviation value when the prestressed concrete pile is pressed into the ground through the tilt angle data of the pile pressing platform; a pile pressing control unit, which transmits the penetration depth and speed of the prestressed concrete pile to the static pile driver operation module; the static pile driver operation module controls the operation of the pile clamping platform and the pile pressing platform according to the preset execution parameter information until it is monitored that the prestressed concrete pile reaches the specified depth.

[0056] Specifically, the walking control unit calculates the offset between the current position of the pile driver and the pile position to be constructed by receiving the central coordinates of the pile position to be constructed and the central coordinates of the pile pressing platform, and then conducts coordinate comparison. Based on the offset, it controls the coordinated operation of the long ship walking cylinder and the short ship walking cylinder of the static pile driver. First, it controls the telescopic movement of the long ship walking cylinder to move the pile driver forward and backward along the long ship track, adjusting the position of the pile driver to approach the target position. Then, as needed, the short ship walking cylinder adjusts according to the set trajectory to further fine-tune the precise position of the static pile driver. When the static pile driver moves to the target position, the walking control unit ensures that the pile driver is accurately aligned with the center point of the pile position to be constructed through real-time feedback. Through the coordinated movement of the walking cylinders of the long ship and the short ship, the precise positioning and steady movement of the static pile driver are achieved throughout the process.

[0057] Specifically, the static pile driver achieves precise leveling of the pile pressing platform through the leveling control unit. The system uses inclination sensors installed on the working platform to detect the horizontal errors of the platform in the X and Y directions in real time and transmits the error signals to the central control system. After comprehensively processing the error signals, the central control system generates control signals to drive the leveling control unit to control the corresponding leg cylinders for adjustment, replacing manual intervention. By adjusting the leg cylinders, the levelness of the platform is corrected to ensure that the verticality of the pile is within 0.5%. The coordinate error during the leveling process does not exceed 5 cm to ensure the precise position of the platform in all directions. The inclination sensors continuously monitor the change in the levelness of the platform and provide real-time feedback to the central control system to form a closed-loop control, continuously optimizing and adjusting the position of the leg cylinders to ensure that the platform maintains a stable horizontal state. To ensure the smoothness of the leveling process and the high reliability of the system, electro-hydraulic servo control technology is adopted, using high-speed switching valves as the control unit and precisely regulating the displacement of the cylinders through hydraulic control reversing valves, thereby realizing the automatic leveling of the working platform and ensuring the efficient and stable operation of the static pile driver in harsh working environments.

[0058] Specifically, the static pile driver completes the pile pressing operation through the coordinated work of the pile pressing platform and the pile clamping platform. The prestressed concrete pile section is first hoisted into the central position of the pile clamping platform, and the pile clamping platform cylinder extends to firmly clamp the pile section through the pile clamping blocks. Subsequently, the pile pressing platform cylinder extends to push the pile clamping platform down along the guiding column, driving the pile section to be gradually pressed into the soil. When the stroke of the pile pressing platform cylinder reaches the set position, the pile clamping platform cylinder retracts to release the pile section. Immediately afterwards, the pile pressing platform cylinder performs a retracting movement to return to the initial state. Through the alternating movement of the pile pressing platform cylinder and the pile clamping platform cylinder, the pile pressing and pile lifting operations are completed throughout the process, ensuring the efficient and stable reciprocating pile pressing operation of the static pile driver.

[0059] Specifically, the welding quality monitoring module includes multiple high-definition vision acquisition units, infrared thermal imaging acquisition units, welding machine working parameter acquisition units, welding quality data processing units, and welding quality algorithm analysis units. Among them, the high-definition vision acquisition unit and the infrared thermal imaging acquisition unit are used to obtain high-definition images and thermal imaging data of the welding area of two prestressed concrete piles before, during, and after welding in real time; the welding machine working parameter acquisition unit acquires the key working parameters generated during the welding process of the welding machine; the welding quality data processing unit is responsible for preprocessing the obtained high-definition images, thermal imaging data, and welding machine working parameters to extract the shape features, contour features, thermal imaging defect features, welding area contour, welding machine working parameters, and weld shape features of the welding area, and fusing the feature data according to the time sequence to generate a welding quality data set; the welding quality algorithm analysis unit inputs the welding quality data set into a neural network model based on deep learning in real time, uses the model to analyze the generated parameters in real time, outputs a warning message of welding trajectory or welding quality abnormality, and displays it on the human-machine interaction screen display module.

[0060] Specifically, the welding quality algorithm analysis module realizes multi-modal data fusion through a deep learning model to improve the accuracy and robustness of welding quality assessment. The model receives preprocessed high-definition images, thermal imaging maps, and welding machine working parameter data, adopts a multi-input architecture, extracts low-level features through a convolutional neural network (CNN) with shared weights, and uses a self-attention mechanism to enhance the relevance and complementarity of different modal features. To optimize feature fusion, the model introduces a Transformer architecture to capture the global dependencies of cross-modal data, and combines a graph neural network (GNN) to extract the graph structure relationships between data. Especially in welding quality assessment, the interaction of different data sources is crucial for the assessment results. In addition, the attention mechanism (SE) is used to dynamically adjust the modal feature weights to ensure attention to key features, and the self-supervised learning method is used to automatically learn the potential laws in the data, further improving the robustness and generalization ability of the model.

[0061] Specifically, the pile foundation bearing capacity prediction module includes a bearing capacity prediction data processing unit, a bearing capacity prediction algorithm construction unit, and a bearing capacity prediction calculation unit. Among them, the bearing capacity prediction data processing unit is used to obtain and process the characteristic factors of single-pile construction data under different construction design parameter conditions, as well as the corresponding single-pile vertical bearing capacity data measured through static load tests; the bearing capacity prediction algorithm construction unit constructs a neural network model between the construction data and the single-pile vertical bearing capacity based on the characteristic factors of the construction data, and through periodic training and verification processes, combined with the historical database of the characteristic factors of the construction data and the single-pile vertical bearing capacity, continuously iteratively optimizes the neural network model; the bearing capacity prediction calculation unit processes and analyzes the real-time construction data of the target pile foundation according to the trained and optimized neural network model to achieve accurate prediction of the vertical bearing capacity of the pile foundation.

[0062] Specifically, the data uploaded by the central control system to the cloud platform server includes real-time data during construction, pile forming quality information, welding quality information, and the state of the pile driver.

[0063] Embodiment 2

[0064] In this embodiment, the engineering background is taken as an example of a certain factory building. The factory building uses PHC400 type prestressed concrete pipe piles with a pile length of 32 meters. The main pile section lengths are 11 meters, 11 meters, and 10 meters, and the bearing stratum is sandy silt layer 1. The design value of the single-pile vertical compressive bearing capacity is 900 kN, the design value of the single-pile ultimate bearing capacity is 1420 kN, and the design value of the vertical bearing capacity of the PHC pile is 1740 kN. The construction is carried out using a PHC static pile driver. The main column grid size of the factory building is (9.5m + 32m) × 8m. The design adopts end-bearing piles, and it is required that the pile body enters the bearing stratum by a depth of 0.8 to 1.2 meters to ensure the pile forming quality.

[0065] In the human-machine interaction interface, the user can input or select the saved construction design parameters. For the construction of prestressed concrete pipe piles, input a pile length of 32 meters, the number of pile joints is 2 times, the designed pile top elevation is -2 meters, the pile section lengths are 11 meters, 11 meters, and 10 meters respectively, the pile pressing speed is 1 m / min, the pile diameter is 400 mm, and the protective gas used in the construction is carbon dioxide (CO2). At the same time, the user also needs to input the coordinates (x, y) of the pile according to the actual situation to ensure the accuracy of the position during the construction process.

[0066] The walking control unit calculates the offset between the current position of the pile driver and the position of the pile to be constructed by receiving the central coordinates (x, y) of the pile position to be constructed and the central coordinates of the pile pressing platform, and then conducts coordinate comparison. According to the calculated offset, it controls the coordinated operation of the lifting mechanism walking cylinder and the short barge walking cylinder of the static pile driver. First, it controls the long barge walking cylinder to extend and retract to adjust the pile driver to move forward and backward along the long barge track, gradually approaching the target position. Then, as needed, the short barge walking cylinder makes fine adjustments according to the set trajectory to further accurately position the static pile driver. When the static pile driver moves to the target position, the walking control unit ensures that the pile driver is accurately aligned with the center point of the pile position to be constructed through real-time feedback, ensuring that the pile position deviation is within 2 cm. Through the coordinated cooperation of the long barge and short barge walking cylinders, the entire process realizes the accurate positioning and stable movement of the static pile driver.

[0067] The leveling control unit realizes the precise leveling of the pile pressing platform. It monitors the horizontal errors of the platform in the X and Y directions in real time through the tilt sensors installed on the working platform and transmits the data to the central control system. After processing the error signals, the central control system generates control instructions to drive the leveling control unit to adjust the outrigger cylinders, realizing automatic adjustment and avoiding manual intervention. By adjusting the outrigger cylinders, the levelness of the platform is corrected, ensuring that the verticality error of the pile does not exceed 0.5%, and the coordinate error does not exceed 5 cm, ensuring the accurate position of the platform. The tilt sensors continuously monitor and feedback the horizontal changes of the platform during the leveling process, forming a closed-loop control to optimize the cylinder position and maintain the stable horizontal state of the platform. To improve the leveling accuracy and system reliability, electro-hydraulic servo control technology is adopted to accurately control the cylinder displacement through high-speed switching valves and hydraulic control reversing valves, realizing the automatic leveling of the working platform and ensuring the efficient and stable operation of the static pile driver in harsh environments.

[0068] The lifting mechanism of the static pile driver lifts the first 11-meter pile section to the center of the pile clamping platform. The cylinder of the pile clamping platform extends, firmly clamping the pile section through the pile clamping blocks, and it is determined to be in the pile clamping state. The depth sensor starts to accumulate and count. Subsequently, the cylinder of the pile pressing platform extends, pushing the pile clamping platform to move downward along the guiding column, driving the pile section to be gradually pressed into the soil at a speed of 1 m / min. When the stroke of the cylinder of the pile pressing platform reaches the lowest working height, the cylinder of the pile clamping platform returns, releasing the pile section, and it is determined to be in the non-pile clamping state. The cylinder of the pile pressing platform returns to the initial position. The entire process realizes the pile pressing and pile lifting operations through the alternating movement of the cylinders of the pile pressing platform and the pile clamping platform until the pile top of the pile section reaches the lowest pile clamping height. The lifting mechanism lifts the second 11-meter pile section to the center of the pile clamping platform and slowly lowers it until the bottom of the pile is butted with the pile top of the previous pile section. The cylinder of the pile pressing platform extends, pushing the pile clamping platform to continue moving downward until the butt joint of the two pile sections is at a height of 0.8 - 1.2 meters above the ground, preparing for welding the pile joints, and starting the welding quality monitoring module.

[0069] The welding quality monitoring module adjusts the shooting angles of multiple high-definition vision acquisition units and the infrared thermal imaging module to ensure comprehensive acquisition of the welding area of the prestressed concrete pipe pile. The operator checks the welding machine working parameter acquisition unit to confirm its normal operation. After the inspection is completed, the welding operation is ready to be started.

[0070] During the welding process, the high-definition vision acquisition unit obtains high-definition images of the welding area in real time and extracts key feature information. The welding machine working parameter acquisition unit records data such as current, voltage, wire feeding speed, shielding gas flow rate, and welding torch angle. The infrared thermal imaging module monitors the temperature change in the welding area, and the high-definition vision module records the weld formation image. All image and working parameter data are processed for real-time welding quality analysis to determine whether the welding quality meets the preset standards. If defects or abnormalities are detected, the system will display a warning on the human-machine interaction interface and give suggestions for repair welding. After the welding quality is confirmed to be qualified, the weld cools naturally for 8 minutes, and the system automatically resumes the pile pressing operation.

[0071] The clamping platform oil cylinder extends, firmly clamps the pile section through the clamping blocks, and is determined to be in the clamping state. The depth sensor starts to accumulate and count. Subsequently, the pile pressing platform oil cylinder extends, pushing the clamping platform to move down along the guiding column, driving the pile section to be gradually pressed into the soil until the top of the second 11-meter pile section reaches the lowest clamping height. The hoisting mechanism hoists the third 10-meter pile section to the center of the clamping platform and slowly lowers it until the bottom of the pile is butted against the top of the previous pile section. The pile pressing platform oil cylinder extends, pushing the clamping platform to continue moving down until the butt joint of the two pile sections is at a height of 0.8 - 1.2 meters above the ground, preparing for welding pile splicing. The welding quality monitoring module is started again, and the welding pile splicing work is carried out.

[0072] After welding is completed, the clamping platform oil cylinder extends, fixes the pile section through the clamping blocks, and is determined to be in the clamping state. The depth sensor starts to count. Subsequently, the pile pressing platform oil cylinder extends, pushing the clamping platform to move down along the guiding column, gradually pressing the pile section into the soil until the top of the third 10-meter pile section reaches the lowest clamping height. The hoisting mechanism hoists an additional 11-meter pile section to the center of the clamping platform and slowly lowers it until the bottom of the pile is butted against the previous pile section. The pile pressing platform oil cylinder extends, pushing the clamping platform to continue moving down until the butt joint of the two pile sections reaches the position of -2 meters of the designed pile top elevation. The pile foundation bearing capacity prediction module is used to judge whether the vertical bearing capacity reaches the designed value. If it does not reach the designed value, the management personnel can adjust the construction plan; if the bearing capacity meets the requirements, the clamping platform oil cylinder extends, the clamping blocks fix the 11-meter pile section, and the clamping platform is pushed to move up along the guiding column and taken out of the ground to complete the construction.

[0073] Embodiment 3

[0074] Furthermore, a method for implementing the monitoring and control system for the construction of a static pile driver according to the present invention includes the following steps:

[0075] S1: Before the construction starts, input or select the saved construction design parameters in the man-machine interaction interface. Based on the central point coordinates of the prestressed concrete pile, the central control system instructs the pile driver to move to the central point position of the prestressed concrete pile to be constructed through the travel control unit;

[0076] S2: Collect real-time construction data such as the central point coordinates of the pile pressing platform, the verticality of the prestressed concrete pile entering the soil, the hydraulic pressure of the pile clamping platform, the hydraulic pressure of the pile pressing, the penetration depth and penetration speed of the prestressed concrete pile, etc. through the construction data acquisition module;

[0077] S3: The central control system adjusts the leveling control unit and the pile pressing control unit according to the collected construction data to complete the leveling and pile pressing operations of the pile pressing platform. At the same time, during the pile splicing process of the prestressed concrete pile, the welding quality monitoring module monitors the welding quality in real time, and the pile foundation bearing capacity prediction module predicts the final bearing capacity of the prestressed concrete pile based on the real-time construction data;

[0078] S4: The central control system uploads the real-time data, pile forming quality, welding quality and pile driver status information during the construction process to the cloud platform server through mobile communication, and the cloud data storage and presentation module centrally stores, manages and displays the data.

[0079] Further in the present invention, step S3 includes the following steps:

[0080] S31: Adjust the pile pressing platform through the leveling control unit to accurately align its central point with the central point of the prestressed concrete pile; adjust the inclination angle of the pile pressing platform to ensure that the prestressed concrete pile remains vertical during the process of entering the soil; when the pile pressing platform moves to the highest stroke, the pile clamping platform clamps the prestressed concrete pile, and at this time, the pile clamping state is determined as "pile clamping";

[0081] S32: The pile pressing platform applies a downward pressure to the clamped prestressed concrete pile through the hydraulic system and controls the penetration speed and verticality of the pile body according to the construction design parameters; the pile penetration depth monitoring sensor records the effective displacement of the prestressed concrete pile. When the pile pressing platform moves to the lowest stroke, the pile clamping platform releases the prestressed concrete pile, and at this time, the pile clamping state is determined as "non-pile clamping". When the pile pressing platform moves to the highest stroke again, the pile penetration depth monitoring sensor does not record this section of the stroke. This process is repeated, and the effective stroke during pile clamping is recorded until the top of the prestressed concrete pile reaches a position lower than the working height of the pile pressing platform;

[0082] S33: Place the new prestressed concrete pile onto the pile pressing platform through the hoisting mechanism, and precisely align its bottom with the top of the previous pile. After the pile clamping platform clamps the new prestressed concrete pile, the pile pressing platform moves the butt joint part of the two piles to the welding working height and starts the welding operation. The welding quality monitoring module monitors the welding process in real time, detects whether there are any missed welds or other welding defects, and after the welding quality is qualified, continue with the next stage of pile pressing operation until the last prestressed concrete pile is completely pressed into the soil;

[0083] S34: When the top end of the last prestressed concrete pipe pile is pressed below the working height of the pile pressing platform, place the new prestressed concrete pipe pile onto the pile pressing platform through the hoisting mechanism, and precisely align its bottom with the top of the previous pipe pile. After the pile platform clamps the new pipe pile, the pile pressing platform applies a downward pressure to adjust the butt joint part of the two pipe piles to the specified pile top elevation. Subsequently, pull out this prestressed concrete pipe pile to prepare for the construction of the next pile position;

[0084] S35: The pile foundation bearing capacity prediction module analyzes the construction data in real time, predicts the bearing capacity of the prestressed concrete pile, and based on the real-time predicted bearing capacity results, determines whether it is necessary to increase the number of pile joints of the prestressed concrete pile according to the original design parameters. After completing the current pile pressing stage, the hoisting mechanism of the static pile driver moves this prestressed concrete pile away from the pile driver, or applies an upward pressure through the pile pressing platform to retract it to the initial position.

[0085] In summary, the present invention realizes the efficient automation and precise control of the construction process through the linkage between the central control system and the static pile driver; during the construction process of the present invention, the construction data collected in real time can regulate the leveling and pile pressing operations of the pile clamping platform and the pile pressing platform to ensure that the prestressed concrete pile enters the soil vertically and reaches the designed pile pressing depth, avoiding deviations; the welding quality monitoring module of the present invention can monitor the welding quality in real time to ensure that the construction quality meets the standards; the pile foundation bearing capacity prediction module of the present invention can dynamically predict the bearing capacity of the pile foundation according to the real-time data, timely adjust the construction plan, and improve the safety and stability of the construction; the present invention realizes the centralized storage and management of data through the cloud platform, and all construction data, pile forming quality, welding quality and other information can be traced and displayed at any time, improving the management efficiency and transparency, and performing iterative training on the model to continuously optimize the quality monitoring algorithm; the automatic scheduling and intelligent analysis of the present invention not only optimize the construction process, significantly improve the overall quality and construction efficiency of the project, reduce the manual operation error, and reduce the safety risk, but also provide efficient and safe technical support for the construction of prestressed concrete piles.

[0086] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A monitoring and control system for the construction of a static pile driver, characterized in that: It includes a central control system, a human-machine interaction display module, a static pile press operation module, a construction data acquisition module, a welding quality monitoring module, a pile foundation bearing capacity prediction module, and a cloud data storage and presentation module; The human-machine interaction display module is used to receive and store construction design information, and display construction data, static pile press status information, welding quality monitoring information, and pile foundation bearing capacity prediction information; The construction data acquisition module is used to collect the verticality of the prestressed concrete pile entering the soil, the hydraulic pressure information of the pile clamping platform of the static pile press, the hydraulic pressure information of the pile pressing platform of the static pile press, the penetration depth information of the prestressed concrete pile, the penetration speed information of the prestressed concrete pile, and the positioning information of the pile machine construction point; The central control system processes and calculates according to the pile foundation construction design information and the data information collected by the construction data acquisition module, and controls the static pile press operation module; The welding quality monitoring module is used to realize the welding quality monitoring of the prestressed concrete pile joint by combining the deep learning algorithm; The pile foundation bearing capacity prediction module uses a neural network model to predict the vertical bearing capacity of the prestressed concrete pile for the real-time construction data processed by the central control system, and displays the prediction results in the human-machine interaction display module in real time; The cloud data storage and presentation module is used to receive the data uploaded by the central control system to the cloud platform server through mobile communication, store, manage and display the data, and perform iterative training on the model.

2. The monitoring and control system for the construction of a static pile driver according to claim 1, characterized in that: The construction design information includes the central coordinates of the prestressed concrete pile, the designed pile length, the designed pile diameter, the designed pile top elevation, the number of prestressed concrete pile joints, the penetration speed of the prestressed concrete pile, the verticality of the prestressed concrete pile, and the designed bearing capacity.

3. The monitoring and control system for the construction of a static pile driver according to claim 1, characterized in that: The construction data acquisition module includes a GNSS satellite positioning sensor, a pile pressing platform inclination sensor, a pile pressing depth monitoring sensor, and a hydraulic system pressure sensor.

4. The monitoring and control system for the construction of a static pile driver according to claim 3, characterized in that: The hydraulic system pressure sensors are respectively installed in the hydraulic systems of the pile pressing platform and the pile clamping platform, used to detect the pile clamping state, and calculate the penetration depth of the prestressed concrete pile by accumulating the effective relative displacement data during the pile clamping process; the pile pressing depth monitoring sensor is a wire-pulling displacement sensor, the wire end of the wire-pulling displacement sensor is fixedly connected to the pile pressing platform, and the hub end of the wire sensor is fixedly installed on the column beside the pile pressing platform.

5. The monitoring and control system for the construction of a static pile driver according to claim 1, wherein: The static pile press operation module includes, A walking control unit, used to compare the central coordinates of the pile position to be constructed and the central coordinates of the pile pressing platform, and control the static pile press to move to the center point of the pile position to be constructed; A leveling control unit, used to finely adjust the deviation between the center point of the pile pressing platform and the center point of the pile position, and control the verticality deviation value when the prestressed concrete pile is pressed into the ground through the pile pressing platform inclination data; A pile pressing control unit, which transmits the penetration depth and speed of the prestressed concrete pile to the static pile press operation module; the static pile press operation module controls the operation of the pile clamping platform and the pile pressing platform according to the preset execution parameter information until it is monitored that the prestressed concrete pile reaches the specified depth.

6. The monitoring and control system for the construction of a static pile driver according to claim 1, characterized in that: The welding quality monitoring module includes multiple high-definition vision acquisition units, infrared thermal imaging acquisition units, welder working parameter acquisition units, welding quality data processing units, and welding quality algorithm analysis units. Among them, the high-definition vision acquisition unit and the infrared thermal imaging acquisition unit are used to obtain high-definition images and thermal imaging data of the welding area of two prestressed concrete piles before, during, and after welding in real time; the welder working parameter acquisition unit acquires the key working parameters generated during the welding process; the welding quality data processing unit is responsible for preprocessing the obtained high-definition images, thermal imaging data, and welder working parameters to extract the shape features, contour features, thermal imaging defect features, welding area contour, welder working parameters, and weld shape features of the welding area, and fusing the feature data according to the time sequence to generate a welding quality data set; the welding quality algorithm analysis unit inputs the welding quality data set into a neural network model based on deep learning in real time, uses the model to analyze the generated parameters in real time, outputs a warning message of welding trajectory or welding quality abnormality, and displays it on the human-machine interaction screen display module.

7. The monitoring and control system for the construction of a static pile driver according to claim 1, characterized in that: The pile foundation bearing capacity prediction module includes a bearing capacity prediction data processing unit, a bearing capacity prediction algorithm construction unit, and a bearing capacity prediction calculation unit. Among them, the bearing capacity prediction data processing unit is used to obtain and process the characteristic factors of single-pile construction data under different construction design parameter conditions, as well as the corresponding single-pile vertical bearing capacity data measured by the static load test; the bearing capacity prediction algorithm construction unit constructs a neural network model between the construction data and the single-pile vertical bearing capacity based on the construction data characteristic factors, and through periodic training and verification processes, combines the construction data characteristic factors with the historical database of the single-pile vertical bearing capacity to continuously iteratively optimize the neural network model; the bearing capacity prediction calculation unit processes and analyzes the real-time construction data of the target pile foundation according to the trained and optimized neural network model to achieve accurate prediction of the vertical bearing capacity of the pile foundation.

8. The monitoring and control system for the construction of a static pile driver according to claim 1, wherein: The data uploaded by the central control system to the cloud platform server includes real-time data during construction, pile forming quality information, welding quality information, and the state of the pile driver.

9. A method for implementing a monitoring and control system for a static pile driver construction according to any one of claims 1-8, characterized in that, It includes the following steps: S1: Before construction starts, input or select the saved construction design parameters in the human-machine interaction interface. Based on the center point coordinates of the prestressed concrete pile, the central control system instructs the pile driver to move to the center point position of the prestressed concrete pile to be constructed through the travel control unit. S2: Collect real-time construction data such as the center point coordinates of the pile pressing platform, the verticality of the prestressed concrete pile entering the soil, the hydraulic pressure of the pile clamping platform, the hydraulic pressure of the pile pressing, the penetration depth and penetration speed of the prestressed concrete pile through the construction data acquisition module. S3: The central control system adjusts the leveling control unit and the pile pressing control unit according to the collected construction data to complete the leveling and pile pressing operations of the pile pressing platform. At the same time, during the pile splicing process of the prestressed concrete pile, the welding quality monitoring module monitors the welding quality in real time, and the pile foundation bearing capacity prediction module predicts the final bearing capacity of the prestressed concrete pile based on the real-time construction data. S4: The central control system uploads the real-time data, pile-forming quality, welding quality, and pile driver status information during the construction process to the cloud platform server through mobile communication, and the cloud data storage and presentation module centrally stores, manages, and displays the data.

10. A method for implementing a monitoring and control system for the construction of a static pile driver, according to claim 9, characterized in that: The said step S3 includes the following steps: S31: Adjust the pile pressing platform through the leveling control unit so that its center point is precisely aligned with the center point of the prestressed concrete pile; adjust the inclination angle of the pile pressing platform to ensure that the prestressed concrete pile remains vertical during the process of entering the soil; when the pile pressing platform moves to the highest stroke, the pile clamping platform clamps the prestressed concrete pile, and at this time, the pile clamping state is determined as "piling clamping". S32: The pile pressing platform applies a downward pressure to the clamped prestressed concrete pile through the hydraulic system and controls the speed and verticality of the pile body entering the soil according to the construction design parameters; the pile pressing depth monitoring sensor records the effective displacement of the prestressed concrete pile. When the pile pressing platform moves to the lowest stroke, the pile clamping platform releases the prestressed concrete pile, and at this time, the pile clamping state is determined as "non-piling clamping". When the pile pressing platform moves to the highest stroke again, the pile pressing depth monitoring sensor does not record this section of the stroke. This process is repeated, and the effective stroke during piling clamping is recorded until the top of the prestressed concrete pile reaches a position lower than the working height of the pile pressing platform. S33: Place a new prestressed concrete pile on the pile pressing platform through the hoisting mechanism so that its bottom is precisely docked with the top of the previous pile. After the pile clamping platform clamps the new prestressed concrete pile, the pile pressing platform moves the docking part of the two piles to the welding working height and starts the welding operation. The welding quality monitoring module monitors the welding process in real time, detects whether there are any missed welds or other welding defects, and after the welding quality is qualified, continue with the next stage of the pile pressing operation until the last prestressed concrete pile is completely pressed into the soil. S34: After the pile pressing platform presses the top of the last prestressed concrete pipe pile to a position lower than the working height of the pile pressing platform, place a new prestressed concrete pipe pile on the pile pressing platform through the hoisting mechanism so that its bottom is precisely docked with the top of the previous pipe pile. After the pile platform clamps the new pipe pile, the pile pressing platform applies a downward pressure to adjust the docking part of the two pipes to the specified pile top elevation. Subsequently, pull out this prestressed concrete pipe pile to prepare for the construction of the next pile position. S35: The pile foundation bearing capacity prediction module analyzes the construction data in real time, predicts the bearing capacity of the prestressed concrete pile, and determines whether it is necessary to increase the number of pile joints of the prestressed concrete pile according to the original design parameters based on the real-time predicted bearing capacity results. After completing the current pile pressing stage, the hoisting mechanism of the static pile driver moves this prestressed concrete pile away from the pile driver, or the pile pressing platform applies an upward pressure to retract it to the initial position.

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