Perpendicularity control method and platform for tubular pile construction

Abstract

The invention discloses a perpendicularity control method and platform for tubular pile construction in the technical field of engineering construction tubular pile construction, the platform comprises a reference positioning module and a dynamic adjustment module, the reference positioning module is used for establishing a first coordinate system for an initial vertical reference of a tubular pile; the dynamic adjusting module is used for establishing a second coordinate system with the tubular pile as the reference, monitoring and correcting the perpendicularity deviation of the tubular pile in the construction process in real time and correcting the perpendicularity deviation until the perpendicularity meets the requirement, and the coordinate axis of the second coordinate system and the coordinate axis of the first coordinate system keep the spatial corresponding relation; according to the scheme, through multi-sensor data fusion and closed-loop control, intelligent control over the perpendicularity of the tubular pile is achieved, and the method is suitable for rapid construction of the tubular pile.

Description

Technical Field

[0001] The present application relates to the technical field of pipe pile construction for engineering construction, and specifically to a verticality control method and platform for pipe pile construction. Background Art

[0002] In construction projects, the verticality of pipe piles is a key factor affecting the bearing capacity of pile foundations and construction quality. Controlling the verticality of pipe piles, including prestressed concrete pipe piles and steel pipe piles, is a key technical step in pile foundation construction, and its accuracy directly affects the bearing capacity of pile foundations, construction quality, and project safety. Currently, measurement techniques for pipe pile verticality control include the theodolite method, the inclinometer method, the plumb line method, and the sliding inclinometer method. The theodolite method uses a theodolite or total station to measure the vertical outer surface of the exposed pile body to obtain the verticality of the pile body. The inclinometer method uses a dedicated inclinometer against the vertical outer surface of the exposed pile body to directly measure the verticality of the pile body. The plumb line method places a plumb line near the vertical outer surface of the exposed pile body and calculates the verticality of the pile body by measuring the horizontal distance from the vertical outer surface of the pile body to the plumb line at different heights. The sliding inclinometer method uses a guide and centering device installed in the pile hole and a sliding inclinometer to measure the verticality of the pile body. These methods combined with construction control are mainly divided into two categories: traditional manual control and automated monitoring and adjustment, each with different technical characteristics and development status.

[0003] Traditional methods mainly use the plumb line method and optical measurement method, with measurement accuracy in the range of 1-3cm and an adjustment cycle of up to 30 to 60 minutes. They have problems such as low efficiency and large human errors.

[0004] In order to solve the problem of verticality control in pipe pile construction, the patent document with authorization announcement number CN221663669U discloses a verticality control device for PHC prefabricated pipe piles, including a triangular bracket, a vertical pole, a hanging line and a hanging line bob. This solution can accurately determine the position of the pipe piles to be installed. Specifically, it has a simple structure, is easy to use, and can effectively save construction costs. However, during the injection process of PHC prefabricated pipe piles, it is necessary to pay attention to the changes in the verticality of the PHC prefabricated pipe piles at all times, and take corresponding measures to accurately adjust and control them to ensure the stability and bearing capacity of the PHC prefabricated pipe piles, and provide reliable foundation support for the building.

[0005] Automation technology uses high-precision sensors such as inclination sensors with an accuracy of ±0.01°, inertial measurement units (IMUs) with an attitude accuracy of 0.02°, and intelligent control systems with a response time of less than 200ms, which can improve the verticality control accuracy to 0.1% to 0.3%, realizing real-time monitoring and adjustment.

[0006] However, although the automation system has obvious advantages in accuracy and efficiency, and the adjustment cycle can be shortened to within 10 seconds, it has application bottlenecks such as high equipment cost and high maintenance requirements. Some equipment requires 300,000 to 500,000 yuan.

[0007] In addition, in actual pile group construction, it is often necessary to control the verticality of multiple pipe piles at the same time, but most existing technologies currently only support single pile operations and cannot achieve coordinated adjustment of multiple piles. Summary of the Invention

[0008] In view of the shortcomings of the existing technology, the present invention provides a verticality control method and platform for pipe pile construction to solve the problems of high cost, low degree of automation, and large verticality control error in the above-mentioned existing technology.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0010] A verticality control method for pipe pile construction, characterized by comprising:

[0011] Steps for building a base platform and establishing a first coordinate system of the base platform;

[0012] Steps for initial positioning of pipe piles;

[0013] Steps for establishing a second coordinate system for pipe piles;

[0014] Procedures for monitoring, judging and adjusting the verticality of pipe piles;

[0015] The base platform is used for initial positioning of the pipe piles and establishment of the first coordinate system;

[0016] The second coordinate system is axially parallel to the coordinate axes of the first coordinate system and corresponds to each other in space. The data for monitoring the verticality of the pipe pile includes an attitude deviation angle. When the attitude deviation angle is greater than a design threshold, an adjustment command is issued to adjust the verticality of the pipe pile through the deviation relationship between the second coordinate system and the first coordinate system until the attitude deviation angle is no greater than the threshold.

[0017] Preferably, the method further includes a base platform initial posture adjustment step, wherein the base platform initial posture adjustment is used to adjust the levelness of the base platform to within a set threshold.

[0018] Preferably, the data for monitoring the verticality of the pipe pile further includes the instantaneous three-axis acceleration and angular velocity of the pipe pile, and the instantaneous three-axis acceleration and angular velocity of the pipe pile are used to dynamically correct the attitude deviation angle.

[0019] Based on the same inventive concept, the present application also discloses a verticality control platform for pipe pile construction, including a base platform fixed on the ground, a control host on the base platform, a reference positioning module and a dynamic adjustment module. A pipe pile through hole is opened in the center of the base platform. The reference positioning module is used for the initial positioning of the pipe pile and for establishing a first coordinate system with the center of the pipe pile through hole as the origin. The reference positioning module includes an adjustable support frame, a laser plumb line, a target array and a spatial coordinate measuring device. The adjustable support frame is fixedly installed on the base platform for fixing the upper end of the pipe pile. The laser plumb line is installed on the base platform through a bracket and projects a laser beam vertically to the center of the pipe pile through hole as the Z axis of the first coordinate system. The targets are symmetrically distributed at equal heights and distances around the base platform. The spatial coordinate measuring device cooperates with the target array to measure the spatial coordinates. The control host is wirelessly connected to the laser plumb line and the spatial coordinate measuring device and receives spatial measurement data to establish the first coordinate system. The dynamic The adjustment module includes a multi-sensor monitoring device and a hydraulic servo adjustment mechanism arranged on a base platform. The multi-sensor monitoring device includes at least an inclinometer and a laser ranging unit that are communicatively connected to the control host. The inclinometer is arranged on the pipe pile for monitoring the inclination of the pipe pile. The laser ranging units are symmetrically distributed around the upper end of the pipe pile and are used to obtain the spatial coordinates of the upper end of the pipe pile. The plane where the laser ranging unit emits laser constitutes a pipe pile reference surface. A second coordinate system is established with the geometric center of the section line of the pipe pile on the pipe pile reference surface as the origin. The second coordinate system is axially parallel to the coordinate axis of the first coordinate system and corresponds to the coordinate axis of the first coordinate system in space. The hydraulic servo adjustment mechanism is symmetrically installed on the base platform along the pipe pile through hole. After the control host obtains the data received by the multi-sensor monitoring device, the inclination of the pipe pile is used as the attitude deviation angle for comparison with the design threshold. The hydraulic servo adjustment mechanism is controlled to horizontally adjust the position of the lower end of the pipe pile through the deviation relationship between the second coordinate system and the first coordinate system so that the attitude deviation angle is within the design threshold.

[0020] Preferably, the spatial coordinate measuring device uses a total station.

[0021] Preferably, the reference positioning module also includes a horizontal calibration mechanism, which is arranged on a base platform. The base platform is fixed to the ground through a support base at the bottom of the corner. A base platform adjustment device is provided on the top of the support base for adjusting the height of the base platform corner. The horizontal calibration mechanism and the base platform adjustment device are communicatively connected to the control host.

[0022] Preferably, the horizontal calibration mechanism uses an orthogonally arranged dual-attitude sensor, the target array uses a rectangular array, the base platform is square, the number of the hydraulic servo adjustment mechanisms is four and they are symmetrically orthogonally arranged along the pipe pile through hole, and the number of the support base and laser ranging units is four.

[0023] Preferably, the multi-sensor monitoring device further comprises an inertial measurement assembly, which obtains the instantaneous three-axis acceleration and angular velocity of the pile for dynamic correction of the attitude deviation angle.

[0024] Preferably, it also includes an intelligent interactive terminal, which is arranged on the base platform and is communicatively connected to the control host for receiving operator instructions, displaying real-time data status and feedback platform operation information.

[0025] Preferably, the adjustable support frame includes a platform fixed support, a component stabilizing rod, a vertically adjustable rod, a horizontally adjustable rod and a ring-type pipe pile fixing frame, the platform fixed support is fixed to the base platform, the vertically adjustable rod is vertically fixed on the platform fixed support and rotates relative to the platform fixed support, the horizontally adjustable rod is horizontally fixed on the vertical adjustable rod toward the base platform pipe pile through hole, the ring-type pipe pile fixing frame extends from the end of the horizontally adjustable rod to the pipe pile through hole, the component stabilizing rod is fixed between the bottom of the end of the horizontally adjustable rod and the lower part of the vertical adjustable rod, the ring of the ring-type pipe pile fixing frame is used to fix the pipe pile, and the ring-type pipe pile fixing frame rotates relative to the horizontally adjustable rod in the extension direction of the horizontally adjustable rod and the vertical direction.

[0026] Compared with the existing technology, the beneficial effects of this solution are as follows: by integrating sensors, control systems and mechanical adjustment devices, real-time monitoring and automatic adjustment of verticality during pipe pile construction are achieved; by establishing the spatial correspondence between the first coordinate system (O-XYZ) and the second coordinate system (O'-X'Y'Z') as the reference static coordinate system and the construction dynamic coordinate system, precise control is achieved, and construction accuracy and efficiency are improved; by adopting the dual control strategy of "reference measurement + dynamic adjustment", verticality control accuracy of millimeter level (±2mm) is achieved, the response time is shortened to less than 200ms, and the construction requirements of various specifications of pipe piles such as diameters of 400-1200mm are supported. High-precision control of verticality is achieved throughout the entire process of pipe pile construction, improving construction quality and efficiency and reducing error rates, reducing manual intervention, reducing the need for manual measurement and adjustment, and reducing construction costs. At the same time, by using the same set of first coordinate systems, this solution can achieve convenient and rapid adjustment of the verticality of other pipe piles. This application develops an intelligent system to support pipe pile construction, further improving construction efficiency and providing a path for the evolution of technology towards intelligence. This evolution may include: 5G remote monitoring, machine learning algorithm optimization, and integration with BIM / GIS platforms. This opens the possibility of establishing unified technical standards, promoting modularization and lightweight design, and achieving wider engineering applications in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1This is a general flow chart of an embodiment of a verticality control method for pipe pile construction according to the present invention;

[0028] Figure 2 This is a schematic diagram of the front view of an embodiment of a verticality control platform for pipe pile construction according to the present invention;

[0029] Figure 3 This is a top view of an embodiment of a verticality control platform for pipe pile construction according to the present invention;

[0030] Figure 4 This is a schematic diagram of the first coordinate system and the second coordinate system of this scheme;

[0031] Figure 5 This is a schematic diagram of the three-dimensional structure of an embodiment of the adjustable support frame of this solution;

[0032] Among them, 1-target, 2-support base, 3-intelligent interactive terminal, 4-adjustable support frame, 401-ring type pipe pile fixing frame, 402-horizontally adjustable rod, 403-vertically adjustable rod, 404-component stabilizing rod, 405-platform fixed support, 5-laser plumb bobbin, 6-horizontal calibration mechanism, 701-inclinometer, 702-laser ranging unit, 703-inertial measurement unit, 8-hydraulic servo adjustment mechanism, 9-total station, 10-base platform, 11-first coordinate system, 12-second coordinate system, 13-control host, 14-pipe pile. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0034] An embodiment of a verticality control method for pipe pile construction includes the following steps:

[0035] The steps for building the base platform 10 and establishing the first coordinate system 11 specifically include: completing the installation of the support base 2 and the base platform 10, placing the laser plumb line 5 and the total station 9, arranging the array of reference targets 1 and establishing the first coordinate system 11. In this embodiment, the base platform 10 is square, and a pipe pile through hole is opened in the center of the base platform 10. The bottom of the four corners of the base platform 10 is fixed to the ground through the support base 2. In this embodiment, casters are provided at the bottom of the support base 2, so that the base platform 10 can be conveniently moved on the ground through the support base 2. A base platform adjustment device is provided on the top of the support base 2 for adjusting the horizontality of the base platform 10. The base platform adjustment device can use hydraulic rods for separate vertical and horizontal adjustment or composite adjustment rods. A laser plumb line 5 is mounted and calibrated on the base platform 10 via a bracket. The laser plumb line 5 is positioned above the pipe pile 14 to be installed and projects a laser beam vertically downward. In this embodiment, the projected laser beam passes through the center of the pipe pile's hole. The laser plumb line uses a precision laser plumb line with a standard deviation of no more than one hundred thousandth of a point in a single-turn vertical measurement. A first coordinate system 11 is defined by the geometric center of the pipe pile's hole on the upper surface of the base platform 10 as its origin O. The laser plumb line 5 projects a laser beam vertically downward, precisely passing through the origin O of the first coordinate system 11. This defines the vertical Z axis of the first coordinate system 11 and establishes a vertical reference axis. Several reference targets 1 are equidistantly arranged in an array around the construction area surrounding the base platform 10. The array is typically annular or rectangular, symmetrically distributed, and serves as a multi-dimensional spatial reference. The spatial position of the pipe pile 14 can be determined from any direction, achieving comprehensive measurement coverage. In this embodiment, 20 targets 1 are used to form a rectangular array. Each target 1 is equipped with a reflective prism or an optical target plate, and the surface is made of anti-reflective and weather-resistant materials to reduce environmental interference and improve measurement reliability. The installation height is unified to avoid spatial projection errors caused by height differences. In conjunction with the spatial measurement device, it can achieve a positioning accuracy of less than ±1mm to form a three-dimensional spatial reference system. The base platform 10 is provided with an intelligent interactive terminal 3 on the side, and a control host 13 is provided inside the base platform 10. The intelligent interactive terminal 3, the control host 13, the high-precision laser vertical collimator 5 and the total station 9 are wirelessly connected to each other. The intelligent interactive terminal 3 serves as the human-computer interaction interface of the platform and is used to receive operator instructions, display real-time data status and feedback platform operation information, such as receiving operator commands to establish the first coordinate system 11, establish the second coordinate system 12 or start verticality monitoring, judgment, and adjustment. When the intelligent interactive terminal 3 is not in use, the control host 13 can also be connected to the cloud platform for interactive control and data display through a mobile phone APP or a remote computer. The control host 13 serves as the data interaction and control center of the platform, uniformly coordinates, receives and processes the measurement data of the total station 9 and other sensors, and performs key tasks such as the overall construction of the first coordinate system 11, the initialization and storage of the spatial reference frame, etc.The total station 9, installed in the construction area surrounding the base platform 10, serves as the primary high-precision spatial measurement device, responsible for acquiring the three-dimensional spatial coordinates of multiple benchmark targets 1 within the construction area. This spatial measurement of the targets 1 allows for the positioning of the horizontal axis of a first coordinate system 11. Using the vertical axis projected by the laser plummet 5 as a reference, the data measured by the total station 9 is uploaded in real time to a control host 13 via a dedicated data link. This control host 13 coordinates the spatial coordinates of the targets using multiple benchmarks to construct the first coordinate system 11 and initialize and store a unified spatial reference frame. The control host 13 is also wirelessly connected to the base platform adjustment device, multi-sensor monitoring device, and hydraulic servo adjustment mechanism 8 atop the support base 2. This facilitates horizontal adjustment of the base platform 10 and verticality monitoring, assessment, and adjustment of the pipe piles 14. The first coordinate system 11 serves as a benchmark for subsequent posture monitoring and deviation calculation, providing a high-precision, traceable spatial reference for the entire platform. It also serves as a unified spatial positioning reference for subsequent pipe pile installation, ensuring installation accuracy. For the construction of the first coordinate system 11 , in addition to using the total station 9 , other measuring equipment such as an electronic theodolite may also be used to obtain three-dimensional coordinates.

[0036] It is used for the initial positioning of the pipe pile 14 and the initial posture adjustment step of the base platform 10. An adjustable support frame 4 is fixedly installed on the base platform 10. The adjustable support frame 4 has the ability to fine-tune in the horizontal and vertical directions to ensure that the pipe pile 14 can be positioned with high precision in the initial installation stage and can adaptively adjust its own posture when the verticality of the pipe pile is adjusted below. In this embodiment, the adjustable support frame 4 includes a platform fixed support 405 fixed to the base platform 10, a vertically adjustable rod 403 on the platform fixed support 405 that can rotate relative to the platform fixed support 405, a horizontally adjustable rod 402 on the vertically adjustable rod 403 that faces the pipe pile through hole of the base platform 10, and a horizontally adjustable rod 403 that faces the pipe pile through hole of the base platform 10. The end of the adjustable rod 402 extends toward the ring-type pipe pile fixing frame 401 through which the pipe pile passes. The bottom of the end of the horizontally adjustable rod 402 and the lower portion of the vertically adjustable rod 403 are fixedly supported by a structural stabilizing rod 404. The ring of the ring-type pipe pile fixing frame 401 can rotate relative to the horizontally adjustable rod 402 in the extension direction of the horizontally adjustable rod 402 and in the vertical direction. The pipe pile 14 is hoisted into the ring-type pipe pile fixing frame 401 of the adjustable support frame 4 by the lifting equipment, fixed by the fastening bolts on the ring of the ring-type pipe pile fixing frame 401, and positioned by rotating the vertically adjustable rod 403 and the ring-type pipe pile fixing frame 401. In addition to the above-described embodiment, the adjustable support frame 4 may also use other structures to facilitate fixing the upper end of the pipe pile 14 and the multi-sensor monitoring device and allowing the lower end of the pipe pile 14 to be freely adjusted.

[0037] To ensure the horizontality of the hydraulic servo adjustment mechanism 8 and the calculation of servo adjustment data, a horizontal calibration mechanism 6 is also fixedly mounted on the base platform 10. In this embodiment, the horizontal calibration mechanism 6 includes two orthogonally arranged attitude sensors. The lateral attitude sensor collects the tilt angle of the base platform 10 in the lateral axis direction in real time, and the longitudinal attitude sensor simultaneously collects the attitude parameters in the longitudinal axis direction. The dual attitude sensor data is time-stamped and transmitted to the control host 13. A data fusion algorithm is used to generate an accurate description of the three-dimensional attitude of the base platform 10, providing a high-precision reference input for the attitude adjustment of the base platform 10. If the control host 13 detects that a certain tilt angle exceeds a set threshold, such as ±0.05°, it automatically triggers the base platform adjustment device on the top of the control support base 2 to correct the attitude of the base platform 10 until the design accuracy requirements are met, achieving non-contact high-precision horizontal calibration and closed-loop control. The horizontal calibration mechanism 6 can also be implemented using other methods, such as gyroscope and accelerometer fusion calculation.

[0038] Steps for establishing the second coordinate system 12 of the pipe pile 14. On the base platform 10 described in this embodiment, four sets of hydraulic servo adjustment mechanisms 8 are symmetrically and orthogonally installed along the pipe pile through hole. The hydraulic servo adjustment mechanism 8 adopts a bidirectional hydraulic cylinder design with a thrust range of 20 to 50 kN. It can push the pipe pile 14 in the through hole along the horizontal axis and / or the vertical axis to move in opposite directions, thereby achieving precise adjustment of the vertical posture of the pipe pile 14. A laser ranging unit 702 with a measurement accuracy of ±1 mm facing the pipe pile 14 is fixed on each of the hydraulic servo adjustment mechanisms 8 through a bracket of the same height. The height of the laser ranging unit 702 in this embodiment is near the height of the horizontally adjustable rod 402, and is used to obtain the distance change between the surface of the pipe pile 14 and the reference target using a multi-angle shooting measurement method to achieve the inversion calculation of the horizontal displacement. The plane where the laser ranging units 702 shoot lasers constitute the pipe pile reference plane. By measuring the distance between the pipe pile 14 and the reference target, the distance between the pipe pile 14 and the reference target is measured. The distance between the pile 14 and the surrounding laser ranging units 702 is measured and compared with the theoretical value in the first coordinate system 11 to provide spatial distance information. A high-precision inclinometer 701 with a measurement accuracy of ±0.1° and an inertial measurement unit 703 with a sampling frequency of 100Hz are also arranged above the ring-shaped pile fixture 401, close to the pile 14. The inertial measurement unit 703, or IMU, can perform high-frequency acquisition of the pile 14's attitude and displacement and correct the total attitude deviation angle, improving the pile 14's attitude stability and response robustness. The inclinometer 701 and IMU 703 move together with the pile 14 to ensure consistency in attitude changes. The inclinometer 701 measures the pile's tilt angles around the horizontal and vertical axes, namely the pitch and roll angles, which directly reflect vertical deviation. The inertial measurement unit 703 provides instantaneous acceleration, angular velocity, and displacement change rate information to assist in determining the trend of inclination and displacement changes and enhance the accuracy of dynamic re-measurement. All inclinometers 701, laser ranging units 702, and inertial measurement units 703 constitute a multi-sensor monitoring device. The hydraulic servo adjustment mechanism 8 and the multi-sensor monitoring device are wirelessly connected to the control host 13. The control host 13 constructs a second coordinate system 12 and a real-time feedback control model based on the sensor data collected from the pile 14 to achieve dynamic closed-loop control and vertical posture optimization. The second coordinate system 12 takes the geometric center of the pile 14 on the pile reference surface as the origin O'. The laser ranging unit 702 determines the offset of the origin O' of the second coordinate system 12 in the horizontal and vertical directions, and uses a rotation matrix to align the O'-X'Y'Z' direction of the second coordinate system 12 with the O-XYZ direction of the first coordinate system 11 to ensure axial parallelism. Specifically, the control host 13 collects the pitch angle θx and roll angle θy obtained by the inclinometer 701. This data represents the angle between the pile center axis and the Z axis, that is, the vertical posture deviation. The control host 13 collects the multi-directional distance value d provided by the laser ranging unit 702. i, i=1~n, in this embodiment n=4, this data represents the translation offset ΔX, ΔY of the origin O' of the second coordinate system 12 relative to the origin O of the first coordinate system 11 in the horizontal plane, and the control host 13 collects the instantaneous horizontal axis acceleration a of the pile 14 provided by the inertial measurement assembly 703 x 、a y and angular velocity ω x 、ω y This data is used to calculate the instantaneous velocity and displacement change of the pile 14 at the measurement point, and assist in dynamic posture recognition. According to the pitch angle θx and roll angle θy collected by the inclinometer 701, the rotation matrix R can be constructed. 姿态 as follows:

[0039]

[0040] This matrix can transform the second coordinate system 12 into a posture consistent with the first coordinate system 11, and is used to ultimately determine the direction in which the axis of the pipe pile 14 deviates from the vertical axis and the total posture deviation angle Δθ. The horizontal translation offsets ΔX and ΔY in the three-dimensional offset are calculated by recording the distance d between the outer wall of the pile 14 and the multiple laser distance measuring units 702 through the laser distance measuring unit 702. i , combined with the known coordinates of the laser rangefinder 702 from the total station 9, the XY coordinate position of point O' can be inversely solved by trilateration or least squares fitting: (O' x ,O' y )=Triangulate(d1,d2,...,d n ), in this embodiment, the laser ranging unit 702 is arranged orthogonally along the pipe pile 14, so n=4, ΔX=O' x , ΔY=O' y The relevant parameters of the second coordinate system 12 include: the origin O' position, the three-axis direction vectors, the rotation matrix R 姿态 , three-dimensional offsets ΔX, ΔY, ΔZ, and a total attitude deviation angle Δθ, where ΔZ is the sum of the distance between the bracket at the bottom of the laser ranging unit 702 and the emitted laser and the bottom of the laser ranging unit 702. These parameters are uniformly recorded and managed by the control host 13, completing coordinate mapping and binding. This establishes a consistent spatial correspondence between the first coordinate system 11 and the second coordinate system 12 at the construction site, providing a computational basis for subsequent attitude tracking, error compensation, and control decisions.

[0041] Steps for monitoring, judging, and adjusting the verticality of the pile 14. Use the intelligent interactive terminal 3 to start the verticality monitoring, judging, and adjusting of the pile 14. The control host 13 collects data from the high-precision inclinometer 701, the laser ranging unit 702, and the inertial measurement unit 703 in real time. By fusing the data of the three sensors, the total attitude deviation angle Δθ is corrected. The corrected total attitude deviation angle Δθ total The calculation method is Among them, λ is the angle deviation conversion weight, such as 1mm≈0.05°, μ and ν are the adjustment coefficients of dynamic position and attitude correction terms, respectively, which are used to control the influence of dynamic error on the final result, θ x,IMU and θ y,IMU represents the integral value of the angles rotated around the X-axis and Y-axis respectively, and represents the angle change obtained by integrating the angular velocity signal collected by the inertial measurement component 703, reflecting the instantaneous attitude deviation of the pile due to disturbance, adjustment or inertial response during dynamic construction. IMU 、y IMU It represents the small displacement of the pile 14 in the horizontal direction that actually occurs during the driving or adjustment process due to acceleration disturbance but is not detected by the laser ranging unit 702. It is an important dynamic supplement to the laser measurement results. x,IMU ,θ y,IMU 、x IMU 、y IMU Calculated by the following formulas:

[0042] θ x,IMU =∫ω x dt

[0043] θ y,IMU =∫ω y dt

[0044] x IMU =∫∫a x dt 2

[0045] y IMU =∫∫a y dt 2

[0046] μ represents the influence weight of the dynamic position drift generated by the double integration of the acceleration measured by the IMU on the final verticality error calculation; ν represents the influence weight of the dynamic attitude change obtained by integrating the angular velocity measured by the IMU on the final attitude judgment result. To ensure the efficient and stable operation of the system in a normal construction environment, μ and ν can be quickly determined in the following way: before the pile is driven, place the IMU on the platform and keep it stationary, start the system and collect IMU data for 10 seconds. Record the acceleration integral displacement x output by the IMU during this time periodIMU and the angular velocity integral angle θ IMU Change. Preliminary evaluation of IMU signal stability based on its change amplitude. If x IMU Less than 0.5mm, θ IMU If the value is less than 0.05°, it can be considered that the system dynamic drift is small, and the IMU data can be given a certain weight. The recommended value range is: μ = 0.02 ~ 0.05; ν = 0.05 ~ 0.10; if there is a certain drift in the IMU output during the monitoring process but no sudden change occurs, it is recommended that μ = 0.05 ~ 0.08, ν = 0.10 ~ 0.15; if the drift value is significant, such as x IMU >1mm or θ IMU >0.2°, it indicates that the dynamic data measured by the IMU is greatly disturbed and should not be used as the dominant factor for verticality judgment. It is recommended to set μ and ν to smaller values, such as μ = 0.01 and ν = 0.05. If the corrected total attitude deviation angle Δθ is detected total If the tilt exceeds a set threshold, such as >±0.1°, the control host 13 automatically triggers the adjustment program correction command of the hydraulic servo adjustment mechanism 8, making slight adjustments in the horizontal direction to align the origin of the second coordinate system 12 with the Z axis of the origin of the first coordinate system 11. The adjustment effect is verified by real-time retesting. The process of monitoring and calculating the corrected total attitude deviation angle → determining the deviation → adjusting the correction command → re-monitoring and calculating → confirming compliance is repeated until the design accuracy is met.

[0047] The hydraulic servo adjustment mechanism 8 has two adjustment logics: one employing a defined microstepping method, and the other employing a reverse adjustment method based on the horizontal displacement difference between the origins of the first and second coordinate axes 11, 12. This embodiment employs a reverse adjustment method based on the horizontal displacement difference between the origins of the first and second coordinate axes 11, 12, significantly reducing the number of adjustment cycles. When using the first stepping method, the posture adjustment step of the base platform 10 can be omitted.

[0048] In this embodiment, for ease of calculation, the horizontal calibration mechanism 6 utilizes orthogonally arranged dual-attitude sensors, the target 1 array utilizes a rectangular array, the base platform 10 is square, four hydraulic servo adjustment mechanisms 8 are symmetrically arranged orthogonally along the pile passage hole, and four support bases 2 and laser ranging units 702 are provided. Based on the same concept, the base platform 10 can be triangular or polygonal, and the support bases 2 and hydraulic servo adjustment mechanisms 8 can also be three or more, simply by adjusting the corresponding formulas during calculation. The number of laser ranging units 702 can also be any other number. When inversely solving the XY coordinate position of point O', n is the number of laser ranging units 702 used.

[0049] After the first pipe pile 14 is installed, when the subsequent pipe piles 14 are installed and the base platform 10 is moved to other locations to install other pipe piles 14, the originally established first coordinate system 11 can still be used, which reduces the initial step of repeatedly building the first coordinate system 11 during pile group construction, makes the verticality control of the subsequent pipe piles 14 more convenient and quick, and preliminarily realizes the coordinated adjustment of multiple piles.

[0050] In the description of this specification, the schematic diagrams in the accompanying drawings highlight the main features and key parts of the figures, and appropriately simplify or omit details, and therefore do not represent the proportions and dimensional relationships in reality. The descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in an appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0051] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A verticality control method for pipe pile construction, characterized in that include: Steps for constructing the base platform (10) and establishing the first coordinate system (11) of the base platform (10); A step for initially positioning the pipe pile (14); Steps for establishing a second coordinate system (12) for the pipe pile; Steps for monitoring, judging and adjusting the verticality of a pipe pile (14); The base platform (10) is used for initial positioning of the pipe pile (14) and establishment of the first coordinate system (11); The coordinate axes of the second coordinate system (12) and the first coordinate system (11) are axially parallel and spatially corresponding. The data for monitoring the verticality of the pipe pile (14) includes an attitude deviation angle. When the attitude deviation angle is greater than a design threshold, an adjustment command is issued to adjust the verticality of the pipe pile (14) through the deviation relationship between the second coordinate system (12) and the first coordinate system (11) until the attitude deviation angle is no greater than the threshold.

2. The verticality control method for pipe pile construction according to claim 1, characterized in that: The method further comprises a base platform (10) initial posture adjustment step, wherein the base platform (10) initial posture adjustment is used to adjust the levelness of the base platform (10) to within a set threshold.

3. The verticality control method for pipe pile construction according to claim 1, characterized in that: The data for monitoring the verticality of the pipe pile (14) also includes the instantaneous three-axis acceleration and angular velocity of the pipe pile (14), and the instantaneous three-axis acceleration and angular velocity of the pipe pile (14) are used to dynamically correct the attitude deviation angle.

4. A verticality control platform for pipe pile construction, characterized by: The invention comprises a base platform (10) fixed on the ground, a control host (13) on the base platform (10), a reference positioning module and a dynamic adjustment module. A pipe pile through hole is opened at the center of the base platform (10). The reference positioning module is used for initial positioning of the pipe pile (14) and establishing a first coordinate system (11) with the center of the pipe pile through hole as the origin. The reference positioning module comprises an adjustable support frame (4), a laser vertical collimator (5), a target (1) array and a spatial coordinate measuring device. The adjustable support frame (4) is fixedly mounted on the base platform (10) and is used to fix the pipe pile (14). The laser vertical collimator (5) is mounted on the base platform (10) through a bracket and projects a laser beam vertically toward the center of the pipe pile through the hole as the Z axis of the first coordinate system (11). The targets (1) are symmetrically distributed around the base platform (10) at equal heights and equal distances. The spatial coordinate measuring device cooperates with the target (1) array to measure the spatial coordinates. The control host (13) is wirelessly connected to the laser vertical collimator (5) and the spatial coordinate measuring device and receives spatial measurement data to establish the first coordinate system (11). The dynamic adjustment module includes a multi-sensor monitoring device and a The invention relates to a hydraulic servo adjustment mechanism (8), wherein the multi-sensor monitoring device comprises at least an inclinometer (701) and a laser distance measuring unit (702) which are communicatively connected to a control host (13), wherein the inclinometer (701) is arranged on a pipe pile (14) for monitoring the inclination of the pipe pile (14), and the laser distance measuring units (702) are symmetrically distributed around the upper end of the pipe pile (14) for obtaining the spatial coordinates of the upper end of the pipe pile (14). The plane where the laser distance measuring unit (702) emits laser light constitutes a pipe pile reference plane, and a second coordinate system is established with the geometric center of the pipe pile (14) on the pipe pile reference plane as the origin. The invention relates to a coordinate system (12), wherein the coordinate axes of the second coordinate system (12) and the first coordinate system (11) are axially parallel and spatially corresponding, and the hydraulic servo adjustment mechanism (8) is symmetrically installed on the base platform (10) along the pipe pile through hole. After the control host (13) obtains data received by the multi-sensor monitoring device, the inclination angle of the pipe pile (14) is used as the attitude deviation angle for comparison with the design threshold value, and the hydraulic servo adjustment mechanism (8) is controlled to adjust the position of the lower end of the pipe pile (14) in the horizontal direction through the deviation relationship between the second coordinate system (12) and the first coordinate system (11) so that the attitude deviation angle reaches within the design threshold value.

5. The verticality control platform for pipe pile construction according to claim 4, characterized in that: The spatial coordinate measuring device uses a total station (9).

6. The verticality control platform for pipe pile construction according to claim 4, characterized in that: The reference positioning module further comprises a horizontal calibration mechanism (6), wherein the horizontal calibration mechanism (6) is arranged on a base platform (10), wherein the base platform (10) is fixed to the ground via a support base (2) at the bottom of the corner, and a base platform adjustment device is provided on the top of the support base (2) for adjusting the height of the corner of the base platform (10), and the horizontal calibration mechanism (6) and the base platform adjustment device are communicatively connected to a control host (13).

7. The verticality control platform for pipe pile construction according to claim 6, characterized in that: The horizontal calibration mechanism (6) uses an orthogonally arranged dual-attitude sensor, the target (1) array uses a rectangular array, the base platform (10) is square, the hydraulic servo adjustment mechanism (8) is four in number and is symmetrically orthogonally arranged along the through hole of the pipe pile, and the support base (2) and the laser ranging unit (702) are four.

8. The verticality control platform for pipe pile construction according to claim 4, characterized in that: The multi-sensor monitoring device further comprises an inertial measurement component (703), wherein the inertial measurement component (703) obtains the instantaneous three-axis acceleration and angular velocity of the pipe pile (14) for dynamic correction of the attitude deviation angle.

9. The verticality control platform for pipe pile construction according to claim 4, characterized in that: It also includes an intelligent interactive terminal (3), which is arranged on the base platform (10) and is communicatively connected to the control host (13) for receiving operator instructions, displaying real-time data status, and feeding back platform operation information.

10. The verticality control platform for pipe pile construction according to claim 4, characterized in that: The adjustable support frame (4) comprises a platform fixing support (405), a component stabilizing rod (404), a vertically adjustable rod (403), a horizontally adjustable rod (402) and a ring-type pipe pile fixing frame (401); the platform fixing support (405) is fixed to the base platform (10); the vertically adjustable rod (403) is vertically fixed to the platform fixing support (405) and rotates relative to the platform fixing support (405); the horizontally adjustable rod (402) is horizontally fixed to the pipe pile through the hole toward the base platform (10); On the vertically adjustable rod (403), the ring-type pipe pile fixing frame (401) extends from the end of the horizontally adjustable rod (402) to the pipe pile through hole, the component stabilizing rod (404) is fixed between the bottom of the end of the horizontally adjustable rod (402) and the lower part of the vertically adjustable rod (403), the ring of the ring-type pipe pile fixing frame (401) is used to fix the pipe pile (14), and the ring-type pipe pile fixing frame (401) rotates relative to the horizontally adjustable rod (402) in the extension direction of the horizontally adjustable rod (402) and the vertical direction.

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