A genetic algorithm-based intelligent pile control method and structure for compacted threaded piles

Abstract

The present invention provides an intelligent pile formation control structure for compacting threaded piles, which is used to control compacting threaded piles. The compacting threaded piles include a concrete pumping station and a compacting drill, wherein the concrete pumping station is connected to the compacting drill through a pumping pipeline; and include: a collection sensor assembly, wherein each sensor in the collection sensor assembly is respectively installed on the upper outer part of the drill rod of the compacting drill, the inner wall of the concrete pumping station or the pumping pipeline, the pumping pipeline or the inside of the compacting drill, and the lower end of the drill bit of the compacting drill; a first data storage module, wherein the first data storage module is connected to the collection sensor assembly; an upper industrial computer, wherein the upper industrial computer is connected to the first data storage module; and a drill rod controller, wherein the drill rod controller is respectively connected to the upper industrial computer and the drill rod of the compacting drill. The present invention also provides an intelligent pile formation control method for compacting threaded piles based on a genetic algorithm, which avoids problems such as broken piles, reduced diameter, and blockage of the pumping pipeline.

Description

Technical Field

[0001] The invention relates to a method for controlling the formation of compacted threaded piles, and in particular to a method and structure for controlling the formation of compacted threaded piles based on a genetic algorithm. Background Art

[0002] The compaction thread pile is a compaction concrete pile structure. The front end of the compaction thread pile drill bit has a conical coarse thread. When drilling downward, the soil can be compacted for the first time. After drilling to the designed depth, the compaction thread pile is reversed. At this time, the compaction drill hole expansion and compaction cutter head automatically retracts and retracts. Under the force of reverse rotation and lifting, the compaction cutter head continuously expands and compacts the soil for a second time, so that the pile hole is fully compacted. At the same time, in the state of lifting and reverse rotation, concrete is pumped in time and continuously to fill until the pile top elevation is reached to form a pile.

[0003] Application areas: Its application scope is mainly in the field of foundation treatment for industrial and civil buildings. It is specifically applicable to the treatment of roadbeds including railways and highways; and the treatment of building foundations. The applicable stratum conditions are mainly silt, silty clay, clay, silty clay, medium-fine sand, gravel layers with a particle size of less than 20 cm, etc. The small-section pile structure at the lower end is more suitable for harder clay and collapsible loess layers in the north. Its stratum application scope is relatively wide and is basically not restricted by groundwater.

[0004] The compaction threaded pile uses a compaction drill to compact the surrounding soil to form a pile, which increases the bearing capacity of the composite foundation. After the pile is formed, the ground does not come out of the ground, which brings great convenience to the on-site construction. The threaded drill squeezes the surrounding soil layer to form a hole, the center is pressed into concrete wall protection, and the pile is formed in one. Using the principle that "screws are stronger than nails", through the soil squeezing effect, the threads on the side of the pile and the soil layer around the pile body produce a tight "mechanical bite", which meets the law of additional stress changes and fundamentally improves the bearing and deformation characteristics of the foundation pile.

[0005] The compaction thread pile includes a mixer, a concrete pumping station and a compaction drill. The three must be coordinated to ensure the continuity of the pile. The amount of concrete mixed by the mixer must be able to meet the pumping capacity of the concrete pumping station. The concrete pumped into the drill pipe core tube by the concrete pumping station must be dynamically balanced with the drilling speed. When the drilling speed is less than the concrete pumping volume, the resistance at the drill valve outlet increases. At this time, the concrete delivery pressure in the drill pipe and the pumping pipeline increases. Under the action of the pumping pressure, the concrete is prone to water seepage and segregation. For sand and gravel that have lost water and slurry, the joints, bends and rough surfaces of the pumping pipeline or the drill pipe core tube will hinder its transmission, and it will be squeezed and compacted quickly, resulting in pipe blockage. When the drilling speed is greater than the concrete pumping volume, it will cause faults and hollowing in the concrete pouring, and it is easy to break the pile and shrink the diameter, affecting the quality of the pile.

[0006] Although compacted threaded piles have many advantages, there are still problems such as broken piles, diameter shrinkage, concrete seepage and segregation, and blockage of pumping pipes. This requires that the concrete pumping volume should match the drilling speed, and the concrete delivery pressure in the drill rod and on the pumping pipe should be moderate. The pump should not be stopped to wait for material under any circumstances. Summary of the invention

[0007] One of the technical problems to be solved by the present invention is to provide an intelligent pile control structure for compacted threaded piles, which controls the drilling speed and concrete pumping volume during the pile forming process, and effectively avoids problems such as broken piles, diameter shrinkage, concrete seepage and segregation, and blockage of pumping pipes.

[0008] One of the problems of the utility model is achieved in this way:

[0009] An intelligent pile forming control structure for a compacted threaded pile is used to control the compacted threaded pile. The compacted threaded pile includes a concrete pumping station and a compacting drill. The concrete pumping station is connected to the compacting drill through a pumping pipeline. The structure includes:

[0010] A data acquisition sensor assembly, wherein each sensor in the data acquisition sensor assembly is respectively installed on the upper outer part of the drill rod of the compaction drilling rig, the inner wall of the concrete pumping station or the pumping pipeline, the inside of the pumping pipeline or the compaction drilling rig, and the lower end of the drill bit of the compaction drilling rig;

[0011] A first data storage module, wherein the first data storage module is connected to the acquisition sensor component;

[0012] a host industrial computer connected to the first data storage module; and

[0013] A drill rod controller is connected to the upper industrial computer and the drill rod of the compaction drilling rig respectively.

[0014] Furthermore, the acquisition sensor assembly includes:

[0015] a displacement sensor, which is installed on the upper outer part of the drill pipe of the compaction drilling rig and is connected to the first data storage module;

[0016] a flow meter, which is installed in the concrete pumping station or on the inner wall of the pumping pipeline and is connected to the first data storage module;

[0017] a first pressure sensor, which is installed in a pumping pipeline or inside a compaction drilling rig and is connected to the first data storage module; and

[0018] A second pressure sensor is installed at the lower end of the drill bit of the compaction drill and is connected to the first data storage module.

[0019] Furthermore, it also includes a second data storage module, which is connected to the upper industrial computer; the second data storage module is a local storage medium, which adopts one or more of a floppy disk, an optical disk, a DVD, a hard disk, a flash memory, a U disk, a CF card, an SD card, an MMC card, a SM card, a memory stick and an xD card;

[0020] The first data storage module is a holding register;

[0021] The upper industrial computer and the drill rod controller are connected via a MODBUS-TCP bus; the drill rod controller is a PLC, a single-chip microcomputer or an embedded processor.

[0022] The second technical problem to be solved by the present invention is to provide an intelligent pile control method for compacted threaded piles based on genetic algorithm, which controls the drilling speed and concrete pumping volume during the pile forming process, takes the pumping pressure of the concrete delivery pump as the target optimization value, and achieves an optimal match between the concrete pumping volume and the drilling speed, effectively avoiding problems such as broken piles, diameter shrinkage, concrete water seepage and segregation, and pumping pipe blockage.

[0023] The second problem of the present invention is achieved in this way:

[0024] A method for intelligent pile formation control of densely packed threaded piles based on genetic algorithm, the method needs to provide the above-mentioned intelligent pile formation control structure of densely packed threaded piles, and the method comprises the following steps:

[0025] Step 1: collect sensor data of the compacted threaded pile in the process of pile formation in real time through the collection sensor assembly, and convert the collected sensor data into electrical signals, and store them in the corresponding first data storage module, wherein the sensor data includes the drilling speed, the concrete pumping volume, the concrete pumping pressure and the pressure of the drill bit buried in the concrete;

[0026] Step 2: The upper industrial computer reads the stored sensor data from the first data storage module for processing;

[0027] Step 3, using a genetic algorithm to binary encode the drill lifting speed to obtain a binary speed code string, and then converting the binary speed code string into a decimal drill lifting speed value;

[0028] Step 4: According to the decimal drill lifting speed value, the concrete pumping pressure and the pressure of the drill bit buried in the concrete, the fitness function design and the selection function design are completed to obtain n drill lifting speed values ​​to form n individual strings;

[0029] Step 5: After performing crossover and mutation operations on the n individual strings through the genetic algorithm, a new set of n individuals is obtained;

[0030] Step 6: Optimize the new n individual sets through genetic algorithm, and obtain the best drilling speed after optimization;

[0031] Step 7, the upper industrial computer controls the drilling speed of the compacted threaded pile through the drill rod controller to keep it at the optimal drilling speed while maintaining the concrete pumping volume, thereby ensuring that the concrete pumping volume matches the drilling speed.

[0032] Furthermore, the step 1 is specifically as follows:

[0033] The drilling speed, concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete during the compacted threaded pile forming process are collected in real time by means of a collection sensor assembly, wherein the collection sensor assembly includes a displacement sensor, a flow meter, a first pressure sensor and a second pressure sensor;

[0034] A displacement sensor is installed on the upper part of the outer side of the drill rod of the compaction threaded pile to measure the reverse drilling displacement of the drill tool per unit time, thereby obtaining the drilling speed; a flow meter is installed in the concrete pumping station or on the inner wall of the pumping pipeline to measure the concrete pumping volume in real time; a first pressure sensor is installed inside the pumping pipeline or the compaction drilling rig to measure the concrete pumping pressure in real time; a second pressure sensor is installed at the lower end of the drill bit of the compaction drilling rig to measure the pressure of the drill bit buried deep in the concrete in real time;

[0035] The acquisition sensor component is used as a MODBUS-TCP slave station, and the acquired drilling speed, concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete are respectively converted into electrical signals through the displacement sensor, flow meter, first pressure sensor and second pressure sensor, and stored in the first data storage module corresponding to the MODBUS address, and the data is periodically acquired and updated.

[0036] Furthermore, the step 2 is specifically as follows:

[0037] The upper industrial computer is used as a MODBUS-TCP master station. The upper industrial computer identifies the acquisition sensor component through the IP address, and reads the stored drilling speed, concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete from the first data storage module in a polling manner using the MODBUS-TCP transmission protocol, and saves them to the local storage medium for further processing, thereby completing the transmission process of the sensor data from the acquisition sensor component to the upper industrial computer.

[0038] Furthermore, the step 3 is specifically as follows:

[0039] Let the maximum value of the drilling speed be V Max , the unit is m / s, the speed unit retains 2 decimal places, the range of the drilling speed is [0 V Max], let k be a natural number, then:

[0040] 2 k-1 <(V Max -0)*10 2 <2 k

[0041] The k value can be calculated, k = {0, 1, 2, 3...}, and the k value is the number of bits of the drilling speed code in the binary speed code string;

[0042] The method for converting the binary speed code string into a decimal drilling speed value is:

[0043] Let (b0b1b2b3...b k )2 is a binary speed code string, then:

[0044]

[0045] The decimal drilling speed value corresponding to the binary speed code string is:

[0046]

[0047] Among them, the binary speed code string The corresponding decimal drill speed value is 0m / s;

[0048] Binary speed code string The corresponding decimal value of the drilling speed is V Max m / s.

[0049] The step 4 is specifically as follows:

[0050] Fitness function design: During the compaction thread pile construction process, it is necessary to ensure that the concrete pumping volume matches the drilling speed, that is, to minimize the pressure difference between the concrete pumping pressure and the pressure of the drill bit buried deep in the concrete. Let the concrete pumping pressure be P p , the pressure of the drill bit buried deep in the concrete is P b , then A=P p -P b As the adaptability score, the fitness function directly returns the real-time collected concrete pumping pressure P p The pressure P of the drill bit buried in the concrete b The pressure difference;

[0051] Select function design: Let v1,v2,v3...v n is the drilling speed set n times, and its corresponding fitness function values ​​are A1, A2, A3...A n , so the cumulative total fitness is:

[0052] Therefore, the selection probability of the fitness function value at each drilling speed is:

[0053] in

[0054] Then, the roulette wheel selection method is used to randomly select a certain probability, that is, the drill lifting speed value selected at that time is obtained, and n drill lifting speed values ​​are obtained by repeating n times, thus forming n individual strings.

[0055] Furthermore, the step 5 is specifically as follows:

[0056] Select m individuals from the n individual strings and randomly set a crossover point according to the crossover rate P. c , use the single-point crossover method to perform two-by-two crossovers on the three digits after the set crossover point to generate two new individuals. After crossover of m individuals, m new individuals are obtained, and then added to the original nm individuals to form a new set of n individuals after crossover;

[0057] According to the mutation rate P m The i-th bit of a certain n-bit individual in the new n-bit set is inverted to obtain the mutated new n-bit set.

[0058] Furthermore, the step 6 is specifically as follows:

[0059] Step 61: Define a fitness function f(x) on the search space U, given the population size N and the crossover rate P c , mutation rate P m and algebraic T; where U = [0 V Max ], fitness function f(x) = A = P p -P b ;

[0060] Step 62: Randomly generate N individuals s1, s2, ..., s in U N , forming the initial population S = {s1, s2, …, s N}, set algebraic counter t = 1;

[0061] Step 63, calculate the fitness function f(x) of each individual in S;

[0062] Step 64, if the termination condition is met, the drill lifting speed corresponding to the fitness function f(x) of the individual in S whose fitness function is closest to the preset optimal value is taken as the desired optimal drill lifting speed, and the algorithm ends; otherwise, enter step 65; the termination condition is: the value of the algebraic counter t is accumulated to T or the fitness function f(x) reaches the preset optimal value, which is set by experience;

[0063] Step 65: According to the selection probability p i The chance of selection is determined by randomly selecting one individual from S each time and replicating it, doing this N times in total, and then forming a population S1 with the N chromosomes obtained by replication;

[0064] Step 66: According to the cross rate P c The number of chromosomes participating in the crossover is determined by random selection of c chromosomes from S1. The original chromosome R = {r1, r2, ..., r c}, pair them up for crossover operation, and use the c new chromosomes R'={r'1,r'2,…,r' c}, replacing the original chromosome R = {r1, r2, ..., r c}, the original Nc chromosomes remain unchanged, and the N chromosomes obtained after crossover constitute population S2;

[0065] Step 67: According to the mutation rate P m The number of mutations determined is m. m chromosomes are randomly selected from S2, and mutation operations are performed on each of them. The m new chromosomes R”={r”1,r”2,…,r” m}Replace the original m chromosomes corresponding to population S2, the original Nm chromosomes remain unchanged, and the mutated N chromosomes are obtained to form population S3;

[0066] Step 68: Use population S3 as the new generation population, that is, replace S with S3, then add 1 to the value of t and jump to step 63.

[0067] Furthermore, the step 7 is specifically as follows:

[0068] The upper industrial computer controls the drilling speed of the compacted threaded pile through the drill rod controller, and the upper industrial computer communicates and controls with the drill rod controller through the MODBUS-TCP bus protocol. The drill rod controller receives the speed value of the upper industrial computer, and realizes the speed control of the drill rod through the action execution mechanism, and at the same time feeds back the speed control result to the upper industrial computer through the MODBUS-TCP bus.

[0069] The advantages of the present invention are as follows: the present invention collects sensor data of the compacted threaded piles in the process of pile formation by collecting sensor components and stores the data in a first data storage module; the upper industrial control computer reads the sensor data from the first data storage module and processes the data; the drill rod controller controls the drill lifting speed of the drill rod; a genetic algorithm is used to achieve the optimal drill lifting speed, so that the compacted threaded piles in the process of pile formation control the drill lifting speed and the concrete pumping volume, the concrete delivery pump pumping pressure is used as the target optimization value, and the concrete pumping volume and the drill lifting speed are optimally matched, so as to effectively avoid the problems of broken piles, shrinkage, concrete water seepage and segregation, and pumping pipeline blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0071] Figure 1 The present invention is a structural block diagram of an intelligent pile forming control structure for compacted threaded piles.

[0072] Figure 2 This is a schematic diagram of the specific installation of the data acquisition sensor assembly in the present invention.

[0073] Figure 3 The present invention is a flowchart of an intelligent pile forming control method for compacted threaded piles based on a genetic algorithm.

[0074] Description of the numbers in the figure:

[0075] 100-compacted threaded pile, 101-concrete pumping station, 102-compacted drilling rig, 103-pumping pipeline, 104-drill rod, 105-drill bit;

[0076] 10-acquisition sensor assembly, 11-displacement sensor, 12-flow meter, 13-first pressure sensor, 14-second pressure sensor, 20-first data storage module, 30-upper industrial computer, 40-drill rod controller, 50-second data storage module. DETAILED DESCRIPTION

[0077] In order to make the present invention more clearly understood, a preferred embodiment is now described in detail with reference to the accompanying drawings.

[0078] See also Figure 1 and Figure 2 As shown, the utility model is a compaction thread pile intelligent pile control structure, which is used to control the compaction thread pile 100. The compaction thread pile 100 includes a concrete pumping station 101 and a compaction drill 102. The concrete pumping station 101 is connected to the compaction drill 102 through a pumping pipeline 103; it includes:

[0079] A data acquisition sensor assembly 10, wherein each sensor in the data acquisition sensor assembly 10 is respectively installed on the upper outer portion of a drill rod 104 of a compaction drill 102, inside a concrete pumping station 101 or the inner wall of a pumping pipeline 103, inside a pumping pipeline 103 or a compaction drill 102, and at the lower end of a drill bit 105 of the compaction drill 102;

[0080] A first data storage module 20, the first data storage module 20 is connected to the acquisition sensor assembly 10; the first data storage module 20 is a holding register, the so-called holding register refers to a register that can be read or written through a communication command; usually some function control registers or output registers, etc.;

[0081] A host industrial computer 30, the host industrial computer 30 is connected to the first data storage module 20;

[0082] a drill rod controller 40, the drill rod controller 40 being connected to the upper industrial computer 30 and the drill rod 104 of the compaction drilling rig 102 respectively; and

[0083] A second data storage module 50, the second data storage module 50 is connected to the upper industrial computer 30, the second data storage module 50 is a local storage medium, and adopts one or more of a floppy disk, an optical disk, a DVD, a hard disk, a flash memory, a U disk, a CF card, an SD card, an MMC card, a SM card, a memory stick and an xD card.

[0084] The utility model is mainly composed of a collection sensor 10, a first data storage module 20, a host industrial computer 30 and a drill rod controller 40 components:

[0085] The acquisition sensor component 10 acts as a MODBUS-TCP slave station and is responsible for collecting sensor data;

[0086] The first data storage module 20 is responsible for storing the collected sensor data;

[0087] The upper industrial computer 30 serves as the MODBUS-TCP master station and is responsible for sensor data acquisition, processing, intelligent optimization processing, and drill pipe controller speed control;

[0088] The drill rod controller 40 is a control component of the compaction screw pile driver, and is mainly responsible for the forward feeding (reverse drilling) speed control of the drill rod 104;

[0089] The sensor data of the compacted threaded pile 100 during the pile forming process is collected by the collection sensor assembly 10 and stored in the first data storage module 20. The upper industrial computer 30 reads and processes the sensor data from the first data storage module 20, and controls the drilling speed of the drill rod through the drill rod controller 40.

[0090] Preferably:

[0091] The acquisition sensor assembly 10 comprises:

[0092] A displacement sensor 11, which is installed on the upper outer side of the drill rod 104 of the compaction drilling rig 102 and connected to the first data storage module 20;

[0093] a flow meter 12, the flow meter 12 is installed in the concrete pumping station 101 or on the inner wall of the pumping pipeline 103, and is connected to the first data storage module 20;

[0094] A first pressure sensor 13, which is installed in the pumping pipeline 103 or the compaction drilling rig 102 and connected to the first data storage module 20; and

[0095] a second pressure sensor 14, which is installed at the lower end of the drill bit 105 of the compaction drill 102 and connected to the first data storage module 20;

[0096] The acquisition sensor assembly 10 is mainly composed of a displacement sensor 11, a flow meter 12, a first pressure sensor 13 and a second pressure sensor 14; the displacement sensor 11 is installed on the upper outer side of the drill rod 104 of the compaction drilling rig 102, and is used to measure the reverse drilling displacement of the drill tool per unit time, and then obtain the drilling speed; the flow meter 12 is installed in the concrete pumping station 101 or in the wall of the pumping pipeline 103, and measures the concrete pumping volume in real time. At least one flow meter 12 is set. If the number is 1, it is installed in the concrete pumping station 101 or in the pumping pipeline 103. If the number is greater than 1, they are installed in the concrete pumping station 101 and the pumping pipeline 103 respectively; the first pressure sensor 13 is installed in the pumping pipeline 103 or the compaction drill 102 to measure the concrete pumping pressure in real time. At least one first pressure sensor 13 is set. If the number is 1, it is installed in the pumping pipeline 103 or the compaction drill 102. If the number is greater than 1, it is installed in the pumping pipeline 103 and the compaction drill 102 respectively; the second pressure sensor 14 is installed at the lower end of the drill bit 105 to measure the pressure of the drill bit buried in the concrete in real time. The above sensors act as MODBUS-TCP slave stations, converting the collected speed data, flow data, and pressure data into electrical signals, storing them in the holding register corresponding to the MODBUS address, and periodically collecting and updating data. The upper industrial computer 30 acts as a MODBUS-TCP master station, identifies different MODBUS-TCP slave stations (collection sensor components 10) through IP addresses, and reads the stored speed data, flow data, and pressure data from the holding register in a polling manner using the MODBUS-TCP transmission protocol, and saves them to the local storage medium for further processing, thereby completing the transmission process of the pile driver sensor data from the MODBUS-TCP slave station (collection sensor component 10) to the MODBUS-TCP master station (upper industrial computer 30).

[0097] The upper industrial computer 30 and the drill rod controller 40 are connected via a MODBUS-TCP bus, and the drill rod controller 40 is a PLC, a single-chip microcomputer or an embedded processor; the upper industrial computer 30 communicates and controls with the drill rod controller 40 via the MODBUS-TCP bus protocol, the drill rod controller 40 receives the speed value of the upper industrial computer 30, and implements speed control of the drill rod 104 through the action execution mechanism, and at the same time feeds back the speed control result to the upper industrial computer 30 via the MODBUS-TCP bus.

[0098] like Figure 3 As shown, a method for intelligent pile formation control of densely packed threaded piles based on genetic algorithm of the present invention needs to provide the above-mentioned intelligent pile formation control structure of densely packed threaded piles, and the method comprises the following steps:

[0099] Step 1, sensor data acquisition: The sensor data of the compacted threaded pile 100 in the pile forming process is collected in real time by collecting the sensor assembly 10, and the collected sensor data is converted into an electrical signal and stored in the corresponding first data storage module 20, which is a holding register. The sensor data includes the drilling speed, the concrete pumping volume, the concrete pumping pressure and the pressure of the drill bit buried in the concrete; this step is specifically as follows:

[0100] The drilling speed (reverse lifting speed), concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete of the compacted threaded pile 100 in the pile forming process are collected in real time by the collection sensor assembly 10, and the collection sensor assembly 10 includes a displacement sensor 11, a flow meter 12, a first pressure sensor 13 and a second pressure sensor 14;

[0101] A displacement sensor 11 is installed on the upper outer side of the drill rod 104 of the compaction threaded pile 100 to measure the reverse drilling displacement of the drill tool per unit time, thereby obtaining the drilling speed; a flow meter 12 is installed in the concrete pumping station 101 or on the inner wall of the pumping pipeline 103 to measure the concrete pumping volume in real time; a first pressure sensor 13 is installed in the pumping pipeline 103 or inside the compaction drilling rig 102 to measure the concrete pumping pressure in real time; a second pressure sensor 14 is installed at the lower end of the drill bit 105 of the compaction drilling rig 102 to measure the pressure of the drill bit 105 buried deep in the concrete in real time;

[0102] The acquisition sensor assembly 10 is used as a MODBUS-TCP slave station, and the acquired drilling speed, concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete are converted into electrical signals through the displacement sensor 11, the flow meter 12, the first pressure sensor 13 and the second pressure sensor 14, and stored in the first data storage module 20 (holding register) corresponding to the MODBUS address, and the updated data is periodically acquired.

[0103] Step 2, sensor data transmission: The upper industrial computer 30 reads the stored sensor data from the first data storage module 20 (holding register) for processing; this step is specifically as follows:

[0104] The upper industrial computer 30 is used as the MODBUS-TCP master station. The upper industrial computer 30 identifies the acquisition sensor component 10 through the IP address, and reads the stored drilling speed, concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete from the first data storage module 20 (holding register) in a polling manner using the MODBUS-TCP transmission protocol, and saves them in the second data storage module 50 (local storage medium) for further processing, thereby completing the transmission process of the sensor data from the acquisition sensor component 10 to the upper industrial computer 30.

[0105] Preparation before optimization: According to the pile driver design index, the maximum drilling speed is V Max , let a fitness function f(x) be defined on the search space to be optimized U, given the population size N, crossover rate P c , mutation rate P m and algebra T; where U = [0V Max ], fitness function f(x) = A = P p -P b , where P p Concrete pumping pressure, P b is the pressure of the drill bit buried in the concrete, P p , P b They are respectively the concrete pumping pressure value and the pressure value of the drill bit buried deep in the concrete collected in real time at the set drilling speed. The fitness function shows that in the process of compacting the threaded pile 100, in order to match the concrete pumping volume with the drilling speed, the pressure difference between the concrete pressure in the pumping pipe 103 and the pressure of the drill bit 105 buried deep in the concrete needs to be minimized;

[0106] Set the population size N = 20 and the crossover rate P c =0.5, mutation rate P m = 0.001, algebraic T = 100;

[0107] Step 3: Binary encode the drilling speed by genetic algorithm to obtain a binary speed code string, and then convert the binary speed code string into a decimal drilling speed value; this step is specifically as follows:

[0108] Let the maximum value of the drilling speed be V Max , the unit is m / s, the speed unit retains 2 decimal places, the range of the drilling speed is [0 V Max ], let k be a natural number, then:

[0109] 2 k-1 <(V Max -0)*10 2 <2 k

[0110] The k value can be calculated, k = {0, 1, 2, 3...}, and the k value is the number of bits of the drilling speed code in the binary speed code string;

[0111] The method for converting the binary speed code string into a decimal drilling speed value is:

[0112] Let (b0b1b2b3...b k )2 is a binary speed code string, then:

[0113]

[0114] The decimal drilling speed value corresponding to the binary speed code string is:

[0115]

[0116] Among them, the binary speed code string The corresponding decimal drilling speed value is 0m / s; if the binary speed code string has 3 bits, the 0th, 1st, 2nd and 3rd bits are all 0, then (0000)2=0*2 0 +0*2 1 +0*2 2 +0*2 3 =(0) 10 ;

[0117] Binary speed code string The corresponding decimal value of the drilling speed is V Max m / s; if the binary speed code string has 3 bits, and the 0th, 1st, 2nd and 3rd bits are all 1, then (1111)2=1*2 0 +1*2 1 +1*2 2 +1*2 3 =(15) 10 .

[0118] Step 4: According to the decimal drill speed value, the concrete pumping pressure and the pressure of the drill bit buried in the concrete, the fitness function design and the selection function design are completed to obtain n drill speed values, forming n individual strings, where n is a positive integer; this step is specifically as follows:

[0119] Fitness function design: During the process of compaction thread pile 100, it is necessary to ensure that the concrete pumping volume matches the drilling speed, that is, to minimize the pressure difference between the concrete pumping pressure and the pressure of the drill bit buried deep in the concrete. Let the concrete pumping pressure be Pp , the pressure of the drill bit buried deep in the concrete is P b ,but A=P p -P b As the adaptability score, the fitness function directly returns the real-time collected concrete pumping pressure P p The pressure P of the drill bit buried in the concrete b The pressure difference;

[0120] Select function design: Let v1,v2,v3...v n is the drilling speed set n times, and its corresponding fitness function values ​​are A1, A2, A3...A n , so the cumulative total fitness is:

[0121] Therefore, the selection probability of the fitness function value at each drilling speed is:

[0122] in

[0123] Then, the roulette wheel selection method is used to randomly select a certain probability, that is, the drill lifting speed value selected at that time is obtained, and n drill lifting speed values ​​are obtained by repeating n times, thus forming n individual strings;

[0124] For example, since the set population size N = 20, that is, n = 20, let v1, v2, v3...v 20 The drill lifting speed is set for 20 times, and the corresponding fitness function values ​​are f1, f2, f3...f 20 , so the cumulative total fitness is:

[0125]

[0126] Therefore, the probability of the fitness function value at each drilling speed is:

[0127] in

[0128] Then, the roulette wheel selection method is used to randomly select a certain probability, that is, the drill speed value selected at that time is obtained. This is repeated 20 times to obtain 20 drill speed values, forming 20 individual strings.

[0129] Step 5: After performing crossover and mutation operations on the n individual strings through a genetic algorithm, a new set of n individuals is obtained; this step is specifically as follows:

[0130] Select m individuals from the n individual strings and randomly set a crossover point according to the crossover rate P. c, use the single-point crossover method to perform two-by-two crossovers on the last three digits of the set crossover point to generate two new individuals, and obtain m new individuals after crossover of m individuals every two individuals, and add the original nm individuals to form a new n-individual set after crossover; for example: select 12 individuals from a string of 20 individuals, and randomly set a crossover point, perform two-by-two crossovers to generate two new individuals, and according to the crossover probability P c = 0.5, the last three positions are crossed by single-point crossover method, and 12 new individuals are obtained after crossover, which are added to the original 8 individuals to form a new set of 20 individuals;

[0131] Crossover operation:

[0132] Individual A: 1 0 0 1↑1 1 1→1 0 0 1 0 0 0 New individual A'

[0133] Individual B: 0 0 1 1 ↑0 0 0→0 0 1 1 1 1 1 New individual B'

[0134] Individual A and individual B are two of the m individuals drawn. Individual A has a total of 6 digits, with the 0th digit being 1, the 1st digit being 1, the 2nd digit being 1, the 3rd digit being 1, the 4th digit being 0, the 5th digit being 0, and the 6th digit being 1. Individual B also has a total of 6 digits, with the 0th digit being 0, the 1st digit being 0, the 2nd digit being 0, the 3rd digit being 1, the 4th digit being 1, the 5th digit being 0, and the 6th digit being 0. Assuming the 3rd digit as the crossover point, the last three digits of the 3rd digit of individual A, 111, are swapped with the last three digits of the 3rd digit of individual A, and the values ​​of the other digits remain unchanged, to obtain new individual A': 1001000 and new individual B': 0011111; the same method is used to perform the crossover operation on individual C and individual D, and after completing the pairwise crossover operation on m individuals, m new individuals are obtained.

[0135] According to the mutation rate P m The i-th bit of a certain n-bit individual in the new n-bit set is inverted to obtain the mutated new n-bit set, that is, according to the probability P m =0.001 Perform the inversion operation on the ith bit of a certain n-bit individual to obtain 20 new individuals after mutation

[0136] For example, select a new individual A': 1001000 from a new set of n individuals, which has 6 digits in total. Randomly invert the 5th digit to get a new A": 1101000. The values ​​of other digits remain unchanged, and the mutated new set of n individuals is obtained.

[0137] Step 6: Optimize the new n individual sets through genetic algorithm, and obtain the best drilling speed after optimization; this step is specifically as follows:

[0138] Step 61: Define a fitness function f(x) on the search space U, given the population size N and the crossover rate P c , mutation rate P m and algebraic T; where U = [0 V Max ], fitness function f(x) = A = P p -P b ; Let the population size N = 20, and the crossover rate define a fitness function f(x) on the search space U. Given the population size N and the crossover rate P c , mutation rate P m and algebraic T; where U = [0 V Max ], fitness function f(x) = A = P p -P b =0.5, mutation rate P m = 0.001, algebraic T = 100;

[0139] Step 62: Randomly generate N individuals s1, s2, ..., s in U N , forming the initial population S = {s1, s2, …, s N}, set algebraic counter t = 1; when N = 20, 20 individuals s1, s2, ..., s 20 , forming the initial population S = {s1, s2, …, s 20};

[0140] Step 63, calculate the fitness function f(x) of each individual in S;

[0141] Step 64, if the termination condition is met, the drill lifting speed corresponding to the fitness function f(x) of the individual in S whose fitness function is closest to the preset optimal value is taken as the desired optimal drill lifting speed, and the algorithm ends; otherwise, enter step 65; the termination condition is: the value of the algebraic counter t is accumulated to T or the fitness function f(x) reaches the preset optimal value, which is set by experience;

[0142] Step 65: According to the selection probability p i The chance of selection is determined by randomly selecting one individual from S each time and replicating it, doing this N(20) times in total, and then the N(20) chromosomes obtained by replication form a population S1;

[0143] Step 66: According to the cross rate P c = 0.5, the number of chromosomes participating in the crossover is c, and c chromosomes are randomly determined from S1. The original chromosome R = {r1, r2, …, r c}, pair them up for crossover operation, and use the c new chromosomes R'={r'1,r'2,…,r' c}, replacing the original chromosome R = {r1, r2, ..., rc}, the original Nc chromosomes remain unchanged, and the N chromosomes obtained after crossover constitute population S2;

[0144] Step 67: According to the mutation rate P m = 0.001, randomly determine m chromosomes from S2, perform mutation operations on each of them, and use the m new chromosomes R”={r”1,r”2,…,r” m}Replace the original m chromosomes corresponding to population S2, the original Nm chromosomes remain unchanged, and the mutated N chromosomes are obtained to form population S3;

[0145] Step 68: Use population S3 as the new generation population, that is, replace S with S3, then add 1 to the value of t and jump to step 63.

[0146] Step 7, the upper industrial computer 30 controls the drilling speed of the compacted threaded pile 100 through the drill rod controller 40 to keep it at the optimal drilling speed, while maintaining the concrete pumping volume, thereby ensuring that the concrete pumping volume matches the drilling speed; the upper industrial computer 30 controls the drilling speed of the compacted threaded pile 100 through the drill rod controller 40 specifically as follows:

[0147] The upper industrial computer 30 communicates and controls with the drill rod controller 40 through the MODBUS-TCP bus protocol. The drill rod controller 40 receives the speed value of the upper industrial computer 30, and implements the speed control of the drill rod 104 through the action actuator (drill rod 104), and at the same time feeds back the speed control result to the upper industrial computer 30 through the MODBUS-TCP bus.

[0148] The advantages of the present invention are as follows:

[0149] The present invention collects sensor data of the compacted threaded pile in the process of forming the pile 100 by collecting the sensor component 10, and stores the data in the first data storage module 20. The upper industrial computer 30 reads the sensor data from the first data storage module 20 and processes the data. The drill rod controller 40 controls the drill lifting speed of the drill rod 104. The genetic algorithm is used to achieve the optimal drill lifting speed, so that the compacted threaded pile 100 controls the drill lifting speed and the concrete pumping volume in the process of forming the pile. The pumping pressure of the concrete delivery pump is used as the target optimization value to achieve the optimal matching of the concrete pumping volume and the drill lifting speed, and effectively avoid the problems of broken piles, shrinkage, concrete water seepage and segregation, and pumping pipeline blockage.

[0150] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. An intelligent pile control structure for compacting threaded piles, used for controlling compacting threaded piles, the compacting threaded piles comprising a concrete pumping station and a compacting drill, wherein the concrete pumping station is connected to the compacting drill through a pumping pipeline; characterized in that: include: A data acquisition sensor assembly, wherein each sensor in the data acquisition sensor assembly is respectively installed on the upper outer part of the drill rod of the compaction drilling rig, the inner wall of the concrete pumping station or the pumping pipeline, the inside of the pumping pipeline or the compaction drilling rig, and the lower end of the drill bit of the compaction drilling rig; a first data storage module, the first data storage module is connected to the acquisition sensor assembly; the sensor data of the compacted threaded pile in the pile forming process is collected in real time by the acquisition sensor assembly, and the collected sensor data is converted into an electrical signal and stored in the corresponding first data storage module, the sensor data including the drilling speed, the concrete pumping volume, the concrete pumping pressure and the pressure of the drill bit buried in the concrete; a host industrial computer, the host industrial computer is connected to the first data storage module, and the host industrial computer reads the stored sensor data from the first data storage module for processing; binary-encodes the drill lifting speed by a genetic algorithm to obtain a binary speed code string, and then converts the binary speed code string into a decimal drill lifting speed value; completes fitness function design and selection function design according to the decimal drill lifting speed value, concrete pumping pressure, and the pressure of the drill bit buried in the concrete, obtains n drill lifting speed values, and forms n individual strings; obtains new n individual sets after performing crossover and mutation operations on the n individual strings by a genetic algorithm; optimizes the new n individual sets by a genetic algorithm, and obtains the best drill lifting speed after optimization; and a drill rod controller, the drill rod controller is connected to the upper industrial computer and the drill rod of the compaction drilling rig respectively, and the upper industrial computer controls the drilling speed of the compaction threaded pile through the drill rod controller to keep it at the optimal drilling speed and maintain the concrete pumping volume, thereby ensuring that the concrete pumping volume matches the drilling speed; The acquisition sensor assembly comprises: a displacement sensor, which is installed on the upper outer part of the drill pipe of the compaction drilling rig and is connected to the first data storage module; a flow meter, which is installed in the concrete pumping station or on the inner wall of the pumping pipeline and is connected to the first data storage module; a first pressure sensor, which is installed in a pumping pipeline or inside a compaction drilling rig and is connected to the first data storage module; and A second pressure sensor is installed at the lower end of the drill bit of the compaction drill and is connected to the first data storage module.

2. The intelligent pile forming control structure for compacted threaded piles according to claim 1, characterized in that: It also includes a second data storage module, which is connected to the upper industrial computer; the second data storage module is a local storage medium, which adopts one or more of a floppy disk, an optical disk, a DVD, a hard disk, a flash memory, a U disk, a CF card, an SD card, an MMC card, a SM card, a memory stick and an xD card; The first data storage module is a holding register; The upper industrial computer and the drill rod controller are connected via a MODBUS-TCP bus; the drill rod controller is a PLC, a single-chip microcomputer or an embedded processor.

3. A method for intelligent pile control of compacted threaded piles based on genetic algorithm, characterized in that: The method needs to provide a compacted thread pile intelligent pile control structure as claimed in claim 1, and the method comprises the following steps: Step 1: collect sensor data of the compacted threaded pile in the process of pile formation in real time through the collection sensor assembly, and convert the collected sensor data into electrical signals, and store them in the corresponding first data storage module, wherein the sensor data includes the drilling speed, the concrete pumping volume, the concrete pumping pressure and the pressure of the drill bit buried in the concrete; Step 2: The upper industrial computer reads the stored sensor data from the first data storage module for processing; Step 3, using a genetic algorithm to binary encode the drill lifting speed to obtain a binary speed code string, and then converting the binary speed code string into a decimal drill lifting speed value; Step 4: According to the decimal drill lifting speed value, the concrete pumping pressure and the pressure of the drill bit buried in the concrete, the fitness function design and the selection function design are completed to obtain n drill lifting speed values ​​to form n individual strings; Step 5: After performing crossover and mutation operations on the n individual strings through the genetic algorithm, a new set of n individuals is obtained; Step 6: Optimize the new n individual sets through genetic algorithm, and obtain the best drilling speed after optimization; Step 7, the upper industrial computer controls the drilling speed of the compacted threaded pile through the drill rod controller to keep it at the optimal drilling speed while maintaining the concrete pumping volume, thereby ensuring that the concrete pumping volume matches the drilling speed.

4. The method for controlling the intelligent pile formation of compacted threaded piles based on genetic algorithm as claimed in claim 3, characterized in that: The step 1 is specifically as follows: The drilling speed, concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete during the compacted threaded pile forming process are collected in real time by means of a collection sensor assembly, wherein the collection sensor assembly includes a displacement sensor, a flow meter, a first pressure sensor and a second pressure sensor; A displacement sensor is installed on the upper part of the outer side of the drill rod of the compaction threaded pile to measure the reverse drilling displacement of the drill tool per unit time, thereby obtaining the drilling speed; a flow meter is installed in the concrete pumping station or on the inner wall of the pumping pipeline to measure the concrete pumping volume in real time; a first pressure sensor is installed inside the pumping pipeline or the compaction drilling rig to measure the concrete pumping pressure in real time; a second pressure sensor is installed at the lower end of the drill bit of the compaction drilling rig to measure the pressure of the drill bit buried deep in the concrete in real time; The acquisition sensor component is used as a MODBUS-TCP slave station, and the acquired drilling speed, concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete are respectively converted into electrical signals through the displacement sensor, flow meter, first pressure sensor and second pressure sensor, and stored in the first data storage module corresponding to the MODBUS address, and the data is periodically acquired and updated.

5. The method for controlling the intelligent pile formation of compacted threaded piles based on genetic algorithm as claimed in claim 3, characterized in that: The step 2 is specifically as follows: The upper industrial computer is used as a MODBUS-TCP master station. The upper industrial computer identifies the acquisition sensor component through the IP address, and reads the stored drilling speed, concrete pumping volume, concrete pumping pressure and the pressure of the drill bit buried in the concrete from the first data storage module in a polling manner using the MODBUS-TCP transmission protocol, and saves them to the local storage medium for further processing, thereby completing the transmission process of the sensor data from the acquisition sensor component to the upper industrial computer.

6. The method for controlling the intelligent pile formation of compacted threaded piles based on genetic algorithm as claimed in claim 3, characterized in that: The step 3 is specifically as follows: Let the maximum value of the drilling speed be V Max , the unit is m / s, the speed unit retains 2 decimal places, the range of the drilling speed is [0V Max ], let k be a natural number, then: 2 k-1 ＜(V Max -0)*10 2 ＜2 k The k value can be calculated, k = {0, 1, 2, 3...}, and the k value is the number of bits of the drilling speed code in the binary speed code string; The method for converting the binary speed code string into a decimal drilling speed value is: Let (b0b1b2b3...b k )2 is a binary speed code string, then: The decimal drilling speed value corresponding to the binary speed code string is: Among them, the binary speed code string The corresponding decimal drill speed value is 0m / s; Binary speed code string The corresponding decimal value of the drilling speed is V Max m / s; The step 4 is specifically as follows: Fitness function design: During the compaction thread pile construction process, it is necessary to ensure that the concrete pumping volume matches the drilling speed, that is, to minimize the pressure difference between the concrete pumping pressure and the pressure of the drill bit buried deep in the concrete. Let the concrete pumping pressure be P p , the pressure of the drill bit buried deep in the concrete is P b , then A=P p -P b As the adaptability score, the fitness function directly returns the real-time collected concrete pumping pressure P p The pressure P of the drill bit buried in the concrete b The pressure difference; Select function design: Let v1,v2,v3...v n is the drilling speed set n times, and its corresponding fitness function values ​​are A1, A2, A3...A n , so the cumulative total fitness is: Therefore, the selection probability of the fitness function value at each drilling speed is: in Then, the roulette wheel selection method is used to randomly select a certain probability, that is, the drill lifting speed value selected at that time is obtained, and n drill lifting speed values ​​are obtained by repeating n times, thus forming n individual strings.

7. The method for controlling the intelligent pile formation of compacted threaded piles based on genetic algorithm according to claim 6, characterized in that: The step 5 is specifically as follows: Select m individuals from the n individual strings and randomly set a crossover point according to the crossover rate P. c , use the single-point crossover method to perform two-by-two crossovers on the three digits after the set crossover point to generate two new individuals. After crossover of m individuals, m new individuals are obtained, and then added to the original nm individuals to form a new set of n individuals after crossover; According to the mutation rate P m The i-th bit of a certain n-bit individual in the new n-bit set is inverted to obtain the mutated new n-bit set.

8. The method for controlling the intelligent pile formation of compacted threaded piles based on genetic algorithm according to claim 7, characterized in that: The step 6 is specifically as follows: Step 61: Define a fitness function f(x) on the search space U, given the population size N and the crossover rate P c , mutation rate P m and algebra T; where U = [0V Max ], fitness function f(x) = A = P p -P b ; step 62. Randomly generate N individuals s1, s2, ..., s in U N , forming the initial population S = {s1, s2, …, s N }, set algebraic counter t = 1; Step 63, calculate the fitness function f(x) of each individual in S; Step 64, if the termination condition is met, the drill lifting speed corresponding to the fitness function f(x) of the individual in S whose fitness function is closest to the preset optimal value is taken as the desired optimal drill lifting speed, and the algorithm ends; otherwise, enter step 65; the termination condition is: the value of the algebraic counter t is accumulated to T or the fitness function f(x) reaches the preset optimal value, which is set by experience; Step 65: According to the selection probability p i The chance of selection is determined by randomly selecting one individual from S each time and replicating it, doing this N times in total, and then forming a population S1 with the N chromosomes obtained by replication; Step 66: According to the cross rate P c The number of chromosomes participating in the crossover is determined by random selection of c chromosomes from S1. The original chromosome R = {r1, r2, ..., r c }, pair them up for crossover operation, and use the c new chromosomes R'={r'1,r'2,…,r' c }, replacing the original chromosome R = {r1, r2, ..., r c }, the original Nc chromosomes remain unchanged, and the N chromosomes obtained after crossover constitute population S2; Step 67: According to the mutation rate P m The number of mutations determined is m. m chromosomes are randomly selected from S2, and mutation operations are performed on each of them. The m new chromosomes R”={r”1,r”2,…,r” m }Replace the original m chromosomes corresponding to population S2, the original Nm chromosomes remain unchanged, and the mutated N chromosomes are obtained to form population S3; Step 68: Use population S3 as the new generation population, that is, replace S with S3, then add 1 to the value of t and jump to step 63.

9. The method for controlling the intelligent pile formation of compacted threaded piles based on genetic algorithm as claimed in claim 3, characterized in that: The step 7 is specifically as follows: The upper industrial computer controls the drilling speed of the compacted threaded pile through the drill rod controller, and the upper industrial computer communicates and controls with the drill rod controller through the MODBUS-TCP bus protocol. The drill rod controller receives the speed value of the upper industrial computer, and realizes the speed control of the drill rod through the action execution mechanism, and at the same time feeds back the speed control result to the upper industrial computer through the MODBUS-TCP bus.

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