Method for forming a pile body by a vibroflotation pile machine

Abstract

This invention discloses a method for constructing piles using a vibratory compaction stone pile machine, comprising: automatically guiding the vibratory compaction stone pile machine and aligning its vibratory compactor system with the pile point to be constructed based on the latitude and longitude information of the pile point and the vibratory compaction stone pile machine; after the vibratory compactor system is automatically aligned with the pile point, the vibratory compactor system vibrates downwards on the stratum at the pile point according to a predetermined verticality requirement to form a vertical pile hole; after forming the vertical pile hole, a loader automatically feeds material into the pile hole to form pile segments from bottom to top, and the pile segments together form a uniform, continuous, and vertical vibratory compaction stone pile; during the formation of the vibratory compaction stone pile, the pile diameter of each pile segment is compared with a preset pile diameter, and the vibration parameters of the vibratory compactor system are adjusted according to the comparison results to obtain a pile body that meets the preset pile diameter requirements. The method of this invention allows the vibratory compaction stone pile machine to be automatically and accurately positioned at the pile point to be constructed, ensuring the verticality of the constructed pile hole meets the requirements, achieving automatic feeding and dynamic real-time measurement of stone weight, and forming vibratory compaction stone piles with uniform and continuous pile diameters.

Description

Technical Field

[0001] This invention relates to the field of pile driver construction technology, and in particular to a method for forming piles using a vibratory crushing stone pile driver. Background Technology

[0002] Vibro-compaction is a method of foundation treatment in which loose foundation soil layers are compacted by the horizontal vibration of the vibratory compactor of a vibro-compaction stone pile machine and the combined action of high-pressure water or high-pressure air; or by drilling holes in the foundation soil layer and backfilling with stable hard coarse-grained material, and then forming a composite foundation with the reinforced body (vibro-compaction pile) formed by vibration and the surrounding foundation soil.

[0003] During the construction process using the vibro-compaction method, different construction methods are adopted for strata with different geological conditions. For example, the invention patent with announcement number CN104372788A provides a detailed description of the vibro-compaction stone crushing pile machine and construction method applicable to strata with a thick overburden layer of more than 50m. However, in the construction method of this patent, the vibro-compaction stone crushing pile machine adopts the existing technology for pile machine positioning, pile hole construction, and pile formation by filling the hole.

[0004] When using existing piling rigs, the operator and construction personnel need to work together to achieve the desired positioning. However, the positioning is limited by the construction personnel's eyesight, resulting in human visual errors. In particular, nighttime construction or insufficient lighting can further restrict vision, leading to low positioning efficiency, large positioning errors, and potential safety hazards.

[0005] In existing pile hole construction technology, a multi-section telescopic guide rod connected to a vibratory compactor is used for vibratory compaction. However, when encountering hard layers, especially large gravel, the vibratory compactor with the above structure inevitably experiences "side slippage," causing the pile hole to deviate. If the deviation is minor and the inclined pile hole is not corrected, the uniformity of the pile diameter and the guarantee coefficient of compaction will be affected, resulting in poor safety of the subsequently formed vibratory compacted stone pile. If the inclined pile hole is corrected, the vibratory compactor must be stopped and the hole repaired promptly, inevitably extending the construction period and increasing construction costs. If the deviation is severe, the entire pile must be abandoned, seriously affecting the construction progress and cost.

[0006] When filling boreholes with existing technology, loader feeding is the most mobile and applicable to many scenarios. However, loader feeding is a one-to-one method, which has a major loophole: it's impossible to determine whether the crushed stone has actually been added to the borehole after the loader scoops it up. The usual monitoring method is to add surveillance cameras to the construction site, but this method is susceptible to human error. To avoid this, there are two main methods for weighing the aggregate in traditional construction: one is to manually count the number of buckets loaded by the loader before vibratory compaction, and the other is to build a dedicated weighing platform. The former is too rough, and the latter requires placing the weighing platform next to the pile hole, which is inconvenient and unsafe due to the presence of large equipment nearby.

[0007] Furthermore, real-time measurement of the pile diameter after material is added to the pile hole is one of the key challenges in automating the vibro-compaction process. Common sense suggests that the pile diameter of vibro-compacted gravel piles is closely related to the geological conditions, but this inevitably leads to a problem: extremely uneven pile diameters. In strata such as medium-coarse sand, the vibro-compaction process also generates a compaction effect, which can easily cause the gravel filler to have difficulty spreading, resulting in an excessively small pile diameter. Conversely, in lacustrine sedimentary silt strata, the limited surrounding constraints cause a large amount of filler to be added, making compaction difficult. This manifests as a low densification current. Two common solutions are to reduce the densification current standard or increase the filler size. The former lacks objective basis and is heavily influenced by human factors, while the latter results in an excessively large pile diameter, even leading to pile overlap. Currently, there is no effective solution. In engineering practice, the common practice is to fill a large amount of gravel at once to maximize the height difference of the filler within the hole and create a more uniform effect. However, this method is not objectively sound. For conventional engineering projects, such ambiguity is not a problem. However, in areas prone to strong earthquakes, it poses a significant hidden danger. In the event of a major earthquake, when it is necessary to reduce the excess pore water pressure in the strata to a safe range, the continuity of the pile itself becomes a critical issue. The excessively small pile diameter caused by the pre-densification effect during vibro-compaction drilling in medium-coarse sand layers becomes the weakest link. If the pile is broken or misaligned during a strong earthquake, the vertical upward drainage effect of the excess pore water under the vibro-compaction stone pile will decrease drastically, the possibility of liquefaction will increase, and the engineering effect of vibro-compaction will be severely reduced, threatening the overall operation of the project. Summary of the Invention

[0008] The purpose of this invention is to solve the above-mentioned problems and provide a method for forming piles by vibratory compaction stone pile machine. The vibratory compaction stone pile machine can automatically and accurately position itself at the pile point to be constructed, and can be constructed at night or under conditions of insufficient lighting. It is highly efficient and safe. The verticality of the pile hole constructed by vibratory compaction meets the requirements. It can automatically feed materials and dynamically measure the weight of the stone in real time, and can form vibratory compaction stone piles with uniform and continuous pile diameter. It solves the problem in this field of poor continuity of vibratory compaction stone piles formed in medium and coarse sand layers and areas prone to strong earthquakes, and the easy breakage or misalignment of vibratory compaction stone piles under strong earthquake conditions.

[0009] To achieve the above-mentioned objectives of the present invention, the method for forming a pile body using a vibratory compaction stone pile driver provided by the present invention includes:

[0010] Based on the latitude and longitude information of the pile point to be constructed and the vibratory stone crushing pile machine, the vibratory stone crushing pile machine is automatically guided and its vibratory compactor system is aligned with the pile point to be constructed.

[0011] After the vibratory compactor system is automatically aligned with the pile point to be constructed, the vibratory compactor system vibrates downwards on the stratum at the construction pile point according to the predetermined verticality requirements to form a vertical pile hole.

[0012] After forming a vertical pile hole, a loader automatically feeds material into the pile hole to form pile segments from bottom to top, and the pile segments together form a uniform, continuous and vertical vibratory crushing stone pile.

[0013] During the process of forming vibro-compacted stone piles, the diameter of each pile segment is compared with the preset pile diameter, and the vibratory parameters of the vibratory compactor system are adjusted according to the comparison results to obtain a pile that meets the preset pile diameter requirements.

[0014] In the process of forming vibro-compacted stone piles, the diameter of each pile segment is compared with the preset pile diameter, and the vibratory compaction parameters of the vibratory compactor system are adjusted according to the comparison results to obtain piles that meet the preset pile diameter requirements, including:

[0015] Obtain the height difference of the material surface depth before and after the stone is placed in the pile hole corresponding to a section of the pile body, and then carry out vibratory compaction.

[0016] The average pile diameter per meter of the pile body is obtained by measuring the difference between the depth and height of the material surface.

[0017] The average pile diameter of this section of pile is compared with the preset pile diameter, and the vibratory compaction parameters of the vibratory compaction stone crushing machine are adjusted according to the comparison results to obtain a pile that meets the pile diameter requirements.

[0018] The method for obtaining the height difference of the material surface depth before and after the placement of stones in the pile hole corresponding to a section of the pile includes:

[0019] To obtain the depth of the material surface inside the pile hole formed by the vibratory compaction stone pile driver before the stone is placed;

[0020] Stones are placed into the pile hole after the surface depth has been measured, and the surface depth of the stone is measured after the stone is placed. The height difference of the surface depth before and after the stone is placed is obtained from the measurement results. Then, vibratory compaction is carried out on this section of stone to form a section of pile.

[0021] The automatic guidance of the vibratory stone crushing machine and its alignment with the pile point to be constructed, based on the latitude and longitude information of the pile point and the vibratory stone crushing machine, includes:

[0022] Based on the latitude and longitude information of the pile point to be constructed and the vibratory stone crushing pile machine, the vibratory stone crushing pile machine is automatically guided to the pile point to be constructed.

[0023] After the vibratory stone crushing pile machine is automatically guided to the pile point to be constructed, the vibratory impactor system on the vibratory stone crushing pile machine is aligned with the pile point to be constructed.

[0024] One method for aligning the vibratory compactor system on the vibratory stone crushing pile driver with the pile point to be constructed includes:

[0025] The positional relationship between the positioning antenna and the vibratory compactor system on the vibratory compactor pile driver is obtained, so as to obtain the real-time position information of the vibratory compactor system based on the real-time position information of the positioning antenna.

[0026] The real-time location information of the vibratory compactor system is compared with the location information of the pile point to be constructed in order to obtain the distance information between the vibratory compactor system and the pile point to be constructed.

[0027] Based on the distance information obtained, the vibratory compactor system on the vibratory stone crushing pile machine is aligned with the pile point to be constructed.

[0028] The process of vibrating the soil at the pile point to be constructed downwards with the required verticality using a vibratory compactor system includes the step of placing the drill rod system of the vibratory compactor stone pile driver parallel to the mast of the hoisting system so that the vibratory compactor system connected to the bottom of the drill rod system is parallel to the mast.

[0029] The arrangement of the drill pipe system and the mast of the hoisting system parallel to each other, so that the vibratory compactor system connected to the bottom of the drill pipe system is parallel to the mast, includes:

[0030] During the process of lowering the drill pipe system and vibratory compactor system using the hoisting system, the verticality of the drill pipe system relative to the main machine is controlled so that the vibratory compactor system lowered with the drill pipe system is parallel to the mast.

[0031] The process of vibratory compaction of the strata at the pile point to be constructed with the required verticality also includes the step of real-time detection and adjustment of the verticality of the mast relative to the main unit located on the horizontal plane during vibratory compaction, so that the verticality of the mast meets the requirements.

[0032] The process of automatically feeding materials into the pile holes after forming the verticality requirements includes:

[0033] After forming pile holes that meet the verticality requirements, the first weight information of multiple loaders loaded with stones and the location information of multiple loaders are obtained by polling.

[0034] Based on the location information of multiple loaders, the loaders located in the pile hole feeding area are controlled to sequentially feed the loaded stones into the pile hole, and the second weight information of the loaders after feeding the stones is obtained.

[0035] Based on the first and second weight information of each loader, the weight of stone per bucket of each loader is obtained into the pile hole, and the weight of stone per bucket of multiple loaders is added together to obtain the total weight of stone per bucket of multiple loaders into the pile hole.

[0036] Furthermore, before obtaining the first weight information of the loader when it is loaded with stones, the process also includes a step of weight calibration of the unloaded loader.

[0037] Compared with existing technologies, the method for forming piles using a vibratory compaction stone pile driver of the present invention has the following advantages:

[0038] 1. The method of this invention employs a positioning guidance system to perform real-time and precise positioning of the vibratory crushing stone pile driver and the pile hole to be constructed, and then transmits this information to the pile driver's graphical interface to guide the driver in precise positioning. The entire process requires only one driver to accurately position the vibratory crushing stone pile driver, eliminating the need for surveyors, thus saving manpower. It is also not limited by the driver's eyesight, solving the problems of low efficiency and safety under conditions of night or insufficient lighting. The positioning efficiency is high, and the positioning error is small. Furthermore, the entire construction process achieves real-time data sharing among the construction team, on-duty engineer, and supervisor, realizing synchronization between construction and supervision, minimizing coordination costs, and significantly improving construction efficiency.

[0039] 2. The method of the present invention can realize automatic feeding and dynamic real-time metering of stone materials during the construction of vibratory crushing stone pile machine. It is easy to operate, accurate in metering, realizes synchronization of local and remote weighing data, automatic monitoring, effectively ensures quality, improves work efficiency, and saves manpower.

[0040] 3. The method of the present invention utilizes the loader itself to measure the weight of the stone and transmits it to the remote vibratory compaction construction management system in real time, realizing real-time monitoring of the weight of the material loaded by the loader. Furthermore, through position comparison, it realizes automatic matching between the loader and the pile hole, determining which pile hole the stone unloaded by the loader is placed into, effectively avoiding multiple recordings and omissions of stone in the same pile hole, and ensuring dynamic real-time automatic measurement of the stone.

[0041] 4. The method of the present invention, during the vibratory compaction construction of deep and complex foundations exceeding 50 meters in depth using a vibratory compactor system, can adjust the verticality of the mast that exceeds the verticality requirement in a timely manner, so that the vibratory compactor system can vibrate downwards into the construction stratum with the required verticality and form vibratory crushed stone pile holes, ensuring the uniformity and compaction of the formed vibratory crushed stone pile diameter, improving the safety of the vibratory crushed stone pile, and effectively shortening the construction period and reducing construction costs.

[0042] 5. The method of the present invention can form vibro-compacted stone piles with uniform and continuous pile diameter, which solves the problem in the field of poor continuity of vibro-compacted stone piles formed by vibro-compacted construction in medium and coarse sand layers and areas prone to strong earthquakes, and the easy breakage or misalignment of vibro-compacted stone piles under strong earthquake conditions.

[0043] The present invention will now be described in detail with reference to the accompanying drawings. Attached Figure Description

[0044] Figure 1 This is a perspective view of the vibratory stone crushing pile machine in the method of the present invention;

[0045] Figure 2 This is a perspective view of the vibratory stone crushing pile machine in the method of the present invention from another angle;

[0046] Figure 3 This is a partially enlarged view of the clamping connection section of the drill pipe verticality maintaining device of the present invention;

[0047] Figure 4 This is a schematic diagram of the first structure of the drill pipe verticality maintaining device of the present invention;

[0048] Figure 5 This is a schematic diagram of the second structure of the drill pipe verticality maintaining device of the present invention;

[0049] Figure 6 This is a schematic diagram of the drill pipe system of the present invention;

[0050] Figure 7 This is a partial schematic diagram of the drill pipe system of the present invention;

[0051] Figure 8 This is a schematic diagram of the connection between the working section of the drill pipe system and the vibratory compactor system of the present invention;

[0052] Figure 9 This is a first schematic block diagram illustrating the verticality adjustment principle of the present invention;

[0053] Figure 10 This is a second schematic block diagram illustrating the verticality adjustment principle of the present invention;

[0054] Figure 11 This is a schematic block diagram of the mast verticality maintaining device of the present invention;

[0055] Figure 12 This is a schematic block diagram of the verticality detection mechanism of the present invention;

[0056] Figure 13 This is a flowchart of the automatic operation of the vibratory stone crushing pile machine of the present invention;

[0057] Figure 14 This is a schematic diagram showing the relative positions of the positioning antenna and the oscillator system;

[0058] Figure 15 This is a schematic diagram of the positioning antenna and oscillator system during real-time positioning.

[0059] Figure 16 This is the initial interface display diagram for positioning the vibratory stone crushing pile machine;

[0060] Figure 17 This is an interface display diagram showing the positioning of the vibratory compactor system of the vibratory stone crushing pile driver, which is aligned with the pile point to be constructed.

[0061] Figure 18 This is a display diagram of the operation interface for each pile hole of the vibratory stone crushing pile machine;

[0062] Figure 19 It is a schematic diagram of a loader, a vibratory compactor, and a remote control system;

[0063] Figure 20 This is a flowchart of a remote control system controlling a loader to feed material into a pile hole;

[0064] Figure 21 This is a schematic diagram of the communication between the loader and the remote control system;

[0065] Figure 22 This is a flowchart of the weighing process when a loader dumps stones into a pile hole. Detailed Implementation

[0066] like Figure 1 , Figure 2 The figures show perspective views of the vibratory stone crushing pile machine used in the method of the present invention from two different angles. As can be seen from the figures, the vibratory stone crushing pile machine of the present invention includes a hoisting system 100, a drill rod system 200, a vibratory compactor system 400, and an automatic feeding system 500.

[0067] The hoisting system 100 includes the main unit 101 of the vibratory stone crushing pile machine, the mast 102 connected to the main unit, and the main winch device 501 installed at the rear end of the main unit 101. The drill rod system 200 is hoisted by the wire rope of the main winch device 501 and the mast 102 so that the drill rod system is vertically positioned under its own weight.

[0068] An automatic feeding system 500 is installed on the main unit 101. This automatic feeding system is installed at the rear of the main unit 101 of the hoisting system 100 and can be used as a counterweight for the main unit 101. The automatic feeding system 500 includes a pneumatic pipe winch 502, a cable winch 503, and a water pipe winch 504, and these three devices are configured to feed synchronously with the main winch 501.

[0069] The drill pipe system 200 has an upper connecting section 201 for connecting to the wire rope of the main winch 501, a middle support section 202, and a lower working section 203 for connecting to the vibratory compactor system 400 (typically, such as...). Figure 8 As shown, a shock-absorbing assembly is installed between the working section 203 and the vibratory compactor system 400. The drill pipe system 200 employs a telescopic guide rod of existing technology, allowing the axial length of the drill pipe system 200 to be adjusted to change the lowering or raising position of the vibratory compactor system relative to the ground. Figure 6 , Figure 7 As shown, the drill pipe system 200 has multiple layers of casing sequentially nested from the inside out. The connecting section 201 is the top layer casing, the working section 203 is the bottom layer casing, and the support section 202 includes one or more intermediate casings. Adjacent casing layers can be connected using existing connection structures, allowing for smooth axial sliding of adjacent layers while preventing torsion. During operation, the number and length of the multiple casing layers in the drill pipe system can be determined according to usage requirements; for example, more than four layers of casing can be used, with each layer being 18-25 meters long (the top layer casing can be even longer). In use, the length of the multiple casing layers in the drill pipe system can be extended or shortened. When all the multiple casing layers of the telescopic guide rod are extended, the total length of the telescopic guide rod can reach 72 meters or even longer. Therefore, the vibratory compaction stone-breaking pile machine of this invention can be used for vibratory compaction drilling in strata deeper than 50 meters. It should be noted that the coaxiality is the same when connecting any two adjacent layers of casing. That is, the multiple layers of casing are coaxial after being extended, so that each layer of casing is perpendicular to the pile hole during vibro-compaction construction.

[0070] See Figure 13 When using a vibro-compactor for vibro-compacting construction in ultra-deep and complex strata, this invention provides a method for forming piles using the aforementioned vibro-compactor, the method comprising:

[0071] Based on the latitude and longitude information of the pile point to be constructed and the vibratory stone crushing pile machine, the vibratory stone crushing pile machine is automatically guided and its vibratory compactor system is aligned with the pile point to be constructed.

[0072] After the vibratory compactor system is automatically aligned with the pile point to be constructed, it vibrates the soil at the pile point to be constructed downwards with the required verticality to form a pile hole that meets the verticality requirements.

[0073] After forming pile holes that meet the verticality requirements, a loader automatically feeds materials into the pile holes to form uniform, continuous, and vertically compliant vibratory crushed stone piles through the pile sections from bottom to top.

[0074] During the process of forming vibro-compacted stone piles, the diameter of each pile segment is compared with the preset pile diameter, and the vibratory parameters of the vibratory compactor system are adjusted according to the comparison results to obtain a pile that meets the preset pile diameter requirements.

[0075] The following describes in detail the method of forming piles by vibratory compaction of stone piles using the vibratory compaction method of the present invention.

[0076] S100. Based on the latitude and longitude information of the pile point to be constructed and the vibratory stone crushing pile machine, automatically guide the vibratory stone crushing pile machine and align its vibratory compactor system with the pile point to be constructed.

[0077] To enable the vibratory compactor pile driver to automatically position itself at the pile point without the need for coordination between surveyors and the driver, minimizing alignment errors and unaffected by nighttime or insufficient lighting conditions, this invention, before vibratory compaction, automatically aligns the vibratory compactor system with the pile point based on its location information. This includes:

[0078] S101. Before the vibratory crushing of stone piles, the vibratory crushing of stone piles is automatically guided to the pile point to be constructed based on the latitude and longitude information of the pile point to be constructed and the vibratory crushing of stone piles.

[0079] Before using a vibratory compaction stone pile driver for vibratory compaction construction, the latitude and longitude information of each pile point to be constructed is determined, and each pile point is located (using existing technical methods) to obtain the location information of each pile point. The location information of each pile point includes: pile point number, coordinate information, design depth, pile diameter, etc. Among them, the coordinate information of the pile point in the construction plane coordinate system can be obtained through the latitude and longitude information of the pile point.

[0080] The system first identifies the current pile point to be constructed from multiple pile points. Then, a positioning guidance system (such as the BeiDou positioning system) uses the latitude and longitude information of the corresponding vibratory crushing stone pile driver (similarly, the coordinate information of the vibratory crushing stone pile driver in the construction plane coordinate system can be obtained through the latitude and longitude information of the vibratory crushing stone pile driver) to automatically guide the vibratory crushing stone pile driver (which is equipped with a positioning antenna) to the pile point to be constructed. The guidance process can use existing technology, and the equipment number of the vibratory crushing stone pile driver is added to the location information of the current pile point to be constructed.

[0081] Among them, the operation interface of each pile hole of the vibratory stone crushing pile machine can be as follows: Figure 18As shown in the figure, piles numbered 0105 and 0106 are piles that have been constructed, while the rest are piles that have not been constructed. The pile to be constructed is one of the piles that have not been constructed.

[0082] After obtaining the location information of the pile points to be constructed, the vibratory stone crushing pile machine is guided to move forward, backward, left, and right through the positioning and guidance system so that the vibratory stone crushing pile machine is automatically guided to the pile points to be constructed.

[0083] In this invention, the vibratory compaction construction management system in the remote central control room communicates with the vibratory compaction stone pile machine at the construction site via wired or wireless means to control the vibratory compaction stone pile machine to perform corresponding actions and monitor the action process and results of the vibratory compaction stone pile machine. During implementation, a PLC or ARM microcontroller program communication port (RS485 or 232 port) is designed on the vibratory compaction construction management system. Through ARM microcontroller or PLC programming, the data type of the serial port on the onboard computer of the vibratory compaction stone pile machine can be remotely queried. By parsing the data code, a query command is encoded and issued, and the data is transmitted at a certain rate and format via a remote data transmission radio. A low-power wireless data transmission radio is installed on the serial port of the onboard computer of the vibratory crushing stone pile machine. The channel and data format of the onboard data transmission radio are consistent with those of the remote data transmission radio on the construction management system side. This onboard data transmission radio receives instructions from the remote data transmission radio on the serial port of the PLC or microcontroller in the construction management system, decodes them, and then the onboard computer identifies them. Subsequently, according to the instructions of the microcontroller or PLC, it replies with the data to be transmitted, exchanging data with the remote data transmission radio via the serial port. The remote data transmission radio (full-duplex, transceiver integrated) on the remote construction management system receives the signal sent from the onboard data transmission radio on the vibratory crushing stone pile machine, decodes and strips the encrypted signal, parses out the required signal, calculates it through decoding circuits and programs, and displays and records it in the construction management system.

[0084] S102. After the vibratory stone crushing pile machine is automatically guided to the pile point to be constructed, the vibratory impactor system on the vibratory stone crushing pile machine is aligned with the pile point to be constructed.

[0085] After the vibratory compactor pile driver is guided to the pile point to be constructed by the positioning and guidance system, the vibratory compactor system on the vibratory compactor pile driver may not be precisely aligned with the pile point. That is, the position of the vibratory compactor system may not be within the positional error range of the pile point. Therefore, it is necessary to automatically guide the vibratory compactor pile driver to move back, forth, left, and right until the position of the vibratory compactor system is within the positional error range of the pile point. Aligning the vibratory compactor system on the vibratory compactor pile driver with the pile point includes the following steps:

[0086] The positional relationship between the positioning antenna and the vibratory compactor system on the vibratory compactor pile driver is obtained, so as to obtain the real-time position information of the vibratory compactor system based on the real-time position information of the positioning antenna.

[0087] The real-time location information of the vibratory compactor system is compared with the location information of the pile point to be constructed in order to obtain the distance information between the vibratory compactor system and the pile point to be constructed.

[0088] Based on the distance information obtained, the vibratory compactor system on the vibratory stone crushing pile machine is aligned with the pile point to be constructed.

[0089] When obtaining the positional relationship between the positioning antenna and the vibratory compactor system on the vibratory stone crushing pile machine, it is necessary to use positioning equipment to initially locate the positions of the positioning antenna and the vibratory compactor system on the vibratory stone crushing pile machine, so as to determine the positional relationship between the positioning antenna and the vibratory compactor system.

[0090] The initial positions of the vibratory compactor system and the positioning antenna of the vibratory compactor stone pile driver are initially located by the positioning equipment, and the initial position information of the vibratory compactor system and the initial position information of the positioning antenna are obtained.

[0091] The distance between the two is determined by the initial position information of the oscillator system and the positioning antenna;

[0092] The distance between the two determines the straight-line distance between the positioning antenna installation location and the vibratory system, as well as the angle between the line connecting the vibratory system and the positioning antenna and true north.

[0093] The real-time position information of the oscillator system obtained based on the real-time position information of the positioning antenna includes:

[0094] Obtain the rotation angle of the vibratory stone crushing pile machine relative to due north;

[0095] Based on the real-time position information of the positioning antenna, the real-time position information of the vibratory compactor system is determined by the real-time position information of the positioning antenna, the distance between the vibratory compactor system and the positioning antenna, and the rotation angle of the vibratory compactor relative to due north.

[0096] During implementation, a handheld positioning device (which can be an existing technology device) is used on the vibratory compactor system and the positioning antenna installation position to initially locate them and determine their positional relationship. When construction begins, the real-time coordinates of the vibratory compactor system are calculated based on the real-time positioning antenna position information. Each coordinate is a coordinate in a plane coordinate system.

[0097] Among them, the installation positions of the vibratory compactor system and the positioning antenna on the vibratory stone crushing pile machine are as follows: Figure 14 As shown in the figure, G is the installation position of the positioning antenna, and M is the installation position of the vibratory motor of the vibratory system. During construction, the position of the vibratory motor represents the position of the vibratory system.

[0098] When performing initial positioning of the vibratory system and positioning antenna (see [reference]). Figure 14 The positional relationship can be calculated using the following formula:

[0099] a=x0-x′0 (1)

[0100] b=y0-y′0 (2)

[0101]

[0102]

[0103] In the above formulas:

[0104] The straight-line distance between the ρ-positioning antenna installation location and the vibratory motor;

[0105] The angle between the line connecting the α-vibrating motor and the positioning antenna and true north.

[0106] When locating the oscillator system and positioning antenna in real time (see...) Figure 15 The position of the vibratory impactor system can be calculated using the following formula:

[0107] x′1=x1+acosβ+bsinβ (5)

[0108] y′1=y1+bcosβ-asinβ (6)

[0109] In the formula:

[0110] x1,y1 - Real-time positioning information acquired by the positioning antenna;

[0111] x′1, y′1 - Real-time position information of the vibratory motor;

[0112] The rotation angle of the β-vibratory stone crushing pile machine.

[0113] Furthermore, based on the acquired distance information, when aligning the vibratory compactor system on the vibratory stone crushing pile driver with the pile point to be constructed, the system also displays the real-time position information of the vibratory compactor system and the position information of the pile point to be constructed (e.g., ...) through a graphical interface. Figure 16 , Figure 17 (As shown). After obtaining the real-time location information of the vibratory compactor system, the location information of the pile point to be constructed is used as the target point. Based on the position and distance relationship between the vibratory compactor system and the target point, the direction information of the vibratory compactor system to align with the pile point is displayed through the graphical interface.

[0114] By using BeiDou positioning information as the basis for positioning, the distance relationship between the vibratory compactor and the pile point to be constructed is displayed intuitively in a graphical manner. Clear distance prompts guide construction personnel to move the vibratory compactor in all directions, ensuring the vibratory compactor system is aligned with the pile point. Once positioning is complete, the graphical interface indicates that alignment is successful. The entire construction process can be carried out entirely at night, such as setting out lines and locating points, improving construction efficiency and shortening the construction period.

[0115] In summary, the positioning guidance system accurately positions the vibratory compactor and the pile hole in real time, then transmits this information to the pile driver's graphical interface to guide the driver in precise positioning. The entire process requires only one driver to accurately position the vibratory compactor, eliminating the need for surveyors, thus saving manpower. It is also not limited by the driver's eyesight, solving the inefficiency and safety issues at night or under insufficient lighting conditions. The system boasts high positioning efficiency and minimal positioning error. Furthermore, the entire construction process enables real-time data sharing among the construction team, on-duty engineer, and supervisor, achieving synchronization between construction and supervision, minimizing coordination costs, and significantly improving construction efficiency.

[0116] S200. After the vibratory compactor system is automatically aligned with the pile point to be constructed, the vibratory compactor system is used to vibrate the stratum at the pile point to be constructed downward with the required verticality to form a pile hole that meets the verticality requirements.

[0117] After the vibratory compactor system is aligned with the pile point to be constructed, that is, after the position of the vibratory compactor system is within the positional error range of the pile point to be constructed, the verticality of the vibratory compactor system on the vibratory stone crushing pile machine is adjusted so that the vibratory compactor system can perform vibratory compaction construction on the pile point to be constructed with the required verticality, thereby forming ultra-deep pile holes with the required verticality in thick and complex strata.

[0118] When using the vibratory compactor system 200 to create boreholes in complex strata deeper than 50 meters, the process becomes particularly challenging. These strata consist of a thick overburden layer, characterized by a soft upper layer and a hard lower layer with numerous large-diameter gravels. The "soft upper layer" refers to a weak interlayer (such as lacustrine silty clay), while the "hard lower layer" refers to a relatively dense hard layer (such as sand or sand interbedded with gravel). Furthermore, the vibratory compactor operates in an environment of gravel, sand, and mud. If it encounters hard strata, the vibratory compactor is highly susceptible to deflection during the compaction process, leading to borehole deviation. This deviation can result in construction failure and significant losses. Especially when working in strata such as medium-coarse sand in earthquake-prone areas, borehole deviation causing pile tilting can result in incalculable losses. To prevent the vibratory compactor from tilting during the vibratory compaction process, this invention places the drill rod system and the mast of the hoisting system parallel to each other. This ensures that the vibratory compactor system, connected to the bottom of the drill rod system, is parallel to the mast. By ensuring the verticality of the mast, the verticality of the vibratory compactor system is also ensured. During vibratory compaction drilling, the verticality of the mast relative to the main unit on the horizontal plane is monitored in real time, and the verticality of the mast is adjusted accordingly based on the monitoring results to ensure that the verticality of the mast meets the requirements. This allows the vibratory compactor, placed parallel to the mast, to vibrate downwards into the working stratum with the required verticality and form vibratory compacted stone pile holes.

[0119] Specifically, the present invention ensures that the vibratory compactor can vibrate downwards into the construction stratum with the required verticality through the vibratory compactor vertical holding system 300 to form vibratory crushed stone pile holes.

[0120] like Figures 1-5 As shown, the vibratory compactor vertical holding system 300 of the present invention includes: a mast verticality holding device for ensuring that the verticality of the mast relative to the host machine located on the horizontal plane meets the requirements during vibratory compactor hole drilling, so that the vibratory compactor can vibrate downwards to the pile point to be constructed in the construction stratum to form a vibratory crushed stone pile hole with the required verticality; and a drill rod verticality holding device for ensuring that the mast of the drill rod system and the hoisting system are arranged parallel to each other, so that the vibratory compactor system connected to the bottom of the drill rod system is parallel to the mast.

[0121] Among them, such as Figure 11 As shown, the mast verticality maintaining device includes: a verticality detection mechanism for real-time detection and processing of the verticality of the mast relative to the host machine located on the horizontal plane during vibratory drilling construction using a vibratory compactor; and a mast angle adjustment mechanism for adjusting the mast verticality according to the detection results of the verticality detection mechanism to ensure that the mast verticality meets the requirements.

[0122] The perpendicularity detection mechanism used in this invention is as follows: Figure 12 As shown, it includes the following modules: an inclination detection module that obtains the tilt angle of the mast relative to the host machine placed on the horizontal plane by real-time detection; a deviation data calculation module that calculates the deviation data of the mast's verticality (referred to as mast verticality) after obtaining the tilt angle of the mast relative to the host machine; a verticality comparison module that determines whether the mast verticality needs to be adjusted based on the obtained mast verticality deviation data; and a sending module that sends the comparison results to the controller so that the controller can control the mast angle adjustment mechanism to perform corresponding actions to adjust the mast verticality based on the comparison results.

[0123] The tilt detection module is housed inside the mast (not shown in the figure). Preferably, it is located within the lower 1 / 5 of the mast's interior to more accurately detect the mast's tilt angle. This tilt detection module can be a tilt sensor or other existing components capable of detecting tilt angle and processing the data.

[0124] Among them, the deviation data calculation module can be used as follows: Figure 9 The deviation data is obtained in the following manner: the tilt angle of the mast is obtained by detecting the verticality of the mast in real time through the tilt angle detection module, and then 90 degrees is subtracted from the tilt angle to obtain the verticality deviation value of the mast relative to the host.

[0125] Alternatively, the deviation data calculation module can also be used through, for example Figure 10 The deviation data is obtained in the following manner: the tilt angle of the mast is obtained by detecting the verticality of the mast in real time through the tilt angle detection module. Then, 90 degrees is subtracted from the tilt angle and the absolute value is taken to obtain the absolute value of the verticality deviation of the mast relative to the host.

[0126] After obtaining the mast verticality deviation data, a comparison module determines whether mast verticality adjustment is needed. This module compares the obtained mast verticality deviation data with a pre-set threshold range for mast verticality and obtains the corresponding comparison result. The comparison process is as follows: After obtaining the real-time deviation data of mast verticality, it is determined whether the deviation data is within the preset threshold range. If the deviation data exceeds the preset threshold range, the mast verticality needs to be adjusted, and the relevant information regarding the direction and magnitude of the adjustment is determined. If the deviation data does not exceed the preset threshold range, no adjustment of the mast verticality is needed. This preset threshold range represents the range of the maximum and minimum angles that the mast can tilt relative to the vertical plane. The above data processing is performed by a pre-stored program.

[0127] After obtaining the comparison result, the comparison module sends the result to the controller via the sending module. The controller then controls the mast angle adjustment mechanism to perform corresponding actions to adjust the mast's verticality based on the comparison result. Specifically, when the verticality detection mechanism indicates that the mast's verticality needs adjustment to meet requirements (i.e., the deviation data exceeds a preset threshold range), the controller will control the mast angle adjustment mechanism to perform the corresponding actions to adjust the mast's verticality to the required level. The controller is a PLC controller.

[0128] It should be noted that when the verticality of the mast needs to be adjusted, the controller first controls the vibratory compactor system to stop vibratory compaction, and then lifts the vibratory compactor system through the hoisting system. Then, it controls the mast angle adjustment mechanism to perform the corresponding action to adjust the verticality of the mast to meet the requirements.

[0129] The mast angle adjustment mechanism of this invention includes: a correction cylinder whose piston rod is connected to the mast, the cylinder body of which is mounted on the main unit; and a proportional valve connected to the correction cylinder. In design, the verticality of the mast can be adjusted using one correction cylinder, a pair of correction cylinders, or multiple pairs of correction cylinders. The proportional valve controls the action of the correction cylinder. The proportional valve is connected to a PLC controller, and the PLC controller uses feedback signals to control the opening size and direction of the proportional valve in a closed loop, thereby controlling the correction cylinder to adjust the tilt direction and magnitude of the mast, maintaining the mast's verticality within a preset threshold range.

[0130] Because the verticality of the mast meets the requirements, the vibratory compactor can be used to vibrate downwards into the stratum during the vibratory compaction drilling construction, thereby forming vibratory compaction stone pile holes that meet the verticality requirements.

[0131] In addition to ensuring the verticality of the mast meets requirements during vibratory compaction drilling, this invention also uses a drill rod verticality maintaining device to ensure the drill rod system and the mast of the hoisting system are parallel. This ensures that the vibratory compactor system connected to the bottom of the drill rod system is parallel to the mast, thus guaranteeing that the verticality of the vibratory compactor system always meets the requirements, provided that the mast is vertical, thereby enabling the construction of pile holes that meet the verticality requirements.

[0132] The drill pipe verticality maintaining device that applies horizontal constraint force and vertical guiding force to the drill pipe system includes: a support frame connected to the drill pipe system for applying horizontal constraint force and vertical guiding force to the connecting section of the drill pipe system; and a fixing frame connected to the support frame and the mast for fixing the support frame to the mast.

[0133] Specifically, the support frame can be adopted as follows: Figure 4 The first structure shown includes a pair of vertically parallel columns 303, a horizontal frame 301 vertically connected to the top of the pair of columns 303 and extending to one side, and a pair of reinforcing columns 302 connected at both ends to the bottom surfaces of the pair of columns 303 and the horizontal frame 301, respectively. A circular through-hole is provided on the horizontal frame 301, which connects to the drill pipe system connection section 201. In the design, multiple slots 306 extending vertically can be provided on the inner wall of the circular through-hole. Correspondingly, multiple connecting ribs 204 extending along the length of the connection section are provided on the outer wall of the drill pipe system connection section 201. The slots 306 on the horizontal frame and the connecting ribs 204 on the outer wall of the connection section 201 are fitted together with a clearance fit, allowing the drill pipe system connection section to slide vertically up and down within the through-hole after passing through it. In this way, the lower part of the drill pipe system connecting section 201 passes through the upper through hole of the horizontal frame 301, and the connecting rib 204 on the outer wall of the connecting section is placed in the slot 306. Through the upper through hole and slot of the horizontal frame 301, a horizontal constraint force and a vertical guiding force are applied to the connecting section, thereby applying a certain rigid constraint to the connection of the connecting section, so that the drill pipe system is always parallel to the mast, and thus the vibratory compactor system connected to the drill pipe system is parallel to the mast. During the vibratory compaction construction of the vibratory compactor system, when the verticality of the mast meets the requirements through the drill pipe verticality maintaining device, the vibratory compactor system can vibrate to create a pile hole that meets the verticality requirements.

[0134] Of course, multiple connecting ribs extending vertically can also be provided on the inner wall of the circular through hole, and a slot (not shown in the figure) that cooperates with the multiple connecting ribs can be fixedly installed on the outer wall of the drill rod system connection section 201. By cooperating with the connecting ribs and the slot, the horizontal frame can apply a certain rigid constraint force to the connection section.

[0135] Furthermore, the support frame of the present invention can also adopt, for example... Figure 5 The second structure shown, based on the first structure, has additional guardrails 308 installed on both sides of the upper surface of the horizontal frame 301 near the edge, to provide safety protection for maintenance personnel when maintaining the drill pipe verticality maintenance device and the drill pipe system.

[0136] The horizontal frame 301 of the present invention can be an integral structure. Furthermore, to facilitate the connection of the drill pipe system's connecting section to the horizontal frame 301 and for maintenance, the horizontal frame 301 can also be configured as consisting of two parts (e.g., Figure 4 The structure shown has two parts, each with half a through hole. The two parts are connected together by a hinge and a latch 305 to form a complete circular through hole.

[0137] The fixed frame 307, which is connected to the support frame and the mast 102 respectively, has a vertical connecting frame that mates with the mast 102 and a pair of upper connecting ears and a pair of lower connecting ears that are fixedly connected to the upper and lower ends of the vertical connecting frame and are perpendicular to the vertical connecting frame. Correspondingly, a pair of upper connecting ears and a pair of lower connecting ears are also provided at the upper and lower ends of the support frame, respectively. Figure 4 As shown, a pair of upper connecting ears of the support frame are located on both sides of the horizontal frame 301 at the end away from the through hole, and a pair of lower connecting ears of the support frame are located on a pair of uprights 303. The upper and lower connecting ears of the support frame are connected to the upper and lower connecting ears on the fixed frame 307 respectively through pins 304, thereby connecting the support frame and the fixed frame together. Of course, to improve the connection strength between the fixed frame and the support frame, more connecting ears or connecting plates can also be provided.

[0138] Compared to existing vibratory compaction pile machines with telescopic guide rods, although these machines have a ring frame on the mast, the purpose of this ring frame is to protect the telescopic guide rod (with a large gap between the ring frame and the maximum outer diameter of the telescopic guide rod) from colliding with the mast during lowering, thus preventing component damage. It also prevents the vibratory compactor from colliding with the mast due to excessive swaying during compaction. Therefore, this ring frame cannot solve the problem of inclination in ultra-deep pile holes caused by vibratory compaction in complex geological formations. In contrast, this invention uses a drill rod verticality maintaining device, providing rigid constraint force in the horizontal plane and guiding force in the vertical direction to the connecting section of the drill rod system. This ensures that the drill rod system is parallel to the mast, thereby guaranteeing the verticality of both the drill rod system and the vibratory compactor system, enabling the compaction of pile holes with the required verticality.

[0139] Furthermore, in order to determine the position of the clamping connection section based on the length of the drill pipe system connection section, the hoisting system of the present invention also installs an adjusting cylinder 103 on the mast 102 for adjusting the position of the drill pipe verticality holding device relative to the mast (e.g., Figure 3 As shown, the piston rod of the adjusting cylinder 103 extends vertically downwards parallel to the mast, and its end is fixedly connected to the fixing frame 307. The vertical connecting frame of the fixing frame 307 is connected to the mast 102 by a sliding fit, so that the position of the fixing frame 307 on the mast can be adjusted by adjusting the extension and retraction of the adjusting cylinder 103. In turn, the constraint position of the drill pipe verticality maintaining device on the connecting section of the drill pipe system can be adjusted, so that the vibratory compactor system can maintain better verticality requirements during vibratory compaction.

[0140] In summary, the present invention, after aligning the vibratory compactor system with the pile point to be constructed, adjusts the verticality of the vibratory compactor system on the vibratory stone crushing pile machine so that the vibratory compactor system can perform vibratory compaction construction at the pile point to be constructed with the required verticality. This includes the following steps:

[0141] S201. The drill pipe system and the mast of the hoisting system are placed parallel to each other so that the vibratory compactor system connected to the bottom of the drill pipe system is parallel to the mast.

[0142] During the lowering of the drill pipe system and vibratory compactor system using the hoisting system, the verticality of the drill pipe system relative to the main machine is controlled to ensure that the vibratory compactor system, lowered along with the drill pipe system, is parallel to the mast. This verticality control is achieved by applying horizontal constraint forces and vertical guiding forces to the drill pipe system.

[0143] It should be noted that the main unit of the vibratory stone crushing pile machine should be placed on a level ground with sufficient bearing capacity to keep the main unit of the vibratory stone crushing pile machine horizontal. The main unit can be kept horizontal by using a theodolite for calibration to ensure that the main unit is in a horizontal and vertical state.

[0144] Since the drill pipe system comprises a connecting section, a support section, and a working section, and the connecting section is suspended from the mast by the first wire rope, the horizontal constraint force and vertical guiding force applied to the drill pipe system are applied to the connecting section. The application of the horizontal constraint force and vertical guiding force is accomplished by using a drill pipe verticality maintaining device to apply these forces to the connecting section.

[0145] The horizontal constraint force and vertical guiding force applied to the connecting section by the drill pipe verticality maintaining device include:

[0146] The fixing frame and support frame of the drill pipe verticality keeping device are connected together by multiple pins;

[0147] The mounting bracket is installed on the mast, and the connecting section of the drill pipe system passes through the through hole of the support bracket to apply horizontal constraint force and vertical guiding force to the connecting section through the support bracket.

[0148] When the horizontal support frame is composed of two connected parts, the latch can be opened, allowing the part of the support frame furthest from the mast to be open relative to the part closest to the mast. After a portion of the drill pipe system connecting section passes through the through hole of the support frame, the two parts are then connected and locked with the latch, thus providing rigid constraint on the connecting section. Preferably, the constrained position of the connecting section is close to the connection point between the connecting section and the support section.

[0149] Alternatively, when the position of the drill pipe verticality maintaining device on the mast is adjustable, applying horizontal constraint force and vertical guiding force to the connecting section through the drill pipe verticality maintaining device also includes:

[0150] Before or after the fixing frame of the drill pipe verticality retention device is connected to the support frame via multiple pins, it also includes:

[0151] Connect the fixing bracket to the piston rod of the adjusting cylinder;

[0152] According to the required clamping position of the drill pipe system connection section, control the extension and retraction of the piston rod of the adjusting cylinder to adjust the vertical position of the fixed frame on the mast through the piston rod until the drill pipe verticality holding device reaches the required position.

[0153] The drill pipe verticality maintenance device allows the drill pipe system to be positioned parallel to the mast of the hoisting system, thus ensuring that the vibratory compactor system connected to the bottom of the drill pipe system is parallel to the mast. When the mast's verticality meets the requirements, the vibratory compactor system can perform vibratory compaction of the strata to form pile holes.

[0154] S202. When performing vibratory compaction using a vibratory compactor system, ensure that the mast is perpendicular to the main unit on the horizontal plane, so that the vibratory compactor can vibrate downwards into the working stratum to form vibratory crushed stone pile holes with the required verticality.

[0155] After ensuring the drill pipe system, vibratory compactor system, and hoisting system mast are parallel using a drill pipe verticality maintaining device, the vibratory compactor system is used to vibrate the ground. During vibratory compaction, the verticality of the mast relative to the main unit on the horizontal plane must meet the requirements so that the vibratory compactor can vibrate downwards into the earthquake-prone strata with a depth exceeding 50 meters and a thick overburden layer to form vibratory crushed stone pile holes. This includes the following steps:

[0156] S021. When performing vibratory compaction using a vibratory compactor system, the verticality of the mast relative to the host machine on the horizontal plane is detected in real time to obtain real-time deviation data of the mast's verticality.

[0157] During the vibratory drilling process using a vibratory compactor, the verticality of the mast relative to the host machine located on the horizontal plane is monitored and processed in real time. This includes: monitoring the tilt angle of the mast relative to the host machine on the horizontal plane in real time to obtain the tilt angle of the mast relative to the host machine; and after obtaining the tilt angle of the mast relative to the host machine, calculating the real-time deviation data of the verticality of the mast relative to the host machine (referred to as mast verticality).

[0158] After obtaining the mast's tilt angle relative to the main unit (i.e., the angle between the mast and the main unit), the mast's verticality deviation data can be calculated using the following methods: First, the tilt angle relative to the main unit is detected in real-time by the tilt angle detection module. Then, 90 degrees is subtracted from this tilt angle to obtain the mast's verticality deviation value, which is the real-time deviation data of the mast's verticality. Alternatively, the following method can be used: First, the tilt angle relative to the main unit is detected in real-time by the tilt angle detection module. Then, 90 degrees is subtracted from this tilt angle, and the absolute value is taken to obtain the absolute value of the mast's verticality deviation value, which is also the real-time deviation data of the mast's verticality.

[0159] S022. Based on the real-time deviation data of the mast verticality, determine whether the mast verticality needs to be adjusted.

[0160] After obtaining the real-time deviation data of the mast verticality through calculation, it is determined whether the mast verticality needs to be adjusted based on the real-time deviation data. That is, it is determined whether the deviation data is within a preset threshold range. If the deviation data exceeds the preset threshold range, the mast verticality needs to be adjusted. If the deviation data does not exceed the preset threshold range, the mast verticality does not need to be adjusted.

[0161] Specifically, after obtaining real-time deviation data of mast verticality, a comparison module determines whether mast verticality adjustment is needed. This module compares the obtained deviation data with a pre-set threshold range for mast verticality and obtains the corresponding comparison result. The comparison process is as follows: After obtaining the real-time deviation data, it is determined whether the deviation data is within the preset threshold range. If the deviation data exceeds the preset threshold range, mast verticality adjustment is required, and the relevant information regarding the direction of adjustment (i.e., whether the mast should tilt forward or backward) and the magnitude of the adjustment is determined. If the deviation data does not exceed the preset threshold range, mast verticality adjustment is not required. This preset threshold range represents the range of the maximum and minimum angles that the mast can tilt relative to the vertical plane.

[0162] S023. If it is necessary to adjust the verticality of the mast, adjust the verticality of the mast to meet the requirements so that the vibratory compactor system can vibrate the stratum under construction downwards with the required verticality and form vibratory crushing pile holes.

[0163] When the comparison result shows that the deviation of the mast verticality exceeds the preset threshold range and the mast verticality needs to be adjusted to meet the requirements, the comparison result is sent to the PLC controller. The controller controls the mast angle adjustment mechanism to perform corresponding actions to adjust the mast verticality so that the mast verticality meets the requirements.

[0164] Specifically, if mast verticality adjustment is required, the controller first stops the vibratory compactor system and then lifts it using the hoisting system. Next, it controls the mast angle adjustment mechanism to adjust the mast verticality to the required level: the PLC controller controls the proportional valve opening size and direction, which in turn drives the mast to deflect relative to the main unit via the correction cylinder, adjusting the tilt direction and magnitude to ensure the mast's verticality is within the preset threshold range. Finally, the lifted vibratory compactor system is lowered, and vibratory compaction continues on the strata.

[0165] Using the above method, since the telescopic guide rod system is a rigid connection, its verticality is directly guaranteed by the mast verticality mechanism. If the mast's verticality meets the requirements, the verticality of the drill rod system and vibratory compactor, which are installed parallel to the mast, will also meet the requirements during vibratory compaction. The guide rod + vibratory compactor system will remain vertical even when encountering hard layers or large gravel. In engineering practice, vibratory compaction is effective in hard strata, especially those with large gravel, in earthquake-prone areas with hole depths exceeding 50 meters. This method maintains the impact force on hard layers and gravel while ensuring the verticality of the pile hole. The probability of switching to rotary drilling or impact during construction is much lower than with traditional methods (almost no need to switch to rotary drilling or impact compaction). It is far superior to traditional methods in terms of quality and efficiency, and ensures the uniformity and compaction of the resulting vibratory compacted stone pile holes and piles, resulting in good safety performance of the vibratory compacted stone piles.

[0166] S300 After forming a pile hole that meets the verticality requirements, a loader automatically feeds material into the pile hole to form a uniform and continuous vibratory crushed stone pile that meets the verticality requirements through each section of the pile body from bottom to top. During the formation of the vibratory crushed stone pile, the pile diameter of each section of the pile body is compared with the preset pile diameter, and the vibratory parameters of the vibratory compactor system are adjusted according to the comparison results to obtain a pile body that meets the preset pile diameter requirements.

[0167] After forming pile holes that meet the verticality requirements through the above steps, the holes are cleaned. Then, multiple loaders gradually put stones into the cleaned pile holes. During the gradual addition of stones, the vibratory compactor system of the vibratory compactor pile machine compacts the stones into the pile holes. The pile diameter of the formed pile body is obtained in real time during the vibratory compaction construction. The compaction parameters are adjusted in a timely manner based on the obtained pile diameter results. This ensures that each pile segment after compaction is formed from bottom to top into a complete vibratory compaction stone pile with a continuous and uniform pile diameter that meets the requirements. This solves the problem of poor continuity of vibratory compaction stone piles formed in medium and coarse sand layers and other strata in areas prone to strong earthquakes, and the easy breakage or misalignment of the piles under strong earthquake conditions.

[0168] The process of forming pile holes that meet the verticality requirements and cleaning them, followed by automatic material loading by a loader and vibratory compaction of the stone pile by a vibratory compaction machine to form a continuous and uniform pile body, includes the following steps:

[0169] To obtain the depth of the material surface inside the pile hole formed by the vibratory compaction stone pile driver before the stone is placed;

[0170] Stones are placed into the pile hole after the material surface depth has been measured. The stone section is then compacted and reinforced using a vibratory stone crushing pile machine to form a pile section. The material surface depth of the pile section is then measured.

[0171] The average pile diameter per meter of the pile section is obtained by measuring the height difference of the material surface depth before and after the stone is placed in the pile hole.

[0172] The average pile diameter of this section of the pile is compared with the preset pile diameter, and the vibration parameters of the vibratory stone crushing machine are adjusted according to the comparison results to form a vibratory stone crushing pile that meets the pile diameter requirements.

[0173] The vibratory parameters include vibratory current density, water pressure, and air pressure. Vibratory current density refers to the actual current of the vibratory motor when the vibratory system is working. Water supply refers to the water supplied by the water supply pipe that extends from the bottom of the vibratory after passing through the telescopic guide rod and the vibratory. The water is sprayed out from the bottom of the vibratory to pre-damage the formation. Air supply refers to the air supplied to the bottom side of the bottom casing of the telescopic guide rod of the drill pipe system. The shock absorber and vibratory are located below the air outlet.

[0174] Specifically, after cleaning the pile holes formed by the vibratory compaction stone pile machine to meet the verticality requirements, multiple loaders gradually dump loose stones into the pile holes. During the gradual dumping of stones, the vibratory compactor system of the vibratory compaction stone pile machine compacts the stones, forming dense piles. During construction, the stones dumped at regular intervals (or at certain heights, but only at regular intervals are described here) will form a section of pile. These sections are then connected from bottom to top to form a uniform, continuous vibratory compaction stone pile that meets the verticality requirements. Correspondingly, during the pile formation process, the depth of the material surface before stone dumping (i.e., before the formation of this section of pile) and after stone dumping (i.e., after the formation of this section of pile) need to be measured separately to obtain the height difference of the corresponding section of pile formed by the vibratory compaction of the stones dumped during that period. The pile diameter of this section of pile can then be determined based on the height difference.

[0175] In measuring the depth of the material surface in the pile hole formed by the vibratory crushing stone pile machine before and after the stone has been placed, a method is adopted to install a material surface depth measuring device on the auxiliary winch of the vibratory crushing stone pile machine. The auxiliary winch is installed at the rear of the main unit of the vibratory crushing stone pile machine (not shown in the figure). The auxiliary winch releases a steel wire rope that can extend into the pile hole formed by the vibratory crushing stone pile machine. A weight can be hung at the end of the steel wire rope, and a sensing element (such as a pressure sensor or encoder) is installed on the auxiliary winch. When the weight hits the upper surface of the stone placed in the pile hole, the sensing element senses the corresponding change generated by the auxiliary winch (such as a change in the pressure of the hydraulic oil supplied to the auxiliary winch or a change in the output torque of the auxiliary winch shaft), and transmits this change to the controller. The controller calculates and determines the material surface depth before and after the stone has been placed based on this change.

[0176] Before measuring the initial material surface depth in the pile hole formed by the vibratory compaction stone pile driver, before adding stones, the initial weight of the stones to be added is measured to obtain the loose bulk density of the stones. The weight of the stones is also weighed to obtain the initial weight. After measuring the material surface depth in the pile hole before adding stones, the loose stones are added to the pile hole. Simultaneously, the vibratory compaction system of the vibratory compaction stone pile driver is used for compaction to obtain the actual weight of the stones added to the pile hole and the volume of the stones accumulated in the pile hole. Next, the material surface depth in the pile hole after adding stones is measured. Based on the obtained accumulated volume, initial material surface depth, and material surface depth after adding stones, the average filler volume per meter of pile body is obtained when forming this section of the pile. Finally, the average pile diameter per meter of pile body is obtained using the average filler volume per meter of pile body.

[0177] The following is a detailed explanation of the method for calculating the pile diameter before and after the stone is placed.

[0178] Before the stones are thrown into the pile hole, their initial weight is measured to obtain the loose bulk density of the stones.

[0179] The stones to be added are piled inside a cylinder with a diameter of 1m and a height of 1m, with a smooth surface, and the volume V1 of the stones is calculated using the following formula:

[0180] V1 = 3.142 * 0.5 2 *1=0.7855m 3 (Formula 1)

[0181] The initial weight G1 (kg) of the stone is obtained by weighing it. The loose bulk density ρ1 of the stone is calculated according to the following formula:

[0182] ρ1=(G1 / 1000) / V1=G1*1.273*10 -3 cm 3 / g (Formula 2)

[0183] The initial depth h1 of the material surface before the stone to be placed into the pile hole is measured by the material surface depth measuring device installed on the auxiliary winch device on the vibratory stone crushing pile machine; then, the stone to be placed into the pile hole is poured in, and the actual weight G2 poured into the pile hole and the accumulation volume V2 in the pile hole are recorded, wherein the accumulation volume V2 is calculated by the following formula:

[0184] V2=G2 / ρ1 (Formula 3)

[0185] After obtaining the actual weight G2 of the stone and the accumulation volume V2 in the pile hole, the depth h2 of the material surface in the pile hole after the material has been added is measured using a material surface depth measuring device; then, the average filling amount V per meter of pile body is calculated. m It is calculated using the following formula:

[0186] V m =V2 / (h1-h2) (Formula 4)

[0187] After obtaining the average filler content per linear meter of pile, the average pile diameter d0 is calculated using the following formula:

[0188] d0 = 2*sqrt(η*V) m / 3.142) (Formula 5)

[0189] In the formula, η is the compaction coefficient, which is generally taken as 0.7-0.8, and the specific value is determined by the results of field tests.

[0190] When the stones to be placed into the pile hole after the material surface depth has been measured, the actual weight of the stones placed into the pile hole includes:

[0191] The first weight information and the location information of multiple loaders when they are loaded with stones to be delivered are obtained by polling.

[0192] Based on the location information of multiple loaders, the loaders located in the pile hole feeding area are controlled to sequentially feed the loaded stones into the pile hole in order to obtain the second weight information of the loaders after feeding the stones.

[0193] Based on the first and second weight information of each loader, the weight of stone per bucket of each loader is obtained into the pile hole, and the weight of stone per bucket of multiple loaders is added together to obtain the actual weight of stone put into the pile hole.

[0194] Specifically, during the process of the loader feeding stones into the pile hole, in order to achieve automatic feeding and dynamic real-time weight measurement of the stones, and to remotely monitor the feeding process, this invention will connect the vibratory compaction construction management system in the remote central control room with all loaders 700 loading stones to be fed at the construction site through a wireless AP device 800 in the same local area network (e.g., Figure 19 , Figure 21 As shown), each loader is equipped with a wireless transceiver to wirelessly connect to the host of the vibratory compaction construction management system in the remote central control room. A PLC or ARM microcontroller communication port (RS485 or 232 port) is designed on the vibratory compaction construction management system. Through ARM microcontroller or PLC programming, it remotely polls and receives information such as the empty weight of all loaders, the weighing information of each bucket of stones, and the location information (e.g., ...). Figure 20 (As shown). Weighing information for each loader in different states is read directly from the loader itself, with no conversion error. Based on the markers, the weight data of all loaders meeting the distance requirements are accumulated (e.g., ...). Figure 22 As shown in the figure, a flag is set for the loaders that have already accumulated the weight to prevent duplicate accumulation, so that the weight of the material loaded by multiple loaders into the same pile hole can be accumulated.

[0195] When calculating the actual weight of stones delivered into the same pile hole by multiple loaders within a certain time period (e.g., if only one loader delivers stones into the pile hole within a certain time period, the weight of stones delivered by that loader within that time period is calculated; the following explanation only uses multiple loaders as an example), the remote vibratory compaction construction management system obtains the first weight information of multiple loaders when they are loaded with stones to be delivered and the location information of multiple loaders in a polling manner. Then, based on the obtained location information of multiple loaders, it controls the loaders located in the pile hole delivery area to deliver the loaded stones into the pile hole in sequence, and obtains the second weight information of each loader after delivering the stones. Finally, based on the obtained first and second weight information of each loader, the weight of stones delivered into the pile hole per bucket by each loader is obtained, and the weights of stones delivered per bucket by multiple loaders are summed to obtain the total weight of stones delivered into the same pile hole by multiple loaders within a certain time period. This total weight of stones is the actual delivery weight.

[0196] To obtain the location and identification information of the loaders, this invention installs a positioning element for locating the loader and an identification element for marking the loader's identity (such as its identification number) on each loader. The positioning element and identification element can employ existing technologies, which will not be elaborated upon here. The location and identification information of each loader can be sent to the remote vibratory compaction construction management system.

[0197] In order to directly read the weighing information of different states from the loader and avoid conversion errors, the present invention installs a detection element on the loader that can detect the weight of the loader in different states. After calibrating the empty weight of the loader when it is in an empty state without stones by the detection element, the first weight information and the second weight information after the stones are loaded and unloaded are obtained based on the calibrated empty weight.

[0198] During implementation, a position switch can be installed on the loader to detect the loader's weight at the height of the position switch: First, using the original height of the position switch when the loader is unloaded and without stones as a reference, the loader's internal hydraulic system is calibrated with standard weights, and the calibrated unloaded weight information of the loader is sent to the controller (such as a PLC controller) of the remote vibratory compaction construction management system; when the loader is loaded with stones, using the height of the position switch when fully loaded with stones as a reference, the first weight information G1 displayed by the loader's internal hydraulic system at the corresponding height is recorded, and this first weight information G1 is sent to the remote controller; when the loader puts stones into the pile hole, using the height of the position switch after putting stones into the pile hole as a reference, the second weight information G2 displayed by the loader's internal hydraulic system at the corresponding height is recorded, and this second weight information G2 is sent to the remote controller. The remote controller obtains the first weight information G1 and the second weight information G2 of each loader to calculate the weight of stone dropped into the pile hole by each loader, G = |G2-G1| (i.e., the weight of a single bucket of material dropped by the loader). Then, the weights of the single buckets dropped by each loader into the same pile hole are summed to obtain the total weight of stone dropped into the same pile hole by multiple loaders. The weight information corresponding to different heights of the position switches can be pre-tabulated and input into the remote vibratory compaction construction management system. The correspondence between the position of the position switch and the weight is obtained through experimentation. Before formal construction, tests are conducted on-site, and the controller analyzes the large amount of data obtained from the experiments to determine the correspondence between the position of the position switch and the weight of stone loaded by the loader.

[0199] Alternatively, a dedicated pressure tapping module (such as a pressure sensor) can be installed on the inlet and outlet flanges of the loader's main push cylinder using high-strength bolts. This module detects the pressure difference between the inlet and outlet of the main push cylinder at a fixed position when the loader is in different states. Through non-linear calibration, a pressure difference linearly related to the loader's load capacity is obtained, thus determining the hydraulic pressure of the main push cylinder and the corresponding weight information. Accordingly, the weight information corresponding to different pressure differences can be pre-tabulated and input into a remote vibratory compaction construction management system. The correspondence between different pressure differences and weight is obtained through experimentation; that is, before formal construction, tests are conducted on-site, and the controller analyzes the large amount of data obtained from the experiments to determine the correspondence between pressure differences and weight.

[0200] Specifically, controlling the loader located within the pile hole feeding area to deliver the loaded stones into the pile hole, based on the obtained loader location information, includes:

[0201] After obtaining the loader's location information, the location information is compared with the location information of the pile hole;

[0202] If the distance between the loader position and the pile hole position is less than or equal to the preset value, the loader is located in the material feeding area of ​​the pile hole and can put the loaded stones into the pile hole.

[0203] If the distance between the loader position and the pile hole position is greater than the preset value, the loader is not located in the material feeding area of ​​the pile hole and needs to move towards the pile hole until it is located in the material feeding area of ​​the pile hole.

[0204] This invention utilizes the Beidou positioning system equipped on the loader to set up a cumulative switch. When the distance between the loader and the opening of the pile hole is less than or equal to 5m, as determined by the positioning element (such as a Beidou positioning antenna) installed in the loader's cab, it is determined that the loader is located within the material feeding area of ​​the pile hole. The stones unloaded by the loader are then placed into the pile hole, thereby avoiding over- or under-recording of stones placed in a single pile hole. This ensures dynamic, real-time, and automatic measurement of the stones and enables remote real-time monitoring of the weight of the loader.

[0205] After obtaining the average pile diameter per meter of the pile section formed by feeding stones into the pile hole with a loader and intensifying the vibratory compaction construction using a vibratory compaction stone pile machine over a period of time (which can be determined based on the on-site material feeding situation) through the above steps, the average pile diameter of this section is compared with the preset pile diameter, and the vibratory compaction parameters of the vibratory compaction stone pile machine are adjusted according to the comparison results. The preset pile diameter is the pile diameter obtained from a test pile conducted on-site according to the preset vibratory compaction parameters before construction.

[0206] The comparison of the average pile diameter of this section with the preset pile diameter, and the adjustment of the vibratory compaction parameters of the vibratory compaction stone pile driver based on the comparison results, include:

[0207] The average pile diameter d0 of this pile section is compared with the preset pile diameter d s Compare;

[0208] If the average pile diameter d0 is slightly greater than or equal to the preset pile diameter d s Then the vibratory stone crushing pile machine will carry out vibratory compaction operation according to the original vibratory parameters;

[0209] If the average pile diameter d0 is less than the preset pile diameter d s If so, the vibratory compaction stone pile machine needs to be used with the adjusted vibratory compaction parameters to carry out vibratory compaction pile expansion operations.

[0210] It should be noted that during the process of forming a pile by vibratory compaction of a section of stone material placed in the pile hole using a vibratory compaction pile machine, the average or instantaneous vibratory compaction current during this construction process can be used as the vibratory compaction current. Typically, the vibratory compaction current before adjustment is slightly less than or equal to the preset current. The vibratory compaction current during construction is related to the density of the current soil layer. The controller has a preset correspondence between the vibratory compaction current and the soil density. This correspondence is obtained through testing; that is, before formal construction, test piles are built on-site, and the controller analyzes the large amount of data obtained from the test piles to determine the correspondence between the vibratory compaction current and the soil density. In addition, during the vibratory compaction process, the vibratory compactor motor also has a rated current to prevent motor burnout.

[0211] By comparing the average pile diameter of the aforementioned pile segment with the preset pile diameter, it was found that the average pile diameter d0 is less than the preset pile diameter d. s The conclusion indicates that the current soil stratum has a high density, meaning it is quite hard, while the currently used vibro-compaction parameters, especially the vibro-compaction current, are relatively low. Therefore, the vibro-compaction current needs to be increased. That is, if the average pile diameter d0 is less than the preset pile diameter d... s Therefore, the vibratory compaction stone pile machine needs to be used with the increased vibratory compaction current for vibratory compaction construction.

[0212] When vibratory compaction construction is carried out by vibratory compaction crushing pile machine with adjusted vibratory compaction current, the soil density corresponding to the adjusted vibratory compaction current is determined, that is, the current soil density. Then, according to the pre-set correspondence between water pressure, air pressure and soil density, the water pressure and air pressure corresponding to the current soil density are found. Finally, the water flow rate and air flow rate are controlled so that the adjusted water pressure and air pressure reach the required target pressure respectively. Thus, the vibratory compaction pile expansion construction is completed by the coordinated vibration of the vibratory compactor system, the adjusted vibratory compaction current, the target water pressure and air pressure.

[0213] The controller is pre-programmed with the correspondence between water pressure, air pressure, and soil density. This correspondence is obtained through testing. Specifically, test piles are constructed on-site before formal construction, and the controller analyzes the extensive data obtained from these test piles to determine the relationship between water pressure, air pressure, and soil density.

[0214] The following section discusses piles with average diameter d0 less than the preset pile diameter d. s The vibratory compaction pile expansion operation scheme used at that time is described as follows:

[0215] If d0 < 0.5d sThis indicates that the formation is very hard. At this time, the vibratory compaction current of the vibratory compaction motor should be increased to the maximum. The following vibratory compaction parameters can be used for vibratory compaction construction: the vibratory compaction current is 30-50A greater than the preset current and less than or equal to 90% of the rated current; the water pressure of the water supply is greater than 1MPa; the air pressure of the air supply is greater than 0.7MPa.

[0216] If 0.5d s <d0<0.8d s This indicates that the formation has moderate hardness, and the following vibro-compaction parameters can be used for vibro-compaction construction: the vibro-compaction current is greater than the preset current by 20-30A and less than or equal to 90% of the rated current; the water pressure is 0.7-0.8MPa; and the air pressure is 0.5-0.6MPa.

[0217] If 0.8d s <d0<d s This indicates that the formation hardness is average, and the following vibro-compaction parameters can be used for vibro-compaction construction: the vibro-compaction current is greater than the preset current by 10-20A and less than or equal to 90% of the rated current; the water pressure is 0.5-0.6MPa; and the air pressure is 0.3-0.4MPa.

[0218] The above scheme uses different vibro-compaction parameters for different geological conditions to expand the piles, ensuring that the diameter of the formed piles meets the preset pile diameter requirements, thereby forming a continuous and uniform complete pile body from bottom to top.

[0219] In summary, by using the loader itself to measure the weight of the stone and transmitting it in real time to the remote vibratory compaction construction management system, remote real-time monitoring of the loader's loading weight is achieved. Furthermore, automatic matching between the loader and the pile hole is realized through position comparison, determining which pile hole the stone unloaded by the loader is placed into, effectively avoiding over- or under-recording of stone in the same pile hole and ensuring dynamic, real-time, and automatic measurement of the stone. Through this method, while automatically feeding stone into the pile hole, the vibratory compaction stone pile machine compacts and densifies the injected stone, forming continuous, dense vibratory compaction stone piles that meet verticality requirements. These piles constitute excellent vertical drainage channels in earthquake-prone strata, significantly reducing the drainage distance of excess pore water in the strata and accelerating the dissipation of pore water pressure by several times or even tens of times. This plays a crucial role in controlling or suppressing the rise of excess pore water pressure, fundamentally improving the composite foundation's resistance to seismic liquefaction and its earthquake resistance effect.

[0220] Although the present invention has been described in detail above, the present invention is not limited thereto. Those skilled in the art can make modifications based on the principles of the present invention. Therefore, all modifications made in accordance with the principles of the present invention should be understood as falling within the protection scope of the present invention.

Claims

1. A method for forming piles using a vibratory compaction stone pile driver, characterized in that, include: Based on the latitude and longitude information of the pile point to be constructed and the vibratory stone crushing pile machine, the vibratory stone crushing pile machine is automatically guided and its vibratory compactor system is aligned with the pile point to be constructed. After the vibratory compactor system is automatically aligned with the pile point to be constructed, the vibratory compactor system vibrates downwards on the stratum at the construction pile point according to the predetermined verticality requirements to form a vertical pile hole. After forming a vertical pile hole, a loader automatically feeds material into the pile hole to form pile segments from bottom to top, and the pile segments together form a uniform, continuous and vertical vibratory crushing stone pile. During the process of forming vibro-compacted stone piles, the average pile diameter per meter of each section of pile formed by vibro-compacting is obtained and compared with the preset pile diameter. Based on the comparison results, the vibro-compacting parameters of the vibro-compactor system are adjusted to obtain a pile that meets the preset pile diameter requirements. Where the average pile diameter d0 is slightly greater than or equal to the preset pile diameter d s If the vibratory stone crushing pile machine performs vibratory compaction operation according to the original vibratory compaction parameters; if the average pile diameter d0 is less than the preset pile diameter d s The vibratory compaction current needs to be increased to determine the soil compaction corresponding to the increased vibratory compaction current, i.e., the current soil compaction. Then, based on the preset correspondence between the water pressure, air pressure and soil compaction, the water pressure and air pressure corresponding to the current soil compaction are found. Finally, the water flow rate and air flow rate are controlled to ensure that the adjusted water pressure and air pressure reach the required target pressures. The vibratory compaction system, the adjusted vibratory compaction current, the target water pressure, and the air pressure work together to complete the vibratory compaction pile expansion construction.

2. The method according to claim 1, characterized in that, During the formation of vibro-compacted stone piles, the average pile diameter per meter of each pile segment is obtained, including: Obtain the height difference of the material surface depth before and after the placement of stone in the pile hole corresponding to a section of the pile body; The average pile diameter per meter of the pile section is obtained by measuring the difference in material surface depth.

3. The method according to claim 2, characterized in that, The height difference of the material surface depth before and after the placement of stones in the pile hole corresponding to a section of the pile body includes: To obtain the depth of the material surface inside the pile hole formed by the vibratory compaction stone pile driver before the stone is placed; Stones are placed into the pile hole after the surface depth has been measured. A vibratory stone crushing pile machine is used to compact the stone in this section to form a pile body. The surface depth of this pile body is measured, and the height difference of the surface depth before and after the stone is placed is obtained from the measurement results.

4. The method according to any one of claims 1-3, characterized in that, Based on the latitude and longitude information of the pile point to be constructed and the vibratory stone crushing pile machine, the automatic guidance of the vibratory stone crushing pile machine and its vibratory compactor system to be aligned with the pile point to be constructed includes: Based on the latitude and longitude information of the pile point to be constructed and the vibratory stone crushing pile machine, the vibratory stone crushing pile machine is automatically guided to the pile point to be constructed. After the vibratory stone crushing pile machine is automatically guided to the pile point to be constructed, the vibratory impactor system on the vibratory stone crushing pile machine is aligned with the pile point to be constructed.

5. The method according to claim 4, characterized in that, Aligning the vibratory compactor system on the vibratory stone crushing pile driver with the pile point to be constructed includes: The positional relationship between the positioning antenna and the vibratory compactor system on the vibratory compactor pile driver is obtained, so as to obtain the real-time position information of the vibratory compactor system based on the real-time position information of the positioning antenna. The real-time location information of the vibratory compactor system is compared with the location information of the pile point to be constructed in order to obtain the distance information between the vibratory compactor system and the pile point to be constructed. Based on the distance information obtained, the vibratory compactor system on the vibratory stone crushing pile machine is aligned with the pile point to be constructed.

6. The method according to claim 1, characterized in that, Vibratory compaction of the strata at the pile point to be constructed with the required verticality using a vibratory compactor system includes the steps of arranging the drill rod system of the vibratory compactor and the mast of the hoisting system parallel to each other, so that the vibratory compactor system connected to the bottom of the drill rod system is parallel to the mast.

7. The method according to claim 6, characterized in that, Positioning the drill pipe system parallel to the mast of the hoisting system, so that the vibratory compactor system connected to the bottom of the drill pipe system is parallel to the mast, includes: During the process of lowering the drill pipe system and vibratory compactor system using the hoisting system, the verticality of the drill pipe system relative to the main machine is controlled so that the vibratory compactor system lowered with the drill pipe system is parallel to the mast.

8. The method according to claim 6 or 7, characterized in that, The process of vibratory compaction of the strata at the pile point to be constructed with the required verticality also includes the real-time detection and adjustment of the verticality of the mast relative to the main unit located on the horizontal plane during vibratory compaction, so that the verticality of the mast meets the requirements.

9. The method according to claim 1, characterized in that, After the pile hole is formed to meet the verticality requirements, the material is automatically fed into the pile hole by a loader, including: After forming pile holes that meet the verticality requirements, the first weight information of multiple loaders loaded with stones and the location information of multiple loaders are obtained by polling. Based on the location information of multiple loaders, the loaders located in the pile hole feeding area are controlled to sequentially feed the loaded stones into the pile hole, and the second weight information of the loaders after feeding the stones is obtained. Based on the first and second weight information of each loader, the weight of stone per bucket of each loader is obtained into the pile hole, and the weight of stone per bucket of multiple loaders is added together to obtain the total weight of stone per bucket of multiple loaders into the pile hole.

10. The method according to claim 9, characterized in that, Before obtaining the first weight information of the loader when it is loaded with stones, the process also includes a step of weight calibration of the loader when it is unloaded.

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