Method for monitoring vibroflotation pile based on beidou positioning and device and system thereof

Abstract

The application discloses a method for monitoring a vibroflotation pile based on Beidou positioning, a device thereof and a system thereof, relates to the technical field of vibroflotation construction, and can solve the problem that it is difficult to monitor whether the position of a guide rod vibroflotation device is deviated in vibroflotation construction. The method comprises the following steps: S1, obtaining the world coordinates of a positioner and the initial world coordinates of the tail end of a vibroflotation device; S2, obtaining pile position data of a reinforced area and selecting an unmarked pile position; S3, constructing a pile position deviation world coordinate set and a pile hole world coordinate set of a standard vibroflotation pile according to the design parameters and the central world coordinate parameters of the selected pile position; S4, monitoring whether the initial world coordinates of the tail end of the vibroflotation device reach the central world coordinates of the selected pile position; and S5, calculating and recording the world coordinate set of the bottom end of the guide rod and the bottom end of the vibroflotation device, and judging whether the bottom end of the guide rod and / or the bottom end of the vibroflotation device is in the world coordinate set of the standard vibroflotation pile; if not, an alarm is prompted.

Description

Technical Field

[0001] This invention relates to the field of vibratory compaction construction technology, specifically to a vibratory compaction pile monitoring method, device, and system based on BeiDou positioning. Background Technology

[0002] Vibro-compaction is a common construction method for improving and reinforcing foundations. In the process of improving the foundation, it is usually necessary to determine the number, density, depth, and area of ​​piles based on geological conditions. Currently, the number and density of vibro-compaction piles are generally determined by applying physical markers. However, physical markers are easily damaged or displaced. If holes are drilled and piles are made according to the misplaced markers, it will have an adverse effect on the performance improvement of the entire foundation.

[0003] Vibro-compaction pile driving typically includes a vibro-compaction hole-making process and a filler compaction process. Currently, in traditional vibro-compaction construction, the degree of automation is low, and it relies heavily on the operator's experience. If the vibro-compaction device deviates significantly from the standard pile position, the device needs to be lifted, the pile position redefined, and the device lowered again to ensure that the vibro-compaction hole meets the design standards. Whether the vibro-compaction device has deviated from the pile position relies on experience-based judgment. Currently, it is difficult to determine if the bottom of the guide rod has deviated. Furthermore, since a shock absorber is usually installed between the vibro-compaction device and the guide rod, and the bottom of the vibro-compaction device continuously oscillates in a conical shape around the shock absorber during operation, existing methods cannot monitor its actual position in real time, making it difficult to determine if deviation has occurred.

[0004] Therefore, there is an urgent need for a monitoring method, device, and system for vibratory compaction piles based on BeiDou positioning, which can monitor the underground construction position of the vibratory compactor in real time during the construction process, solve one or more of the above-mentioned problems, and provide methodological support for the subsequent automated pile formation of vibratory compaction piles.

[0005] Therefore, this application is hereby submitted. Summary of the Invention

[0006] The purpose of this application is to provide a monitoring method, device and system for vibratory compaction piles based on Beidou positioning, which solves the problem that it is difficult to monitor whether the position of the bottom end of the guide rod and the bottom end of the vibratory compactor is offset during the vibratory hole-making process in current vibratory compaction construction.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following solution:

[0008] This application provides a method for monitoring vibratory compaction piles based on BeiDou positioning, comprising the following steps:

[0009] S1. Obtain the world coordinates of the locator and the initial world coordinates of the end of the vibratory impactor;

[0010] S2. Obtain the pile location data of the reinforced area and select an unmarked pile location;

[0011] S3. Based on the design parameters of the selected pile location and its center world coordinate parameters, construct the world coordinate set of the pile location deviation and the world coordinate set of the pile hole for the standard vibro-compacted pile.

[0012] S4. Monitor whether the initial world coordinates of the vibratory compactor end reach the center world coordinates of the selected pile location;

[0013] S5. Monitor sensor data, calculate and record the world coordinate set of the bottom end of the guide rod and the bottom end of the vibratory compactor, and determine whether the bottom end of the guide rod and / or the bottom end of the vibratory compactor are within the world coordinate set of the standard vibratory compaction pile;

[0014] If not, an alarm will be triggered.

[0015] The inventive concept of this application is: based on the real-time location obtained by the Beidou positioning system and the locator, and based on the sensor data obtained by monitoring, to obtain the actual global position of the vibratory compaction equipment during the working process, and to monitor whether it is within the global coordinate set of the selected pile position obtained based on the Beidou positioning system, so as to ensure that the vibratory compaction equipment operates within the designed pile position.

[0016] Preferably, in step S3, the center coordinates of the selected pile location are defined as (X0, Y0, Z0), the design deviation of the pile location is r, the design borehole radius is R, and the design depth is H. Then, the world coordinate set of the pile location deviation for the standard vibro-compacted pile model is:

[0017] X∈(X0-r, X0+r);

[0018] Y∈(Y0-r, Y0+r);

[0019] Z∈(Z0, Z0-H);

[0020] The world coordinate set of the pile hole for the standard vibro-compacted pile model is:

[0021] X∈(X0-R, X0+R);

[0022] Y∈(Y0-R, Y0+R);

[0023] Z∈(Z0,Z0-H).

[0024] Preferably, the world coordinates are geocentric spatial coordinates;

[0025] The world coordinates of the locator are defined as (X... a Y a Z a )

[0026] The initial world coordinates of the vibratory impactor need to be calculated based on the world coordinates of the positioner:

[0027] Define the initial world coordinates of the end of the vibratory shock as (X1, Y1, Z1), then:

[0028] X1 = X a +K*cosθ;

[0029] Y1= Y a +K*sinθ;

[0030] Z1=Z a -(L1+L2+M)

[0031] Where: L1 and L2 are the lengths of the guide rod and the vibratory shock, respectively; M is the height from the positioner to the top of the guide rod when the guide rod is reset; K is the length of the line connecting the center of the positioner to the center of the vibratory shock along the Z-axis; and θ is the angle between the line K and the X-axis.

[0032] In this application, L1 and L2 are the guide rod length and vibratory compactor length of the vibratory compactor, respectively. The value of M can be pre-measured, and L1, L2, and M can all be preset based on the actual vibratory compactor in operation. The values ​​of K and θ can be obtained based on the locator and the BeiDou positioning system, which are existing conventional technologies.

[0033] Preferably, in step S5, the sensor data includes the rope descent length H monitored by the depth sensing module and the X-axis tilt angle α of the guide rod monitored by the tilt sensor A. X and Y-axis tilt angle α Y And the X-axis tilt angle β of the vibratory shock unit monitored by tilt sensor B. X and Y-axis tilt angle β Y Among them, tilt sensor A is set at the bottom of the guide rod, and tilt sensor B is set on the vibratory shock absorber below the shock absorber.

[0034] Preferably, in step S5, the world coordinates of the bottom end of the guide rod (2) and the bottom end of the vibratory impactor are calculated as follows:

[0035] Sa, according to the inclination angle α X and α Y Calculate the projected coordinates Xα and Yα of the end of the guide rod;

[0036] Sb, based on the inclination angle β X and β Y Calculate the projected coordinates Xβ and Yβ of the bottom end of the vibratory impactor with respect to the origin at the end of the guide rod;

[0037] Sc. Based on the initial world coordinates (X1, Y1, Z1) of the vibratory impactor and the length H of the rope descent, calculate: the world coordinates (X1, Y1, Z1) of the bottom of the guide rod. 杆 Y 杆 Z 杆 ), and the current world coordinates (X) at the bottom of the vibratory impactor.实 Y 实 Z 实 );

[0038] X 杆 =X1+Xα;Y 杆 =Y1+Yα;Z 杆 =Z1+H;

[0039] X 实 =X1+Xα+Xβ;Y 实 =Y1+Yα+Yβ;Z 实 =Z1+H.

[0040] Preferably, in steps Sa and Sb, Xα and Yα, and Xβ and Yβ are calculated using the following methods:

[0041] First, determine the preset guide rod length L1 and vibratory shock device length L2, according to the Pythagorean theorem:

[0042] ;

[0043] ;

[0044] ;

[0045] .

[0046] Preferably, when determining whether the bottom end of the guide rod and / or the bottom end of the vibratory compactor is within the world coordinate set of a standard vibratory compaction pile, the following steps are adopted:

[0047] 1) Record the world coordinates of the bottom end of the guide rod and the bottom end of the vibratory impactor n times per unit time to obtain the set of world coordinates of the bottom end of the guide rod and the bottom end of the vibratory impactor per unit time, where n is a positive integer greater than 2;

[0048] 2) Calculate the average world coordinates of the bottom end of the guide rod and the bottom end of the vibratory impactor per unit time:

[0049] 3) Determine whether the average world coordinates of the bottom end of the guide rod and the bottom end of the vibratory compactor are within the world coordinate set of the pile position deviation and the world coordinate set of the pile hole of the standard vibratory compaction pile within multiple consecutive unit time periods;

[0050] 4) If the X at the bottom of the guide rod 杆 Coordinates and Y 杆 The coordinates are located outside the world coordinate set of standard vibro-compacted pile position deviations, or / and the X coordinates of the bottom of the vibro-compactor. 实 Coordinates and Y 实 If the coordinates are outside the world coordinate set of the standard vibratory compaction pile hole, it is determined that the guide rod or / and vibratory compactor position is off, and an alarm is triggered.

[0051] If Z in the average world coordinates 实 If the coordinates are outside the world coordinate set of a standard vibro-compacted pile, it indicates the drilling procedure for that pile location.

[0052] This application records world coordinates multiple times over a long period of time and calculates the average world coordinates within that unit of time. It then determines the offset working position of the vibratory compactor only when the average world coordinates are outside the world coordinate set of the standard vibratory compaction pile. This avoids misjudgment of offset due to soft underground strata and large vibratory compaction hole diameter.

[0053] Z in this application 实 The coordinate position is usually lower than the actual bottom coordinate of the vibratory compactor. In the actual vibratory compaction process, the actual hole depth is usually lower than the designed hole depth. Therefore, the Z-axis obtained by monitoring and calculation in this application is... 实 Coordinates do not affect the hole formation and pile quality of vibro-compacted piles.

[0054] Preferably, the descent error depth Δh1 at the bottom of the guide rod and the descent error depth Δh2 at the bottom of the vibratory shock absorber can be calculated and optimized using h1 and h2 to obtain the total error Δh at the bottom of the vibratory shock absorber. The calculation method for optimized compensation is as follows:

[0055] Δh1=L1-h1; Δh2=L2-h2; Δh=L1+L2-(h1+h2);

[0056] ;

[0057] ;

[0058] ;

[0059] Z at the bottom of guide rod 2 杆 =Z1+H+Δh1;

[0060] Z at the bottom of the vibratory 4 实 =Z1+H+Δh.

[0061] Where: h1 is the height difference between the top and bottom of guide rod 2, i.e., the height of the bottom of guide rod 2, and h2 is the height difference between the bottom of guide rod 2 and the bottom of vibratory 4.

[0062] Preferably, after step S5, step S6 is also included: while determining whether the bottom end of the guide rod and the bottom end of the vibratory compactor are within the world coordinate set of the standard vibratory compaction pile, the guide rod offset trajectory and pile hole trajectory model of the vibratory compaction pile in the world coordinate system are respectively fitted and drawn based on the average world coordinates of the bottom end of the guide rod and the bottom end of the vibratory compactor obtained in multiple consecutive unit time periods.

[0063] Preferably, the depth sensing module includes a roller pressed onto the pull rope and rotating synchronously with the movement of the pull rope, and an encoder disposed on the roller and connected to the input terminal of the controller. The encoder is used to obtain the number of rotations of the roller in real time and send it to the controller after encoding. The controller obtains the real-time descent depth of the end of the vibratory impactor after decoding.

[0064] A second aspect of this application provides a vibratory compaction pile monitoring device based on BeiDou positioning, comprising:

[0065] One or more processors;

[0066] A storage unit is used to store one or more programs, which, when executed by one or more processors, enable one or more processors to implement the vibratory pile monitoring method based on BeiDou positioning as described in any one of claims 1-8.

[0067] A third aspect of this application provides a vibratory compaction pile monitoring system based on BeiDou positioning, comprising:

[0068] A locator installed on the top of the pile frame of the vibratory compaction equipment and used to receive its world coordinate position in real time;

[0069] A depth sensing module is installed at the top of the pile frame of the vibratory compactor and is used to monitor the descent depth of the vibratory compactor in real time.

[0070] An inclination sensor A is installed at the bottom of the guide rod, and an inclination sensor B is installed on the vibratory shock absorber. The depth sensing module is used to monitor the actual depth h at the bottom of the guide rod, and the inclination sensor A is used to monitor the X-axis inclination angle α of the guide rod during descent. X and Y-axis tilt angle α Y Tilt sensor B is used to monitor the X-axis tilt angle β of the vibratory impactor during the vibratory impact process. X and Y-axis tilt angle β Y ;

[0071] Both tilt sensor A and tilt sensor B are biaxial tilt sensors.

[0072] The beneficial effects of this invention are as follows: This application can obtain the initial world coordinates of the end of the vibratory impactor through the positioner, monitor the bottom depth of the vibratory impactor through the depth sensing module, and monitor the X-axis tilt angle α of the guide rod in real time through the tilt sensor A. X and Y-axis tilt angle α Y And the X-axis tilt angle β of the vibratory impactor during the vibratory impact process, which is monitored in real time by the tilt sensor. X and Y-axis tilt angle β Y It can determine whether the guide rod is deviated individually, or it can judge the guide rod deviation and the vibration deviation of the vibrator as a whole, accurately identify whether the end of the vibrator has a positional deviation, issue timely warnings, and provide an essential monitoring method for the automated control of the vibrator.

[0073] On the other hand, by calculating the average world coordinates of the vibratory impactor tail end per unit time, the problem of increased vibratory impactor offset caused by sudden softening of the strata as the vibratory impactor descends can be avoided, which could lead to misjudgment of the vibratory impactor position offset. Attached Figure Description

[0074] Figure 1 This is a schematic diagram of the monitoring of the guide rod and vibratory impactor when the X-axis tilts according to Embodiment 1 of the present invention;

[0075] Figure 2 This is a monitoring schematic diagram of one of the comparative monitoring methods in Embodiment 1 of the present invention, when only the vibratory shock device is monitored;

[0076] Figure 3 This is a monitoring schematic diagram of another comparative monitoring method in Embodiment 1 of the present invention, where only the guide rod is monitored;

[0077] Figure 4 This is a schematic diagram of the guide rod in Embodiment 1 of the present invention when it undergoes X-axis and Y-axis offset at a certain moment;

[0078] Figure 5 This is a schematic diagram of obtaining the coordinates of the end of the guide rod when the guide rod deviates along the X-axis and Y-axis at a certain moment in Embodiment 1 of the present invention;

[0079] Figure 6 This is a schematic diagram of the pile positions in the fixed area of ​​Embodiment 1 of the present invention;

[0080] Figure 7 This is a monitoring schematic diagram of Embodiment 1 of the present invention;

[0081] Figure 8 This is a schematic diagram showing the connection of the functional modules of the monitoring system in Embodiment 3 of the present invention;

[0082] Figure 9 This is a schematic diagram of the vibratory impaction device in Embodiment 3 of the present invention.

[0083] Explanation of reference numerals in the attached figures:

[0084] 1-Positioner, 2-Guide rod, 3-Shock absorber, 4-Vibration shock absorber, 5-Depth sensing module, 6-Tilt sensor A, 7-Tilt sensor B. Detailed Implementation

[0085] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0086] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "longitudinal," "lateral," "horizontal," "inner," "outer," "front," "rear," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0087] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "have," "install," "connect," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0088] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0089] Example 1:

[0090] refer to Figures 1 to 7 As shown, this embodiment provides a method for monitoring vibratory compaction piles based on BeiDou positioning, including the following steps:

[0091] S1. Obtain the world coordinates of locator 1 and the initial world coordinates of the end of vibrator 4;

[0092] S2. Obtain the pile location data of the reinforced area and select an unmarked pile location;

[0093] S3. Based on the design parameters of the selected pile location and its center world coordinate parameters, construct a set of world coordinates for a standard vibro-compacted pile.

[0094] S4. Monitor whether the initial world coordinates of the end of the vibratory compactor 4 have reached the center world coordinates of the selected pile location;

[0095] S5. Monitor sensor data, calculate and record the world coordinate set of the bottom of vibratory compactor 4, and determine whether the bottom of vibratory compactor 4 is within the world coordinate set of the standard vibratory compactor pile.

[0096] If not, an alarm will be triggered.

[0097] The inventive concept of this application is: based on the real-time position obtained by the Beidou positioning system and the locator 1, and based on the sensor data obtained by monitoring, to obtain the actual position of the vibratory compaction equipment during the working process, and to monitor whether it is within the set of world coordinates of the selected pile position obtained based on the Beidou positioning system, so as to ensure that the vibratory compaction equipment operates within the designed pile position.

[0098] In a preferred embodiment, in step S3, the center coordinates of the selected pile location are defined as (X0, Y0, Z0), the design deviation of the pile location is r, the design borehole radius is R, and the design depth is H. Then, the world coordinate set of the pile location deviation for the standard vibro-compacted pile model is:

[0099] X∈(X0-r, X0+r);

[0100] Y∈(Y0-r, Y0+r);

[0101] Z∈(Z0, Z0-H);

[0102] The world coordinate set of the pile hole for the standard vibro-compacted pile model is:

[0103] X∈(X0-R, X0+R);

[0104] Y∈(Y0-R, Y0+R);

[0105] Z∈(Z0,Z0-H).

[0106] Specifically, the world coordinates are geocentric spatial coordinates;

[0107] The world coordinates of the locator 1 are defined as (Xa, Ya, Za);

[0108] The initial world coordinates of the vibrator 4 need to be calculated based on the world coordinates of the positioner 1:

[0109] Define the initial world coordinates of the end of the oscillator 4 as (X1, Y1, Z1), then:

[0110] X1 = X a +K*cosθ;

[0111] Y1= Y a +K*sinθ;

[0112] Z1=Z a -(L1+L2+M)

[0113] Where: L1 and L2 are the lengths of guide rod 2 and vibrator 4, respectively; M is the height from positioner 1 to the top of guide rod 2 when guide rod 2 is reset; K is the length of the line connecting the center of positioner 1 to the center of vibrator 4 along the Z-axis; and θ is the angle between line K and the X-axis.

[0114] In this embodiment, when X1 and Y1 coincide with X0 and Y0 respectively, it is determined that the vibratory compactor has reached the selected pile position. Determining that X1 and Y1 coincide with X0 and Y0 is prior art and will not be elaborated here.

[0115] In this application, L1 and L2 are the lengths of the guide rod 2 and the vibratory compactor 4 of the vibratory compactor. The value of M can be pre-measured, and L1, L2, and M can all be preset based on the actual vibratory compactor in operation. The values ​​of K and θ can be obtained based on the locator 1 and the Beidou positioning system, which are existing conventional technologies.

[0116] In a preferred embodiment, in step S5, the depth sensing module monitors the rope descent length H, and the tilt sensor A6 monitors the X-axis tilt angle α of the guide rod 2. X and Y-axis tilt angle α Y And the X-axis tilt angle β of the vibrator 4 monitored by tilt sensor B7. X and Y-axis tilt angle β Y Among them, tilt sensor A6 is set at the bottom of guide rod 2, and tilt sensor B7 is set on vibratory shock absorber 4 below shock absorber 3.

[0117] In a preferred embodiment, the world coordinates of the bottom end of the vibratory impactor 4 are calculated in step S5 as follows:

[0118] Sa, according to the inclination angle α X and α Y Calculate the projected coordinates Xα and Yα of the end of guide rod 2;

[0119] Sb, based on the inclination angle β X and β Y Calculate the projected coordinates Xβ and Yβ of the bottom end of the vibratory impactor 4 with respect to the origin at the end of the guide rod 2;

[0120] Sc. Based on the initial world coordinates (X1, Y1, Z1) of the vibrator 4 and the length H of the rope descent, calculate: the world coordinates (X1, Y1, Z1) of the bottom of the guide rod 2. 杆 Y 杆 Z 杆 ), and the current world coordinates (X) at the bottom of the vibrator 4. 实 Y 实 Z 实 );

[0121] X 杆 =X1+Xα;Y 杆 =Y1+Yα;Z 杆 =Z1+H;

[0122] X 实 =X1+Xα+Xβ;Y 实=Y1+Yα+Yβ;Z 实 =Z1+H.

[0123] Specifically, in steps Sa and Sb, the calculation methods for Xα and Yα, and Xβ and Yβ are as follows:

[0124] First, determine the preset length L1 of guide rod 2 and the length L2 of vibrator 4, according to the Pythagorean theorem:

[0125] ;

[0126] ;

[0127] ;

[0128] .

[0129] In a preferred example embodiment, the X-axis tilt angle α of the guide rod 2 is monitored by the tilt sensor A6. X and Y-axis tilt angle α Y And the X-axis tilt angle β of the vibrator 4 monitored by the tilt sensor B77. X and Y-axis tilt angle β Y The height difference h1 between the top and bottom of the guide rod 2 and the height difference h2 between the end of the vibrator 4 and the end of the guide rod 2 can be obtained in real time by calculation, as well as the height difference h2 between the end of the vibrator 4 and the end of the guide rod 2.

[0130] In a preferred embodiment, the descent error depth Δh1 at the bottom of the guide rod 2 and the descent error depth Δh2 at the bottom of the vibrator 4 can be calculated using h1 and h2 to obtain the total error Δh at the bottom of the vibrator 4. The calculation method for the optimized compensation is as follows:

[0131] Δh1=L1-h1; Δh2=L2-h2; Δh=L1+L2-(h1+h2);

[0132] ;

[0133] ;

[0134] ;

[0135] Z at the bottom of guide rod 2 杆 =Z1+H+Δh1;

[0136] Z at the bottom of the vibratory 4 实 =Z1+H+Δh.

[0137] Where: h1 is the height difference between the top and bottom of guide rod 2, i.e., the height of the bottom of guide rod 2, and h2 is the height difference between the bottom of guide rod 2 and the bottom of vibratory 4.

[0138] like Figure 4 and Figure 5 As shown, this embodiment takes a guide rod as an example, and the X-axis tilt angle α is obtained by a dual-axis tilt sensor. X and Y-axis tilt angle α Y Calculate h1:

[0139] The offset of the guide rod on the X-axis is Xα = h1 * tanα X ;

[0140] The offset of the guide rod on the Y-axis is Yα = h1 * tanα Y ;

[0141] According to the Pythagorean theorem, L1 2 =h1 2 +Xα 2 +Yα 2 After simplification, we get:

[0142] ;

[0143] Similarly, we can conclude that:

[0144] .

[0145] In a preferred embodiment, the following steps are used to determine whether the bottom end of the guide rod 2 and / or the bottom end of the vibratory compactor 4 are located in the world coordinate set of a standard vibratory compaction pile:

[0146] 1) Record the world coordinates of the bottom end of guide rod 2 and the bottom end of vibratory shock 4 n times per unit time to obtain the set of world coordinates of the bottom end of guide rod 2 and the bottom end of vibratory shock 4 per unit time, where n is a positive integer greater than 2;

[0147] 2) Calculate the average world coordinates of the bottom end of guide rod 2 and the bottom end of vibratory impactor 4 per unit time:

[0148] 3) Determine whether the average world coordinates of the bottom end of guide rod 2 and the bottom end of vibratory compactor 4 are within the world coordinate set of the pile position deviation and the world coordinate set of the pile hole of the standard vibratory compaction pile in multiple consecutive unit time periods;

[0149] 4) If the X at the bottom of guide rod 2 杆 Coordinates and Y 杆 The coordinates are located outside the world coordinate set of standard vibro-compacted pile position deviations, or / and the X coordinates of the bottom end of vibro-compactor 4. 实 Coordinates and Y 实 If the coordinates are outside the world coordinate set of the standard vibratory compaction pile hole, it is determined that the position of guide rod 2 or / and vibratory compactor 4 is off, and an alarm is triggered.

[0150] If Z in the average world coordinates 实 If the coordinates are located outside the world coordinate set of a standard vibro-compacted pile twice consecutively, it indicates the drilling procedure for that pile location.

[0151] In this embodiment, the unit time is 1 minute. In this embodiment, the recording speed of the world coordinates at the end of the vibratory compactor 4 is 6 times per minute, and the frequency of recording the world coordinates at the end of the vibratory compactor 4 is 10 seconds / time. When calculating the average world coordinates, the average world coordinates at the end of the vibratory compactor 4 per minute can be obtained by taking the mean value. Then, it is determined whether the coordinates are within the world coordinate set of the standard vibratory compactor pile. If the average world coordinates of two consecutive times are within the world coordinate set of the standard vibratory compactor pile, it is determined whether there is an offset or the hole-making process is completed.

[0152] This application records world coordinates multiple times within a unit of time and calculates the average world coordinates within that unit of time. It then determines the offset working position of the vibratory compactor 4 only when the average world coordinates are outside the world coordinate set of the standard vibratory compaction pile. This avoids misjudgment of offset due to sudden softening of the underground strata and the resulting large vibratory compaction hole diameter.

[0153] Z in this application 实 The coordinate position is usually lower than the actual bottom coordinate of the vibratory compactor 4. In the actual vibratory compaction process, the actual vibratory compaction hole depth is usually lower than the designed hole depth. Therefore, the Z-axis obtained by monitoring and calculation in this application is... 实 Coordinates do not affect the hole formation and pile quality of vibro-compacted piles.

[0154] In a preferred embodiment, after step S5, step S6 is further included: while determining whether the bottom end of the guide rod 2 and the bottom end of the vibratory compactor 4 are within the world coordinate set of the standard vibratory compaction pile, the guide rod 2 offset trajectory and the pile hole trajectory model in the world coordinate system are respectively fitted and drawn based on the average world coordinates of the bottom ends of the guide rod 2 and the vibratory compactor 4 obtained in multiple consecutive unit time periods. When an alarm is triggered due to a positional offset of the guide rod 2 or the vibratory compactor 4, the drawn model can be colored to provide an auxiliary prompt.

[0155] In a preferred embodiment, the depth sensing module 5 includes a roller pressed onto the pull rope and rotating synchronously with the movement of the pull rope, and an encoder disposed on the roller and connected to the input terminal of the controller. The encoder is used to acquire the number of rotations of the roller in real time and send it to the controller after encoding. The controller acquires the real-time descent depth H of the end of the vibratory shocker 4 after decoding.

[0156] Example 2:

[0157] This embodiment provides a vibratory compaction pile monitoring device based on BeiDou positioning, including:

[0158] One or more processors;

[0159] A storage unit is used to store one or more programs, which, when executed by one or more processors, enable one or more processors to implement the vibratory pile monitoring method based on BeiDou positioning as described in any one of claims 1-8.

[0160] Example 3:

[0161] Reference Figure 8 and Figure 9 As shown, this embodiment provides a vibratory compaction pile monitoring system based on BeiDou positioning, specifically including:

[0162] Positioner 1, installed at the top of the pile frame of the vibratory compaction equipment and used to receive its world coordinate position in real time;

[0163] A depth sensing module 5 is installed at the top of the pile frame of the vibratory compactor and is used to monitor the descent depth of the end of the vibratory compactor 4 in real time.

[0164] An inclination sensor A6 is installed at the bottom of the guide rod 2, and an inclination sensor B7 is installed on the vibratory shock 4. The depth sensing module 5 is used to monitor the actual depth H at the bottom of the vibratory shock 4, and the inclination sensor A6 is used to monitor the X-axis inclination angle α of the guide rod 2 during the descent process. X and Y-axis tilt angle α Y The tilt sensor B7 is used to monitor the X-axis tilt angle β of the vibratory impactor 4 during the vibratory impact process. X and Y-axis tilt angle β Y ;

[0165] Both tilt sensor A6 and tilt sensor B7 are dual-axis tilt sensors.

[0166] Tilt sensor A6, tilt sensor B7, depth sensing module 5, and positioner 1 are all existing conventional components and will not be described in detail here.

[0167] Reference Figure 8 As shown, the monitoring system in this embodiment includes: a processor, and tilt sensor A6, tilt sensor B7, depth sensing module 5, locator 1, and alarm prompting module that are electrically connected to the processor input terminal.

[0168] It is understood that the above-described embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for monitoring vibratory compaction piles based on BeiDou positioning, characterized in that, Includes the following steps: S1. Obtain the world coordinates of the locator (1) and the initial world coordinates of the end of the vibrator (4); S2. Obtain the pile location data of the reinforced area and select an unmarked pile location; S3. Based on the design parameters of the selected pile location and its center world coordinate parameters, construct the world coordinate set of the pile location deviation and the world coordinate set of the pile hole for the standard vibro-compacted pile. S4. Monitor whether the initial world coordinates of the end of the vibratory compactor (4) reach the center world coordinates of the selected pile location; S5. Monitor sensor data, calculate and record the world coordinate set of the bottom end of the guide rod (2) and the bottom end of the vibratory compactor (4), and determine whether the bottom end of the guide rod (2) or / and the bottom end of the vibratory compactor (4) are within the world coordinate set of the standard vibratory compactor pile; If not, an alarm will be triggered; In step S5, the sensor data includes the rope descent length H monitored by the depth sensing module (5) and the X-axis tilt angle α of the guide rod (2) monitored by the tilt sensor A (6). X and Y-axis tilt angle α Y The X-axis tilt angle β of the vibrator (4) monitored by tilt sensor B (7) X and Y-axis tilt angle β Y Among them: tilt sensor A (6) is set at the bottom of guide rod (2), and tilt sensor B (7) is set on vibratory shock absorber (4) below shock absorber (3); In step S5, the world coordinates of the bottom end of the guide rod (2) and the bottom end of the vibratory impactor (4) are calculated as follows: Sa, according to the inclination angle α X and α Y Calculate the projected coordinates Xα and Yα of the end of the guide rod (2); Sb, based on the inclination angle β X and β Y Calculate the projection coordinates Xβ and Yβ of the bottom end of the vibratory impactor (4) with respect to the origin at the end of the guide rod (2); Sc. Based on the initial world coordinates (X1, Y1, Z1) of the vibratory shock (4) and the length H of the rope descent, calculate the world coordinates (X1, Y1, Z1) of the bottom of the guide rod (2). 杆 Y 杆 Z 杆 ), and the current world coordinates (X) at the bottom of the vibratory shock (4). 实 Y 实 Z 实 ); X 杆 =X1+Xα;Y 杆 =Y1+Yα;Z 杆 =Z1+H; X 实 =X1+Xα+Xβ;Y 实 =Y1+Yα+Yβ;Z 实 =Z1+H。 2. The method for monitoring vibratory compaction piles based on BeiDou positioning according to claim 1, characterized in that, In step S3, the center coordinates of the selected pile location are defined as (X0, Y0, Z0), the design deviation of the pile location is r, the design borehole radius is R, and the design depth is H. Then, the world coordinate set of the pile location deviation for the standard vibro-compacted pile model is: X∈(X0-r, X0+r); Y∈(Y0-r, Y0+r); Z∈(Z0, Z0-H); The world coordinate set of the pile hole for the standard vibro-compacted pile model is: X∈(X0-R, X0+R); Y∈(Y0-R, Y0+R); Z∈(Z0,Z0-H).

3. The method for monitoring vibratory compaction piles based on BeiDou positioning according to claim 1, characterized in that, The world coordinates are geocentric spatial coordinates. The world coordinates of the locator (1) are defined as (X... a Y a Z a ); The initial world coordinates of the vibrator (4) need to be calculated based on the world coordinates of the locator (1): Define the initial world coordinates of the end of the vibrator (4) as (X1, Y1, Z1), then: X1= X a +K*cosθ; Y1= Y a +K*sinθ; Z1=Z a -(L1+L2+M); Where: L1 and L2 are the lengths of the guide rod (2) and the vibrator (4), respectively; M is the height from the positioner (1) to the top of the guide rod (2) when the guide rod (2) is reset; K is the length of the line connecting the center of the positioner (1) along the Z direction to the center of the vibrator (4); and θ is the angle between the line K and the X-axis.

4. The method for monitoring vibratory compaction piles based on BeiDou positioning according to claim 1, characterized in that, In steps Sa and Sb, Xα and Yα, as well as Xβ and Yβ, are calculated as follows: First, determine the preset length L1 of the guide rod (2) and the length L2 of the vibratory shock (4), according to the Pythagorean theorem: ； ； ； 。 5. The method for monitoring vibratory compaction piles based on BeiDou positioning according to claim 1, characterized in that, When determining whether the bottom end of the guide rod (2) and / or the bottom end of the vibratory compactor (4) are located in the world coordinate set of the standard vibratory compaction pile, the following steps are taken: 1) Record the world coordinates of the bottom end of the guide rod (2) and the bottom end of the vibrator (4) n times per unit time to obtain the set of world coordinates of the bottom end of the guide rod (2) and the bottom end of the vibrator (4) per unit time, where n is a positive integer greater than 2; 2) Calculate the average world coordinates of the bottom end of the guide rod (2) and the bottom end of the vibratory impactor (4) per unit time: 3) Determine whether the average world coordinates of the bottom end of the guide rod (2) and the bottom end of the vibratory compactor (4) are within the world coordinate set of the pile position deviation and the world coordinate set of the pile hole of the standard vibratory compactor pile in a continuous series of unit time periods; 4) If the bottom X of the guide rod (2) 杆 Coordinates and Y 杆 The coordinates are located outside the world coordinate set of the standard vibro-compacted pile position deviation, or / and the X-axis of the bottom end of the vibro-compactor (4) 实 Coordinates and Y 实 If the coordinates are outside the world coordinate set of the standard vibratory compaction pile hole, it is determined that the guide rod (2) or / and vibratory compactor (4) are offset, and an alarm is triggered. If Z in the average world coordinates 实 If the coordinates are outside the world coordinate set of a standard vibro-compacted pile, it indicates that the drilling process for that pile location is complete.

6. The method for monitoring vibratory compaction piles based on BeiDou positioning according to claim 5, characterized in that... After step S5, step S6 is also included: while determining whether the bottom end of the guide rod (2) and the bottom end of the vibratory compactor (4) are within the world coordinate set of the standard vibratory compactor pile, the guide rod offset trajectory and pile hole trajectory model of the vibratory compactor pile in the world coordinate system are respectively fitted and drawn based on the average world coordinates of the bottom end of the guide rod (2) and the bottom end of the vibratory compactor (4) obtained in multiple consecutive unit time periods.

7. A vibratory compaction pile monitoring device based on BeiDou positioning, characterized in that, include: One or more processors; A storage unit is used to store one or more programs, which, when executed by one or more processors, enable one or more processors to implement the vibratory pile monitoring method based on Beidou positioning as described in any one of claims 1-6.

8. A vibratory compaction pile monitoring system based on BeiDou positioning, applicable to the vibratory compaction pile monitoring method based on BeiDou positioning as described in any one of claims 1-6, characterized in that, include: A locator (1) is installed on the top of the pile frame of the vibratory compaction equipment and is used to receive its world coordinate position in real time. A depth sensing module is installed at the top of the pile frame of the vibratory compactor and is used to monitor the descent depth of the end of the vibratory compactor (4) in real time; An inclination sensor A (6) is installed at the bottom of the guide rod (2), and an inclination sensor B (7) is installed on the vibratory impactor (4). The depth sensing module (5) is used to monitor the actual depth H at the bottom of the vibratory impactor (4), and the inclination sensor A (6) is used to monitor the X-axis inclination angle α of the guide rod (2) during the descent process. X and Y-axis tilt angle α Y The tilt sensor B (7) is used to monitor the X-axis tilt angle β of the vibratory impactor (4) during the vibratory impact process. X and Y-axis tilt angle β Y ; Both the tilt sensor A (6) and the tilt sensor B (7) are dual-axis tilt sensors.

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