A method and device for detecting the construction quality of a rotary digging pile foundation

Abstract

The application provides a rotary digging pile foundation construction quality detection method and device, and relates to the technical field of rotary digging pile foundation construction quality detection. Important construction parameters are synchronously monitored through an automatic means to ensure engineering quality. The method comprises the following steps: installing an automatic detection device on a rotary drilling rig, the automatic detection device is used for monitoring and recording construction parameters of the rotary drilling rig based on a multi-sensor fusion core algorithm, and monitoring data is formed; it is judged whether the monitoring data is within a preset parameter range; if the monitoring data is not within the preset parameter range, a quality detection report is automatically generated, the quality detection report comprises a pile number, construction parameters of the rotary drilling rig and monitoring data; and the construction parameters of the rotary drilling rig are adjusted according to the quality detection report. The rotary digging pile foundation construction quality detection device is applied to the rotary digging pile foundation construction quality detection method.

Description

Technical Field

[0001] This invention relates to the field of rotary drilling pile foundation construction testing technology, and in particular to a method and apparatus for testing the construction quality of rotary drilling pile foundations. Background Technology

[0002] Rotary drilling piles, also known as rotary bored piles or mixing piles, are a common type of pile foundation construction. They utilize a rotating drill bit to continuously drill downwards into the soil while simultaneously injecting grout. Reinforcing steel bars are then added into the pile hole, and finally, concrete is poured to form a concrete pile. The diameter and length of rotary drilling piles can be flexibly adjusted as needed.

[0003] Rotary drilling pile foundation construction is a crucial part of various building projects, and its quality directly determines the overall project quality. However, current quality inspection of rotary drilling pile foundation construction mainly relies on manual operation. Existing technologies for monitoring pile foundation construction primarily consist of pre-layout and post-construction inspection. Both methods require extensive calculations to determine the center coordinates of each drilled pile, and necessitate manual re-measurement of each hole. This results in poor workmanship, long construction cycles, high labor costs, and the inability to comprehensively inspect the quality of each pile during post-construction inspection. Furthermore, the accuracy and reliability of manually measured data cannot be guaranteed. This leads to unreliable quality in rotary drilling pile foundation construction, severely impacting the overall project quality. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a method and apparatus for detecting the construction quality of rotary pile foundations. This method uses automated means to simultaneously monitor important construction parameters such as the center position of the drill bit, the verticality of the drill rod, the verticality of the pile body, the drilling speed of the drill bit, the drilling depth, and the elevation of the pile bottom, achieving intelligent and information-based monitoring and ensuring project quality.

[0005] This invention provides a method for inspecting the construction quality of rotary drilling pile foundations, the method comprising:

[0006] Step S1: Install automatic detection equipment on the rotary drilling rig. The automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on the multi-sensor fusion core algorithm and generate monitoring data. The construction parameters of the rotary drilling rig include: drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation.

[0007] Step S2: Determine whether the monitoring data is within the preset parameter range. If the monitoring data is not within the preset parameter range, a quality inspection report will be automatically generated. The quality inspection report includes the station number, rotary drilling rig construction parameters, and monitoring data.

[0008] Step S3: Adjust the construction parameters of the rotary drilling rig according to the quality inspection report.

[0009] Preferably, the automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on a multi-sensor fusion core algorithm, and to generate monitoring data, including:

[0010] The center position of the drill string is obtained through GPS positioning system and strapdown inertial algorithm;

[0011] The tilt angle and direction of the drill rod are obtained through a dual-axis tilt sensor, and the verticality of the drill rod and the verticality of the pile body are obtained based on the tilt angle and direction of the drill rod.

[0012] The drill bit speed is obtained through a Hall effect sensor;

[0013] The drilling depth is obtained using an absolute value encoded sensor.

[0014] The pile bottom elevation is obtained based on the drill bit speed and drilling depth;

[0015] By utilizing a multi-sensor fusion algorithm, data such as the center position of the drill bit, the verticality of the drill rod, the verticality of the pile body, the drilling speed of the drill bit, the drilling depth, and the elevation of the pile bottom are fused to form monitoring data, which is used to monitor and record the construction parameters of the rotary drilling rig.

[0016] Preferably, obtaining the drill string center position using a GPS positioning system and a strapdown inertial algorithm includes:

[0017] The parameters of the positioning and directional antenna in the GPS positioning system are initialized, and the attitude matrix is ​​calculated based on the initialized parameters.

[0018]

[0019] in, For t m Strapdown attitude matrix at any moment The navigation update cycle is [t] m-1 ,t m ] t was sampled twice at equal intervals m-1 Strapdown attitude matrix at any moment The navigation update cycle is [t] m-1 ,t m At time t, one equally spaced sampling was performed. m-1 Strapdown attitude matrix at any moment For t m-1 Strapdown attitude matrix at any given moment;

[0020] The update speed is obtained based on the attitude matrix, using the following formula:

[0021]

[0022] in, For faster update speed, The velocity of m-1 at the previous moment. For the navigation system, the speed increment, The velocity increment of harmful acceleration;

[0023] The formula for determining the update position based on the update speed is:

[0024]

[0025] Where, p m For the updated position, p m-1 This represents the position of m-1 at the previous time step. Let m be the latitude difference between time m and time m-1. Let m be the update rate at time m-1. Let m be the update rate at time m, and T be the update period;

[0026] The drill bit center position of the current rotary drilling rig is obtained based on the updated position.

[0027] Preferably, the step of obtaining the tilt angle and direction of the drill rod using a dual-axis tilt sensor, and obtaining the drill rod verticality and pile verticality based on the tilt angle and direction of the drill rod, includes:

[0028] The tilt state of the rotary drilling rig's drill rod is monitored in real time using a dual-axis tilt sensor. Based on the tilt state of the rotary drilling rig, the tilt angle and direction of the drill rod are monitored in real time. Based on the tilt angle and direction of the drill rod, the verticality of the drill rod and the verticality of the pile body are obtained.

[0029] Preferably, obtaining the drill bit speed via a Hall sensor includes:

[0030] The number of sensed magnets is obtained based on Hall effect sensors;

[0031] The time interval between adjacent magnet induction is set to T. The current drilling speed v of the rotary drilling rig is obtained based on the time interval T and the number of magnets induction C. The formula is:

[0032]

[0033] Where v is the current drilling speed of the rotary drilling rig, T is the time interval between adjacent magnet induction, and C is the number of magnets induction.

[0034] Preferably, obtaining the drilling depth using an absolute value encoding sensor includes:

[0035] The initial value of the absolute value encoded sensor is used as the reference surface encoded value;

[0036] The current encoded value is obtained based on the absolute value encoded sensor;

[0037] Step size is obtained based on a winch and an absolute value encoding sensor;

[0038] The drilling depth is obtained based on the reference surface encoding value, the current encoding value, and the step size, using the following formula:

[0039] L=(x i -x j )*N

[0040] Where L is the current drilling depth of the drilling rig, x i x is the current encoded value. j N is the reference plane encoding value, and N is the step size, which is the ratio of the winch rotation to the absolute value encoding sensor rotation.

[0041] Preferably, the multi-sensor fusion core algorithm is used to fuse the obtained data on the drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation to form monitoring data, including:

[0042] The obtained data on drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation are preprocessed.

[0043] The pre-processed data, including drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation, are fused using the Kalman filter method to form monitoring data. The formula is as follows:

[0044] Prediction steps: Based on the state vector and state transition matrix from the previous time step, calculate the predicted value of the state vector for the next time step, using the following formula:

[0045] X p (k|k-1)=A*X p (k-1|k-1)+B*u(k-1)

[0046] P p (k|k-1)=A*P p (k-1|k-1)*A / +Q

[0047] Update steps: Based on the new observation data and observation matrix, adjust the predicted values ​​to obtain a more accurate state estimation vector. The formula is:

[0048]

[0049] X e (k)=X p (k|k-1)+K(k)*(z(k)-H*X p (k|k-1))

[0050] P e(k)=(eye(6)-K(k*H)*P p (k|k-1)

[0051] Calculate the monitoring data: Combine the estimated values ​​of the state estimation vector and the estimation error covariance matrix into a monitoring data matrix, using the formula: S = [X e (k) / P e (k)] /

[0052] Among them, X p (k|k-1) represents the predicted value of the state vector at time k based on the information at time k-1, P p (k|k-1) represents the estimated value of the prediction error covariance matrix of the state vector at time k based on the information at time k-1, u(k-1) is the control input vector, z(k) is the observation vector, K(k) is the gain matrix of the Kalman filter, and X e (k) is the state estimation vector, P e (k) is the estimated value of the estimation error covariance matrix. The monitoring data S is a matrix containing the estimated state vector and the estimation error covariance matrix. eye(6) is a 6x6 identity matrix. A is the state transition matrix, B is the control matrix, Q is the process noise covariance matrix, and H is the observation matrix. It is obtained based on the pre-processed drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation.

[0053] Compared with existing technologies, the rotary drilling rig construction quality inspection method provided by this invention has the following beneficial effects: This invention installs an automatic inspection device on the rotary drilling rig. This automatic inspection device is used to monitor and record the construction parameters of the rotary drilling rig based on a multi-sensor fusion core algorithm, and generates monitoring data. The rotary drilling rig construction parameters include: drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation. The method determines whether the monitoring data is within the preset parameter range. If the monitoring data is not within the preset parameter range, a quality inspection report is automatically generated. The quality inspection report includes the pile number, rotary drilling rig construction parameters, and monitoring data. Based on the quality inspection report, the rotary drilling rig construction parameters are adjusted. By fusing data from the drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation through a multi-sensor fusion core algorithm, comprehensive, synchronous, and accurate monitoring of construction parameters is achieved, realizing intelligent and information-based monitoring, ensuring project quality, and reducing labor costs.

[0054] The present invention also provides a device for testing the construction quality of rotary drilling pile foundations, the device comprising:

[0055] The real-time monitoring module is used to install automatic detection equipment on the rotary drilling rig. The automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on a multi-sensor fusion core algorithm and generate monitoring data. The construction parameters of the rotary drilling rig include: drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation.

[0056] The quality inspection module is used to determine whether the monitoring data is within the preset parameter range. If the monitoring data is not within the preset parameter range, a quality inspection report is automatically generated. The quality inspection report includes the station number, rotary drilling rig construction parameters, and monitoring data.

[0057] The parameter adjustment module is used to adjust the construction parameters of the rotary drilling rig based on the quality inspection report.

[0058] Compared with the prior art, the beneficial effects of the rotary drilling pile foundation construction quality testing device provided by the present invention are the same as the beneficial effects of the rotary drilling pile foundation construction quality testing method described in the above technical solution, and will not be repeated here.

[0059] The present invention also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are connected via the bus. When the computer program is executed by the processor, it implements the steps in the rotary drilling pile foundation construction quality detection method described above.

[0060] Compared with the prior art, the beneficial effects of the electronic device provided by the present invention are the same as those of the rotary drilling pile foundation construction quality detection method described in the above technical solution, and will not be repeated here.

[0061] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps in the rotary drilling pile foundation construction quality inspection method described in any of the preceding claims.

[0062] Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present invention are the same as the beneficial effects of the rotary drilling pile foundation construction quality detection method described in the above technical solution, and will not be repeated here.

[0063] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 A flowchart of a method for detecting the construction quality of rotary drilling pile foundations provided by an embodiment of the present invention is shown. Detailed Implementation

[0066] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0067] In this embodiment, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations, intended to present related concepts in a specific manner, and should not be construed as superior or more advantageous than other embodiments or designs.

[0068] This invention provides a method for testing the construction quality of rotary drilling pile foundations. Figure 1 A flowchart of a method for inspecting the construction quality of rotary drilling pile foundations provided by an embodiment of the present invention is shown. Figure 1 As shown, the method includes:

[0069] Step S1: Install automatic detection equipment on the rotary drilling rig. The automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on the multi-sensor fusion core algorithm and form monitoring data. The construction parameters of the rotary drilling rig include: drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation.

[0070] It should be noted that the automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on a multi-sensor fusion core algorithm, and to generate monitoring data, including:

[0071] Step S1.1: Obtain the center position of the drill string using a GPS positioning system and a strapdown inertial algorithm;

[0072] Specifically, the parameters of the positioning and directional antenna in the GPS positioning system are initialized, and the attitude matrix is ​​calculated based on the initialized parameters.

[0073]

[0074] in, For t m Strapdown attitude matrix at any moment The navigation update cycle is [t] m-1 ,t m ] t was sampled twice at equal intervals m-1 Strapdown attitude matrix at any moment The navigation update cycle is [t] m-1 ,t m At time t, one equally spaced sampling was performed. m-1 Strapdown attitude matrix at any moment For t m-1 Strapdown attitude matrix at any given moment;

[0075] The update speed is obtained based on the attitude matrix, using the following formula:

[0076]

[0077] in, For faster update speed, The velocity of m-1 at the previous moment. For the navigation system, the speed increment, The velocity increment of harmful acceleration;

[0078] The formula for determining the update position based on the update speed is:

[0079]

[0080] Where, p m For the updated position, p m-1 This represents the position of m-1 at the previous time step. Let m be the latitude difference between time m and time m-1. Let m be the update rate at time m-1. Let m be the update rate at time m, and T be the update period;

[0081] The drill bit center position of the current rotary drilling rig is obtained based on the updated position.

[0082] Step S1.2: Obtain the tilt angle and direction of the drill rod using a dual-axis tilt sensor, and obtain the verticality of the drill rod and the verticality of the pile body based on the tilt angle and direction of the drill rod.

[0083] This system utilizes a dual-axis tilt sensor to monitor the tilt state of the rotary drilling rig's drill rod in real time. Specifically, a dual-axis tilt sensor is installed at an appropriate position on the drill rod to guide the drilling rig to the pile point and monitor its verticality. The dual-axis tilt sensor is typically fixed at the head of the drill rod or near the drill bit. The X-axis and Y-axis of the dual-axis tilt sensor correspond to the transverse and longitudinal directions of the drill rod, respectively, to monitor the tilt state of the drill rod in different directions. Based on the tilt state of the rotary drilling rig, the tilt angle and direction of the drill rod are monitored in real time, and the verticality of the drill rod and the pile body are obtained based on the tilt angle and direction of the drill rod. Specifically, the verticality of the drill rod can be calculated based on the tilt angle of the drill rod on the X-axis and Y-axis. It should be understood that verticality is usually expressed as a percentage, where 100% represents perfect verticality and 0% represents perfect horizontality. Drill rod verticality = (1 - |tanθ|) / (1 - ... X )×100%, where θ X This is the tilt angle on the X-axis. Similarly, the perpendicularity can be calculated based on the tilt angle on the Y-axis.

[0084] By monitoring the inclination of the drill rod, the verticality of the pile can also be indirectly calculated. Pile verticality refers to the degree of deviation of the pile in the vertical direction. Based on the inclination angle and direction of the drill rod, the inclination of the pile can be inferred, thereby calculating the pile verticality. The calculation method for pile verticality is similar to that for drill rod verticality.

[0085] By monitoring the drill rod's tilt in real time and calculating its verticality and that of the pile, one can understand the rotary drilling rig's working status, the quality of the borehole, and the verticality of the pile foundation. The data can be presented in charts or reports as needed for better visualization analysis and decision-making.

[0086] Step S1.3: Obtain the drill bit speed using a Hall sensor.

[0087] Specifically, the number of sensed magnets is obtained based on Hall effect sensors;

[0088] The time interval between adjacent magnet induction is set to T. The current drilling speed v of the rotary drilling rig is obtained based on the time interval T and the number of magnets induction C. The formula is:

[0089]

[0090] Where v is the current drilling speed of the rotary drilling rig, T is the time interval between adjacent magnet induction, and C is the number of magnets induction.

[0091] Step S1.4: Obtain the drilling depth using an absolute value encoding sensor.

[0092] Specifically, obtaining the drilling depth using an absolute value encoding sensor includes:

[0093] The initial value of the absolute value encoded sensor is used as the reference surface encoded value;

[0094] The current encoded value is obtained based on the absolute value encoded sensor;

[0095] Step size is obtained based on a winch and an absolute value encoding sensor;

[0096] The drilling depth is obtained based on the reference surface encoding value, the current encoding value, and the step size, using the following formula:

[0097] L=(x i -x j )*N

[0098] Where L is the current drilling depth of the drilling rig, x i x is the current encoded value. j N is the reference plane encoding value, and N is the step size, which is the ratio of the winch rotation to the absolute value encoding sensor rotation.

[0099] Step S1.5: Obtain the pile bottom elevation based on the drill bit speed and drilling depth.

[0100] Specifically, the borehole volume can be calculated based on the obtained drill bit speed and borehole depth data. The formula for calculating borehole volume is: Borehole volume = Drill bit speed × Borehole depth. This formula can be used to evaluate the efficiency and quality of drilling. Given the borehole volume, the foundation depth of the pile can be determined by estimating the pile bottom elevation. The pile bottom elevation refers to the projection of the bottom of the pile foundation onto a horizontal plane, and the formula is: Pile bottom elevation = Borehole volume / (Pile cross-sectional area × Pile length). Here, the pile cross-sectional area refers to the cross-sectional area of ​​the pile foundation, and the pile length refers to the length of the pile foundation.

[0101] Step S1.6: Using the multi-sensor fusion core algorithm, the obtained data of drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation are fused to form monitoring data, so as to monitor and record the construction parameters of rotary drilling rig.

[0102] Preferably, the multi-sensor fusion core algorithm is used to fuse the obtained data on the drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation to form monitoring data, including:

[0103] The obtained data on drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation are preprocessed.

[0104] The pre-processed data, including drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation, are fused using the Kalman filter method to form monitoring data. The formula is as follows:

[0105] Prediction steps: Based on the state vector and state transition matrix from the previous time step, calculate the predicted value of the state vector for the next time step, using the following formula:

[0106] X p (k|k-1)=A*X p (k-1|k-1)+B*u(k-1)

[0107] P p (k|k-1)=A*P p (k-1|k-1)*A / +Q

[0108] Update steps: Based on the new observation data and observation matrix, adjust the predicted values ​​to obtain a more accurate state estimation vector. The formula is:

[0109]

[0110] X e (k)=X p (k|k-1)+K(k)*(z(k)-H*X p (k|k-1))

[0111] P e (k)=(eye(6)-K(k*H)*P p (k|k-1)

[0112] Calculate the monitoring data: Combine the estimated values ​​of the state estimation vector and the estimation error covariance matrix into a monitoring data matrix, using the formula: S = [X e (k) / P e (k)] /

[0113] Among them, X p (k|k-1) represents the predicted value of the state vector at time k based on the information at time k-1, P p (k|k-1) represents the estimated value of the prediction error covariance matrix of the state vector at time k based on the information at time k-1, u(k-1) is the control input vector, z(k) is the observation vector, K(k) is the gain matrix of the Kalman filter, and X e (k) is the state estimation vector, P e (k) is the estimated value of the estimation error covariance matrix. The monitoring data S is a matrix containing the estimated state vector and the estimation error covariance matrix. eye(6) is a 6x6 identity matrix. A is the state transition matrix, B is the control matrix, Q is the process noise covariance matrix, and H is the observation matrix. It is obtained based on the pre-processed drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation.

[0114] Step S2: Determine whether the monitoring data is within the preset parameter range. If the monitoring data is not within the preset parameter range, a quality inspection report will be automatically generated. The quality inspection report includes the station number, rotary drilling rig construction parameters, and monitoring data.

[0115] It should be noted that if the monitoring data is within the preset parameter range, the system will continue to monitor the drilling process and collect further data. However, if the monitoring data is outside the preset parameter range, it indicates that there may be some problems with the drilling operation, such as excessive drill rod inclination, excessively fast or slow drill bit speed, etc. The system will automatically generate a quality inspection report, which includes the pile number, rotary drilling rig construction parameters, and monitoring data.

[0116] Step S3: Adjust the construction parameters of the rotary drilling rig according to the quality inspection report.

[0117] It should be noted that if monitoring data indicates potential problems during drilling, the system will automatically generate a quality inspection report. This report will include the location of the problematic pile, the rotary drilling rig's operating parameters (such as drill bit speed and drill rod inclination), and relevant monitoring data. This report can serve as a basis for decision-making by on-site personnel. Based on this quality inspection report, on-site personnel can adjust the rotary drilling rig's operating parameters, such as decreasing or increasing the drill bit speed and adjusting the drill rod inclination, to ensure the quality and efficiency of the drilling operation. Simultaneously, personnel can compare the data in the quality inspection report with preset parameters as needed to better understand the rotary drilling rig's performance and the quality of the borehole. This automatic quality inspection and parameter adjustment mechanism can significantly improve the efficiency and quality of drilling operations while reducing the workload of manual inspection and adjustment, thus increasing the automation and intelligence of the entire construction process.

[0118] Compared with existing technologies, the rotary drilling pile foundation construction quality inspection method provided by this invention has the following beneficial effects: It uses the BeiDou positioning system to achieve drilling rig attitude adjustment and drill rod positioning guidance, replacing traditional manual layout, with a rotary drilling rig guidance and positioning accuracy of 3-5cm; it employs automated monitoring methods to monitor drilling depth, pile verticality, and rotary drilling rig bit rotation speed during construction, achieving intelligent and information-based monitoring, ensuring project quality, and reducing labor costs.

[0119] This invention also provides a rotary drilling pile foundation construction quality testing device, which includes:

[0120] The real-time monitoring module is used to install automatic detection equipment on the rotary drilling rig. The automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on a multi-sensor fusion core algorithm and generate monitoring data. The construction parameters of the rotary drilling rig include: drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation.

[0121] The quality inspection module is used to determine whether the monitoring data is within the preset parameter range. If the monitoring data is not within the preset parameter range, a quality inspection report is automatically generated. The quality inspection report includes the station number, rotary drilling rig construction parameters, and monitoring data.

[0122] The parameter adjustment module is used to adjust the construction parameters of the rotary drilling rig based on the quality inspection report.

[0123] Compared with the prior art, the beneficial effects of the rotary drilling pile foundation construction quality testing device provided by the present invention are the same as the beneficial effects of the rotary drilling pile foundation construction quality testing method described in the above technical solution, and will not be repeated here.

[0124] In addition, this invention also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are connected via the bus. When the computer program is executed by the processor, it implements the various processes of the above-described embodiment of the rotary pile foundation construction quality detection method and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0125] Furthermore, this embodiment of the invention also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the various processes of the above-described embodiment of the rotary pile foundation construction quality inspection method and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0126] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for inspecting the construction quality of rotary drilling pile foundations, characterized in that, include: Step S1: Install automatic detection equipment on the rotary drilling rig. The automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on the multi-sensor fusion core algorithm and generate monitoring data. The construction parameters of the rotary drilling rig include: drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation. Among them, a multi-sensor fusion core algorithm is used to fuse the obtained data on drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation to form monitoring data, including: The obtained data on drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation are preprocessed. The pre-processed data on drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation are fused using the Kalman filter method to form monitoring data. The steps are as follows: Prediction steps: Based on the state vector and state transition matrix from the previous time step, calculate the predicted value of the state vector for the next time step, using the following formula: + ( ) +Q Update steps: Adjust the predicted values ​​based on the new observation data and observation matrix to obtain... A more accurate state estimation vector is given by the following formula: (k)= + (k) ( (k)-H ) H) Calculate the monitoring data: Combine the estimated values ​​of the state estimation vector and the estimation error covariance matrix into a monitoring data matrix, using the following formula: in, This represents the predicted value of the state vector at time k, based on the information from time k-1. This represents the estimated value of the prediction error covariance matrix of the state vector at time k, based on the information at time k-1. ( ) is the control input vector. (k) is the observation vector. (k) is the gain matrix of the Kalman filter. It is the state estimation vector. It is the estimated value of the error covariance matrix. The monitoring data S is a matrix containing the estimated state vector and the estimated error covariance matrix. A is a 6x6 identity matrix, A is the state transition matrix, B is the control matrix, Q is the process noise covariance matrix, and H is the observation matrix, which is obtained based on the pre-processed drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation. Step S2: Determine whether the monitoring data is within the preset parameter range. If the monitoring data is not within the preset parameter range, a quality inspection report will be automatically generated. The quality inspection report includes the station number, rotary drilling rig construction parameters, and monitoring data. Step S3: Adjust the construction parameters of the rotary drilling rig according to the quality inspection report.

2. The method for testing the construction quality of rotary drilling pile foundations according to claim 1, characterized in that, The automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on a multi-sensor fusion core algorithm, and to generate monitoring data, including: The center position of the drill string is obtained through GPS positioning system and strapdown inertial algorithm; The tilt angle and direction of the drill rod are obtained through a dual-axis tilt sensor, and the verticality of the drill rod and the verticality of the pile body are obtained based on the tilt angle and direction of the drill rod. The drill bit speed is obtained through a Hall effect sensor; The drilling depth is obtained using an absolute value encoded sensor. The pile bottom elevation is obtained based on the drill bit speed and drilling depth; By utilizing a multi-sensor fusion algorithm, data such as the center position of the drill bit, the verticality of the drill rod, the verticality of the pile body, the drilling speed of the drill bit, the drilling depth, and the elevation of the pile bottom are fused to form monitoring data, which is used to monitor and record the construction parameters of the rotary drilling rig.

3. The method for testing the construction quality of rotary drilling pile foundations according to claim 2, characterized in that, The process of obtaining the drill string center position using a GPS positioning system and a strapdown inertial algorithm includes: The parameters of the positioning and directional antenna in the GPS positioning system are initialized, and the attitude matrix is ​​calculated based on the initialized parameters. in, For t m Strapdown attitude matrix at any moment The navigation update cycle is t was sampled twice at equal intervals m-1 Strapdown attitude matrix at any moment The navigation update cycle is t was sampled at equal intervals. m-1 Strapdown attitude matrix at any moment For t m-1 Strapdown attitude matrix at any given moment; The update speed is obtained based on the attitude matrix, using the following formula: in, For faster update speed, The velocity of m-1 at the previous moment. For the navigation system's relative speed increment, The velocity increment of harmful acceleration; The formula for determining the update position based on the update speed is: in, The updated position This represents the position of m-1 at the previous time step. Let m be the latitude difference between time m and time m-1. Let m be the update rate at time m-1. Let m be the update rate at time m, and T be the update period; The drill bit center position of the current rotary drilling rig is obtained based on the updated position.

4. The method for testing the construction quality of rotary drilling pile foundations according to claim 2, characterized in that, The process involves obtaining the tilt angle and direction of the drill rod using a dual-axis tilt sensor, and then determining the drill rod's verticality and the pile's verticality based on these tilt angles and directions. This includes: The tilt state of the rotary drilling rig's drill rod is monitored in real time using a dual-axis tilt sensor. Based on the tilt state of the rotary drilling rig, the tilt angle and direction of the drill rod are monitored in real time. Based on the tilt angle and direction of the drill rod, the verticality of the drill rod and the verticality of the pile body are obtained.

5. The method for testing the construction quality of rotary drilling pile foundations according to claim 2, characterized in that, The process of obtaining the drill bit speed via a Hall sensor includes: The number of sensed magnets is obtained based on Hall effect sensors; The time interval between adjacent magnet inductions is set to T, based on the time interval T between adjacent magnet inductions and the number of magnets inductions. Get the current drilling speed of the rotary drilling rig. The formula is: in, T represents the current drilling speed of the rotary drilling rig, T represents the time interval between adjacent magnet induction, and C represents the number of magnets induction.

6. The method for testing the construction quality of rotary drilling pile foundations according to claim 2, characterized in that, The process of obtaining the drilling depth using an absolute value encoded sensor includes: The initial value of the absolute value encoded sensor is used as the reference surface encoded value; The current encoded value is obtained based on the absolute value encoded sensor; Step size is obtained based on a winch and an absolute value encoding sensor; The drilling depth is obtained based on the reference surface encoding value, the current encoding value, and the step size, using the following formula: Where L is the current drilling depth of the drilling rig, x i x is the current encoded value. j N is the reference plane encoding value, and N is the step size, which is the ratio of the winch rotation to the absolute value encoding sensor rotation.

7. A device for testing the construction quality of rotary drilling pile foundations, characterized in that, include: The real-time monitoring module is used to install automatic detection equipment on the rotary drilling rig. The automatic detection equipment is used to monitor and record the construction parameters of the rotary drilling rig based on a multi-sensor fusion core algorithm and generate monitoring data. The construction parameters of the rotary drilling rig include: drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation. Among them, a multi-sensor fusion core algorithm is used to fuse the obtained data on drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation to form monitoring data, including: The obtained data on drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth and pile bottom elevation are preprocessed. The pre-processed data on drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation are fused using the Kalman filter method to form monitoring data. The steps are as follows: Prediction steps: Based on the state vector and state transition matrix from the previous time step, calculate the predicted value of the state vector for the next time step, using the following formula: + ( ) +Q Update steps: Adjust the predicted values ​​based on the new observation data and observation matrix to obtain... A more accurate state estimation vector is given by the following formula: (k)= + (k) ( (k)-H ) H) Calculate the monitoring data: Combine the estimated values ​​of the state estimation vector and the estimation error covariance matrix into a monitoring data matrix, using the following formula: in, This represents the predicted value of the state vector at time k, based on the information from time k-1. This represents the estimated value of the prediction error covariance matrix of the state vector at time k, based on the information at time k-1. ( ) is the control input vector. (k) is the observation vector. (k) is the gain matrix of the Kalman filter. It is the state estimation vector. It is the estimated value of the error covariance matrix. The monitoring data S is a matrix containing the estimated state vector and the estimated error covariance matrix. A is a 6x6 identity matrix, A is the state transition matrix, B is the control matrix, Q is the process noise covariance matrix, and H is the observation matrix, which is obtained based on the pre-processed drill bit center position, drill rod verticality, pile verticality, drill bit speed, drilling depth, and pile bottom elevation. The quality inspection module is used to determine whether the monitoring data is within the preset parameter range. If the monitoring data is not within the preset parameter range, a quality inspection report is automatically generated. The quality inspection report includes the station number, rotary drilling rig construction parameters, and monitoring data. The parameter adjustment module is used to adjust the construction parameters of the rotary drilling rig based on the quality inspection report.

8. An electronic device comprising a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, characterized in that, When the computer program is executed by the processor, it implements the steps in the rotary drilling pile foundation construction quality inspection method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in the rotary drilling pile foundation construction quality inspection method as described in any one of claims 1-6.

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