Intelligent construction method, device, equipment and medium for pile foundation under complex soft ground conditions

Abstract

The present application relates to the field of foundation treatment technology, and in particular to a method, device, equipment and medium for intelligent construction of pile foundations under complex soft ground conditions. The method includes: obtaining the precise coordinates corresponding to each pile hole and generating corresponding movement instructions to ensure that the drilling rig can move to each pile hole position accurately, and then automatically controlling the movement and initial construction work of the drilling rig, thereby reducing the tediousness and uncertainty of manual operation and improving construction efficiency. During the drilling rig construction process, the pile foundation information corresponding to the target pile hole coordinates, including key parameters such as drill rod inclination rate and verticality, is obtained in real time, which reduces labor costs and reduces safety risks caused by improper manual operation. Once it is found that the pile foundation information does not meet the pile position error range, measures can be taken immediately to adjust it, such as adjusting the position, angle or construction parameters of the drilling rig, etc., to ensure the stability and reliability of the construction quality.

Description

Technical Field

[0001] The present application relates to the field of foundation treatment technology, and in particular to an intelligent construction method, device, equipment and medium for pile foundation under complex soft ground conditions. Background Art

[0002] Pile foundation construction refers to the process of constructing the foundation of a building, and is a very important part of construction engineering. The pile foundation consists of piles and pile caps, and the load of the building is transferred to the deep stable soil or rock layer through the piles to ensure the safety and stability of the building. Pile foundation construction is a process of making a columnar pile body with reinforced concrete, steel, wood, etc., first drilling a hole and then pouring a concrete columnar pile body to enhance the bearing capacity of the pile cap.

[0003] Before pile foundation construction, it is necessary to select a suitable drilling rig according to the geological conditions and adjust the drilling rig to a horizontal state. The drill rod, as an important part of the drilling rig, performs drilling operations together with the drill bit. The drill rod drives the drill bit to break the stratum through rotation and pressure to form a pile hole. In this process, the verticality of the drill rod will directly affect the quality of the hole, and then affect the bearing capacity and stability of the pile foundation. During the construction of the drilling rig, the drill rod may deflect due to different geological conditions, slight deviation of the drilling rig itself, or uneven ground. Therefore, during the construction process, professionals will be arranged to use professional measuring tools (such as total stations, theodolites, or laser inclinometers) to check the verticality of the drill rod to ensure that the verticality of the drill rod can meet the requirements during the construction process. Since the verticality measurement work requires not only accurate measurement by professionals, but also timely recording and feedback of data by professionals, a large amount of labor costs are required during the pile foundation construction process, which greatly increases the construction cost of pile foundation construction. Summary of the invention

[0004] In order to reduce the labor cost in pile foundation construction, the present application provides a method, device, equipment and medium for intelligent construction of pile foundation under complex soft ground conditions.

[0005] In the first aspect, the present application provides an intelligent construction of pile foundation under complex soft ground conditions, adopting the following technical solutions:

[0006] An intelligent construction method for pile foundation under complex soft ground conditions includes:

[0007] Get the pile hole coordinates corresponding to each pile hole;

[0008] Generate a movement instruction corresponding to each pile hole coordinate to control the drilling rig to move to the position corresponding to the pile hole coordinate, and control the drilling rig to complete the initial construction work corresponding to each pile hole coordinate;

[0009] Determining the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig as the target pile hole coordinates;

[0010] Acquire pile foundation information corresponding to the target pile hole coordinates, wherein the pile foundation information includes a drill rod inclination rate and a drill rod verticality;

[0011] Determine whether the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range;

[0012] If the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range, the drilling rig is controlled to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile.

[0013] By adopting the above technical solution, the precise coordinates corresponding to each pile hole are obtained and the corresponding movement instructions are generated to ensure that the drilling rig can move to each pile hole position accurately. Then, the movement and initial construction work of the drilling rig are automatically controlled, which reduces the tediousness and uncertainty of manual operation, improves construction efficiency, and reduces construction delays and errors caused by human factors. During the drilling rig construction process, the pile foundation information corresponding to the target pile hole coordinates, including key parameters such as drill rod inclination and verticality, is obtained in real time, which reduces labor costs and reduces safety risks caused by improper manual operation. Once it is found that the pile foundation information does not meet the pile position error range, measures can be taken immediately to adjust it, such as adjusting the position, angle or construction parameters of the drilling rig, etc., to ensure the stability and reliability of construction quality.

[0014] In a possible implementation, the method further includes:

[0015] If the pile foundation information corresponding to the target pile hole coordinates does not satisfy the pile position error range, an adjustment instruction for the target pile hole coordinates is generated to control the drilling rig to adjust the verticality of the drill rod of the pile foundation corresponding to the target pile hole coordinates so that the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range;

[0016] When the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range, the drilling rig is controlled to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile.

[0017] By adopting the above technical solution, when it is detected that the pile foundation information corresponding to the target pile hole coordinates does not meet the pile position error range, an adjustment instruction is immediately generated to control the drilling rig to adjust the verticality of the drill rod. By accurately adjusting the verticality of the drill rod, the pile foundation information corresponding to the target pile hole coordinates can meet the pile position error range again, which helps to reduce construction errors and improve the precision and accuracy of the overall construction.

[0018] In a possible implementation, the initial construction work includes drilling operations and reinforcement construction, and the generating of movement instructions corresponding to each pile hole coordinate includes:

[0019] Generate a movement sequence of the drilling rig based on the pile hole coordinates corresponding to each pile hole;

[0020] Based on the movement sequence, a first movement sub-instruction and a second movement sub-instruction corresponding to each pile hole coordinate are generated, wherein the first movement sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the movement sequence, and to instruct the drilling rig to perform drilling work at the positions corresponding to each pile hole coordinate, and the second movement sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the movement sequence after completing the first movement sub-instruction, and to instruct the drilling rig to perform reinforcement construction at the positions corresponding to each pile hole coordinate;

[0021] Based on the first movement sub-instruction and the second movement sub-instruction corresponding to each stake hole coordinate, a movement instruction corresponding to each stake hole coordinate is obtained.

[0022] By adopting the above technical solution, the movement sequence of the drilling rig is planned in advance, which reduces the ineffective movement of the drilling rig on the construction site, such as random or repeated movement paths, thereby shortening the overall construction time. The drilling rig and construction personnel can prepare in advance according to the instructions to achieve seamless connection of the work process, avoid waiting time, and improve overall work efficiency. Each pile hole coordinate has clear movement instructions, including the specific locations of drilling and reinforcement construction, which greatly reduces the possibility of human operation errors and omissions.

[0023] In a possible implementation, the process of instructing the drilling machine to perform drilling work at a position corresponding to each pile hole coordinate, and instructing the drilling machine to perform drilling work at a position corresponding to each pile hole coordinate, includes:

[0024] Controlling the drilling machine to drill a hole with a first stroke and detecting the drilling depth;

[0025] When the drilling depth is greater than a drilling depth threshold, the drilling rig is controlled to drill a hole with a second stroke until the drilling depth meets a depth requirement, wherein the first stroke is smaller than the second stroke.

[0026] By adopting the above technical solution, a smaller first stroke is used to open the hole in the initial stage, which helps the drill to quickly penetrate the surface soil or rock layer and reduce the risk of drill jamming or equipment overload caused by directly using a large stroke. When the drilling depth exceeds a certain threshold, it is converted to a larger second stroke, which can more effectively penetrate the soil or rock layer and increase the overall drilling speed. By controlling the stroke in stages, the diameter and verticality of the borehole can be better controlled, especially in the case of complex geological conditions or large changes in soil layers, which helps to maintain the stability of the borehole.

[0027] In a possible implementation, the drilling machine is instructed to perform steel bar construction at a position corresponding to each pile hole coordinate, and the process of instructing the drilling machine to perform steel bar construction at a position corresponding to each pile hole coordinate includes:

[0028] Acquire the cooling water circulation state of the drilling rig at the current moment, wherein the cooling water circulation state is normal or abnormal;

[0029] When the cooling water circulation state is normal, starting the mixing device of the drilling rig, and determining the sinking speed of the lifting device of the drilling rig based on the rated current;

[0030] The steel wire rope of the lifting device is controlled to sink based on the sinking speed, so that the mixing device sinks along the guide frame to mix and cut the soil.

[0031] By adopting the above technical solution, the cooling water circulation status of the drilling rig is checked to ensure that the drilling rig will not be damaged or cause a safety accident due to overheating during long-term high-load operation. By determining the sinking speed of the lifting equipment based on the rated current, it can be ensured that the mixing equipment maintains a stable mixing and soil cutting efficiency during the sinking process, avoiding uneven mixing due to excessive speed or low construction efficiency due to too slow speed, thereby improving the overall construction efficiency.

[0032] In a possible implementation, determining the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig as the target pile hole coordinates includes:

[0033] Determine the pile hole coordinates corresponding to the second movement sub-instruction being executed by the drilling rig as the target pile hole coordinates;

[0034] Wherein, the obtaining of pile foundation information corresponding to the target pile hole coordinates includes:

[0035] Obtaining the sinking depth of the lifting equipment;

[0036] Based on the sinking depth of the lifting equipment, pile foundation information corresponding to the target pile hole coordinates is obtained.

[0037] By adopting the above technical solution, the pile hole coordinates corresponding to the second moving sub-instruction currently being executed by the drilling rig are directly determined as the target pile hole coordinates, thereby avoiding the problem of inaccurate positioning caused by multiple coordinate conversions or error accumulation.

[0038] In a possible implementation, controlling the drilling machine to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile includes:

[0039] Acquire the current depth of the mixing device of the drilling rig in real time;

[0040] When the current depth reaches a first preset depth threshold, stirring the cement slurry in the stirring device;

[0041] When the current depth reaches a second preset depth threshold, the pump valve is opened to press cement slurry into the foundation to form a mixing pile, wherein the first preset depth threshold is less than the second preset depth threshold.

[0042] By adopting the above technical solution, the current depth of the mixing equipment is obtained in real time, so that the grouting process can be carried out at a precise position. When the mixing equipment reaches the first preset depth threshold, the cement slurry is stirred, which helps to mix the cement slurry evenly and avoids the cement slurry from settling or stratifying before grouting. When the second preset depth threshold is reached, the pump valve is opened for grouting, ensuring that the cement slurry is pressed into the foundation at an appropriate depth, thereby forming a mixing pile with uniform quality and reliable strength.

[0043] In the second aspect, the present application provides an intelligent pile foundation construction device under complex soft ground conditions, which adopts the following technical solutions:

[0044] An intelligent pile foundation construction device under complex soft ground conditions, comprising:

[0045] A coordinate acquisition module is used to obtain the pile hole coordinates corresponding to each pile hole;

[0046] A generating module, used for generating movement instructions corresponding to each pile hole coordinate, so as to control the drilling machine to move to the position corresponding to the pile hole coordinate, and control the drilling machine to complete the initial construction work corresponding to each pile hole coordinate;

[0047] A determination module, used to determine that the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig are target pile hole coordinates;

[0048] An information acquisition module, used to acquire pile foundation information corresponding to the target pile hole coordinates, wherein the pile foundation information includes a drill rod inclination rate and a drill rod verticality;

[0049] A judgment module, used to judge whether the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range;

[0050] The control module is used to control the drilling rig to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile if the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range.

[0051] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0052] An electronic device, located on a drilling rig, comprising:

[0053] at least one processor;

[0054] Memory;

[0055] At least one application, wherein at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the intelligent pile foundation construction method under complex soft ground conditions described in the first aspect above.

[0056] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0057] A computer-readable storage medium includes: a computer program that can be loaded by a processor and execute the intelligent construction method of pile foundation under complex soft ground conditions described in the first aspect above.

[0058] In summary, the present application includes the following beneficial technical effects: by obtaining the precise coordinates corresponding to each pile hole and generating the corresponding movement instructions, it is ensured that the drilling rig can move to each pile hole position accurately, and then the movement and initial construction work of the drilling rig are automatically controlled, which reduces the tediousness and uncertainty of manual operation, improves construction efficiency, and reduces construction delays and errors caused by human factors. During the drilling rig construction process, the pile foundation information corresponding to the target pile hole coordinates, including key parameters such as drill rod inclination and verticality, is obtained in real time, which reduces labor costs and reduces safety risks caused by improper manual operation. Once it is found that the pile foundation information does not meet the pile position error range, measures can be taken immediately to adjust it, such as adjusting the position, angle or construction parameters of the drilling rig, etc., to ensure the stability and reliability of the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] FIG1 (a) is a front view of a coaxial bidirectional stirring cage provided in an embodiment of the present application;

[0060] FIG1( b ) is a top view of a coaxial bidirectional stirring cage provided in an embodiment of the present application;

[0061] Figure 2 This is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0062] Figure 3 It is a flow chart of an intelligent pile foundation construction method under complex soft ground conditions provided by an embodiment of the present application;

[0063] Figure 4 It is a block diagram of an intelligent pile foundation construction device under complex soft ground conditions provided by an embodiment of the present application;

[0064] Figure 5 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The present application is further described in detail below in conjunction with Figures 1-5.

[0066] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0067] In order to facilitate understanding of the technical solution proposed in this application, several elements introduced in the description of this application are first introduced here. It should be understood that the following introduction is only for the convenience of understanding these elements, so as to understand the content of the embodiments of this application, and does not necessarily cover all possible situations.

[0068] Pile foundation construction refers to the process of constructing the foundation of a building, and is a very important part of construction engineering. The pile foundation consists of piles and pile caps, and the load of the building is transferred to the deep stable soil or rock layer through the piles to ensure the safety and stability of the building. Pile foundation construction is a process of making a columnar pile body with reinforced concrete, steel, wood, etc., first drilling a hole and then pouring a concrete columnar pile body to enhance the bearing capacity of the pile cap.

[0069] During the construction of pile foundations, some complex geological conditions may be encountered. For example, there are many soft strata near the Yellow River in Dongying District. Cement mixing piles are often used to reinforce soft foundations due to their advantages such as low noise and good stability. However, the blades of traditional single-axis mixing pile construction are easily wrapped by soil, which affects the construction efficiency. It takes a long time to mix the particles evenly, and the construction speed is slow. In view of this, the drilling rig in the embodiment of the present application adopts a coaxial interlocking bidirectional mixing cage, see Figure 1 (a) and Figure 1 (b), wherein Figure 1 (a) is a front view of the coaxial bidirectional mixing cage, the number 1 in Figure 1 (a) is the mixing shaft, the number 2 in Figure 1 (a) is the outer shaft mixing cage, the number 3 in Figure 1 (a) is the inner shaft mixing tooth, the number 4 in Figure 1 (a) is the drill bit, and Figure 1 (b) is a top view of the coaxial bidirectional mixing cage, the number 1 in Figure 1 (b) is the outer shaft mixing cage, the number 2 in Figure 1 (b) is the mixing shaft, and the number 3 in Figure 1 (b) is the inner shaft mixing tooth. The mixing teeth are connected to the central rotating shaft, the outer shaft mixing teeth are installed in the mixing cage, the upper and lower connection points of the mixing cage are arranged on both sides of the inner shaft, the mixing teeth on the mixing cage bite inwardly and engage with the mixing teeth on the inner shaft, and the inner and outer shafts rotate in opposite directions during rotation. The mixing teeth break up the soil layer by biting, and the mixing teeth engage to make the mixing more uniform; the outer shaft mixing cage uses a vertical frame, which can be used to trim the pile wall during the hole forming process, control the verticality of the pile, and make the mud and solidified cement soil flow vertically, reducing the disturbance to the surrounding soil layer; a grouting hole is set at each end of the mixing cage, and grout is sprayed simultaneously from top to bottom, so that the cement slurry is mixed more evenly with the bottom layer.

[0070] The present application embodiment provides a method for intelligent construction of pile foundation under complex soft ground conditions. Figure 2 The electronic device is connected to the driver on the drilling rig and is located on the drilling rig. The electronic device is used to generate instructions and send them to the driver. The driver drives the drilling rig to operate according to the received instructions. Figure 3 As shown, the method provided in the embodiment of the present application is performed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. The method includes steps S301 to S306, wherein:

[0071] Step S301, obtaining the pile hole coordinates corresponding to each pile hole.

[0072] Before the pile foundation construction, the staff will generally use a level to level the foundation ground, and use a total station to locate each point. After the positioning is completed, white lime is sprinkled on the pile hole to mark it, and a certain proportion of the pile holes are selected from the positioning points for re-inspection and inspection. After the random inspection is qualified, the next process is carried out. After the pile hole is located, the staff will enter the coordinates into the electronic device, and the electronic device will receive and store the pile hole coordinates corresponding to each pile hole. When the pile foundation construction starts, that is, when the electronic device detects that the start time has arrived or the electronic device receives the construction start instruction, the electronic device obtains the stored pile hole coordinates corresponding to each pile hole.

[0073] Step S302: Generate a movement instruction corresponding to each pile hole coordinate to control the drilling rig to move to the position corresponding to the pile hole coordinate, and control the drilling rig to complete the initial construction work corresponding to each pile hole coordinate.

[0074] One pile hole coordinate corresponds to one movement instruction, and the movement instruction can control the drilling rig to move to the corresponding pile hole coordinate and perform initial construction work at the position corresponding to the pile hole coordinate. The initial construction work can include drilling holes and adjusting the drill rod angle.

[0075] Specifically, the electronic device generates a movement instruction containing each pile hole coordinate based on the acquired pile hole coordinates, and sends the generated movement instruction to the driver corresponding to the drilling rig in turn. After receiving the movement instruction, the driver of the drilling rig drives the drilling rig to move to the pile hole coordinate corresponding to the movement instruction, and drives the drilling rig to drill at the position corresponding to the pile hole coordinate and adjust the drill rod angle. After completing the movement instruction corresponding to the pile hole coordinate, the driver drives the drilling rig according to the next movement instruction, so that the drilling rig completes the initial construction work corresponding to each pile hole coordinate.

[0076] More specifically, the electronic device can, based on the current position of the drilling rig and each pile hole coordinate, take the pile hole coordinate closest to the current position as the first pile hole coordinate, take the pile hole coordinate closest to the first pile hole coordinate as the second pile hole coordinate, take the pile hole coordinate closest to the second pile hole coordinate as the third pile hole coordinate, and so on, to obtain the label of each pile hole coordinate. Further, the electronic device generates a first movement instruction corresponding to the first pile hole coordinate and sends the first movement instruction to the driver of the drilling rig, the driver drives the drilling rig to move to the first pile hole coordinate, drills and adjusts the drill rod angle, after the drilling rig completes the first movement instruction corresponding to the first pile hole coordinate, the electronic device generates a second movement instruction corresponding to the second pile hole coordinate and sends the second movement instruction to the driver of the drilling rig, the driver drives the drilling rig to move to the second pile hole coordinate, drills and adjusts the drill rod angle, after the drilling rig completes the first movement instruction corresponding to the second pile hole coordinate, and so on, until the drilling rig completes the initial construction work corresponding to each pile hole coordinate; or, the electronic device generates a movement instruction corresponding to each pile hole coordinate and sends it to the driver of the drilling rig, the driver drives the drilling rig to move and drill and adjust the drill rod angle according to the number of each movement instruction to complete the initial construction work corresponding to each pile hole coordinate.

[0077] Step S303: determine that the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig are the target pile hole coordinates.

[0078] The target pile hole coordinates are determined by acquiring the current position of the drilling rig or by the movement instructions currently being executed by the driver.

[0079] Step S304: Obtain the pile foundation information corresponding to the target pile hole coordinates.

[0080] The pile foundation information includes the inclination rate and verticality of the drill rod. The drill rod of the drilling rig is equipped with an inclination sensor and a verticality sensor. The electronic device receives the inclination rate and verticality of the drill rod obtained by the inclination sensor and the verticality sensor in real time to obtain the pile foundation information corresponding to the target pile hole coordinates.

[0081] Step S305: determine whether the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range.

[0082] The pile position error range includes a verticality error range and an inclination error range. For example, the verticality error range may be 0-5 cm, and the inclination error range may be 0-5%.

[0083] The inclination rate corresponding to the acquired target pile hole coordinates is compared with the inclination rate error range to determine whether the inclination rate is within the inclination rate error range. If the inclination rate is within the inclination rate error range, it means that the inclination rate meets the inclination rate requirement; if the inclination rate is not within the inclination rate error range, it means that the inclination rate does not meet the inclination rate requirement. Similarly, the verticality corresponding to the acquired target pile hole coordinates is compared with the verticality error range to determine whether the verticality is within the verticality error range. If the verticality is within the verticality error range, it means that the verticality meets the verticality requirement; if the verticality is not within the verticality error range, it means that the verticality does not meet the verticality requirement.

[0084] Further, when the verticality meets the verticality requirement and the inclination meets the inclination requirement, it is determined that the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range; when the verticality does not meet the verticality requirement and / or the inclination does not meet the inclination requirement, it is determined that the pile foundation information corresponding to the target pile hole coordinates does not meet the pile position error range.

[0085] Step S306: If the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range, the drilling rig is controlled to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile.

[0086] After the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range, the electronic device generates a grouting instruction corresponding to the target pile hole coordinates, and sends the grouting instruction to the driver. The driver drives the drilling rig to start the grouting equipment according to the received grouting instruction, and controls the grouting pressure and grouting amount according to the construction requirements to inject the grouting material into the pile hole to form a mixing pile at the position corresponding to the target pile hole coordinates.

[0087] Furthermore, when the grouting work corresponding to the target pile hole coordinates is completed, the drilling rig moves to the next pile hole coordinates for construction. If the drilling rig completes the pile foundation construction corresponding to all the pile hole coordinates, the electronic device generates a mechanical shutdown signal and sends the mechanical shutdown signal to the driver on the drilling rig, and the driver drives the drilling rig to perform preparatory work before the end. Among them, the preparatory work before the end includes: injecting an appropriate amount of clean water into the aggregate hopper, turning on the mortar pump to clean the residual cement slurry in all pipelines, and cleaning the soft soil adhering to the mixing head.

[0088] The embodiment of the present application provides an intelligent construction method for pile foundations under complex soft ground conditions, which obtains the precise coordinates corresponding to each pile hole and generates corresponding movement instructions to ensure that the drilling rig can move to each pile hole position accurately, and then automatically controls the movement and initial construction of the drilling rig, thereby reducing the tediousness and uncertainty of manual operation, improving construction efficiency, and reducing construction delays and errors caused by human factors. During the drilling rig construction process, the pile foundation information corresponding to the target pile hole coordinates, including key parameters such as the inclination rate and verticality of the drill rod, is obtained in real time, which reduces labor costs and reduces safety risks caused by improper manual operation. Once it is found that the pile foundation information does not meet the pile position error range, measures can be taken immediately to adjust it, such as adjusting the position, angle or construction parameters of the drilling rig, etc., to ensure the stability and reliability of the construction quality.

[0089] A possible implementation of the embodiment of the present application, in the above embodiment, when the pile foundation information corresponding to the target pile hole coordinates does not meet the pile position error range, may also include:

[0090] If the pile foundation information corresponding to the target pile hole coordinates does not meet the pile position error range, an adjustment instruction for the target pile hole coordinates is generated to control the drilling rig to adjust the verticality of the drill rod of the pile foundation corresponding to the target pile hole coordinates so that the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range;

[0091] When the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range, the drilling rig is controlled to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile.

[0092] If the pile foundation information does not meet the error range, it means that the verticality does not meet the verticality requirement and / or the inclination rate does not meet the inclination rate requirement. At this time, the drill rod needs to be adjusted to ensure that the verticality and inclination rate of the drill rod can meet the requirements. Specifically, the electronic device obtains the inclination direction measured by the inclination sensor on the drill rod, takes the opposite direction of the inclination direction as the adjustment direction, and takes the inclination angle as the adjustment angle. After obtaining the adjustment direction and the adjustment angle, the electronic device generates an adjustment instruction including the adjustment direction and the adjustment angle, and sends the adjustment instruction to the driver on the drilling rig. After receiving the adjustment instruction, the driver drives the drilling rig to adjust the drill rod according to the adjustment angle and the adjustment direction.

[0093] Furthermore, during the adjustment process, the electronic device obtains the inclination and verticality of the drill rod in real time. When it detects that the inclination and verticality of the drill rod meet their respective corresponding requirements, it generates a stop adjustment instruction and sends the stop adjustment instruction to the driver on the drilling rig. After receiving the stop adjustment instruction, the driver drives the drilling rig to stop adjusting the drill rod.

[0094] Furthermore, after the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range, the electronic device generates a grouting instruction corresponding to the target pile hole coordinates, and sends the grouting instruction to the driver. The driver drives the drilling rig to start the grouting equipment according to the received grouting instruction, and controls the grouting pressure and grouting amount according to the construction requirements to inject the grouting material into the pile hole to form a mixing pile at the position corresponding to the target pile hole coordinates.

[0095] In a possible implementation of the embodiment of the present application, the initial construction work includes drilling operations and reinforcement construction. In the above step S302, the movement instructions corresponding to each pile hole coordinate are generated, which may specifically include:

[0096] Generate a movement sequence of the drilling rig based on the pile hole coordinates corresponding to each pile hole;

[0097] Based on the movement sequence, a first movement sub-instruction and a second movement sub-instruction corresponding to each pile hole coordinate are generated;

[0098] Based on the first movement sub-instruction and the second movement sub-instruction corresponding to each stake hole coordinate, a movement instruction corresponding to each stake hole coordinate is obtained.

[0099] Among them, the first moving sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the moving sequence, and to instruct the drilling rig to perform drilling work at the position corresponding to each pile hole coordinate. The second moving sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the moving sequence after completing the first moving sub-instruction, and to instruct the drilling rig to perform reinforcement construction at the position corresponding to each pile hole coordinate.

[0100] Specifically, the electronic device can use the pile hole coordinate closest to the current position as the first pile hole coordinate, the pile hole coordinate closest to the first pile hole coordinate as the second pile hole coordinate, and the pile hole coordinate closest to the second pile hole coordinate as the third pile hole coordinate, and so on, to obtain the number of each pile hole coordinate, thereby obtaining the movement sequence of the drilling rig, wherein the movement sequence of the drilling rig is from the current position-first pile hole coordinate-second pile hole coordinate-…-Nth pile hole coordinate. Further, for each pile hole coordinate corresponding to the movement sequence, a first movement sub-instruction corresponding to each pile hole coordinate is generated. Each first movement instruction should include: indicating the position to which the drilling rig needs to move, indicating the drilling rig to perform drilling operations at this position, and necessary parameters: drilling speed, drilling depth, etc., wherein the first necessary parameter should be set according to design requirements and geological conditions, and the embodiment of the present application is not limited to this.

[0101] While generating the first moving sub-instruction for each pile hole coordinate or after completing the generation of all the first moving sub-instructions, for each pile hole coordinate corresponding to the moving sequence, a second moving sub-instruction corresponding to each pile hole coordinate is generated. Each second moving instruction should include: indicating the position to which the drilling rig needs to move, indicating the drilling rig to perform steel bar construction at this position, including operations such as lifting, positioning, and fixing of steel bars, and necessary parameters: specifications, quantity, layout, etc. of steel bars, wherein the second necessary parameters should be set according to design requirements and geological conditions, and this embodiment of the application is not limited to this.

[0102] Further, after obtaining the first movement sub-instruction and the second movement sub-instruction corresponding to each pile hole coordinate, the first movement sub-instruction and the second movement sub-instruction are used as movement instructions corresponding to the pile hole coordinate.

[0103] A possible implementation of the embodiment of the present application, in the above embodiment, instructing the drilling rig to perform drilling work at the position corresponding to each pile hole coordinate, the process of instructing the drilling rig to perform drilling work at the position corresponding to each pile hole coordinate includes:

[0104] Control the drilling machine to open a hole with the first stroke and detect the drilling depth;

[0105] When the drilling depth is greater than the drilling depth threshold, the drilling rig is controlled to drill a hole with a second stroke until the drilling depth meets the depth requirement.

[0106] Among them, the first stroke is smaller than the second stroke. The first stroke is usually smaller and is used to initially penetrate the surface soil or rock, reduce the impact force when suddenly encountering a hard layer, and protect the drill bit and the drilling machine.

[0107] Generally, before construction, specialized staff will set the specific values ​​of the first stroke and the second stroke, as well as the drilling depth threshold and the final required drilling depth according to the geological survey report, design requirements and the performance of the drilling rig. The electronic device obtains the stored first stroke, generates a first hole-opening instruction, and sends the first hole-opening instruction to the driver on the drilling rig. The driver receives the first hole-opening instruction and drives the drilling rig to start the drilling operation with the first stroke. At the same time, the electronic device obtains the drilling depth measured by the depth sensor on the drill rod and compares it with the set drilling depth threshold.

[0108] Furthermore, when it is detected that the drilling depth is greater than the set drilling depth threshold, it means that the surface soil or rock has been penetrated, and the next stage of drilling operation can be entered. The electronic device obtains the stored second stroke, generates a second hole-opening instruction, and sends the second hole-opening instruction to the driver on the drilling rig. The driver receives the second hole-opening instruction and drives the drilling rig to adjust the current stroke from the first stroke to the second stroke to improve the drilling efficiency. At the same time, the electronic facility continues to obtain the drilling depth measured by the depth sensor on the drill rod. Furthermore, when the drilling depth reaches the design requirement, drilling is stopped.

[0109] A possible implementation of the embodiment of the present application, in the above embodiment, instructing the drilling rig to perform steel bar construction at the position corresponding to each pile hole coordinate, the process of instructing the drilling rig to perform steel bar construction at the position corresponding to each pile hole coordinate may specifically include:

[0110] Get the cooling water circulation status of the drilling rig at the current moment, whether the cooling water circulation status is normal or abnormal;

[0111] When the cooling water circulation state is normal, the mixing equipment of the drilling rig is started, and the sinking speed of the lifting equipment of the drilling rig is determined based on the rated current;

[0112] The steel wire rope of the lifting equipment is controlled to sink based on the sinking speed, so that the mixing equipment sinks along the guide frame to mix and cut the soil.

[0113] Among them, a suitable rated current can be set according to the design parameters of the drilling rig and the current construction conditions, or the maximum working current value of the mixing equipment on the drilling rig can be used as the rated current.

[0114] Before the drilling rig is ready to start working, the electronic device obtains the status of the instrument indicator light on the drilling rig to check whether the cooling water is circulating normally through the instrument indicator light. If the cooling water circulation status is displayed as "normal", proceed to the next step; if it is displayed as "abnormal", it is necessary to stop the machine immediately to check and troubleshoot until the cooling water circulation returns to normal. Further, after confirming that the cooling water circulation is normal, based on the set rated current, the electronic device sends a start signal including the sinking speed. After receiving the start signal, the driver drives the drilling rig to start the mixing equipment and controls the lifting equipment to sink at the sinking speed.

[0115] The electronic device obtains the sinking depth measured by the depth sensor on the lifting equipment. When it detects that the mixing equipment sinks to the predetermined depth, it generates a stop sinking signal and sends the stop sinking signal to the driver on the drilling rig. The driver stops the sinking operation of the lifting equipment and controls the rotation and lifting of the mixing equipment to clean the residue at the bottom of the hole and ensure that the bottom of the hole is flat. After the bottom of the hole is cleaned, the driver controls the lifting equipment to slowly lower the steel cage into the hole and adjust its position to the design requirements. After the steel cage is accurately positioned, the driver drives the mixing equipment to pour concrete until the design height is reached.

[0116] A possible implementation of the embodiment of the present application, in the above embodiment, determining the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig as the target pile hole coordinates, may specifically include:

[0117] The pile hole coordinates corresponding to the second movement sub-instruction being executed by the drilling rig are determined as the target pile hole coordinates;

[0118] Wherein, obtaining the pile foundation information corresponding to the target pile hole coordinates includes:

[0119] Obtain the sinking depth of the lifting equipment;

[0120] Based on the sinking depth of the lifting equipment, the pile foundation information corresponding to the target pile hole coordinates is obtained.

[0121] When it is identified that the drilling rig is executing a second moving sub-instruction, the pile hole coordinates corresponding to the second moving sub-instruction being executed are used as the target pile hole coordinates. Furthermore, when the drilling rig moves to the target pile hole coordinates and starts the steel bar construction, the electronic device obtains the sinking depth measured by the depth sensor on the lifting device, and obtains the pile foundation information corresponding to each preset sinking depth in real time according to the sinking depth, and records the pile foundation information corresponding to each preset sinking depth, thereby improving the completeness of the obtained pile foundation information.

[0122] In a possible implementation of the embodiment of the present application, in the above step S306, controlling the drilling rig to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile may specifically include:

[0123] Get the current depth of the drilling rig's mixing equipment in real time;

[0124] When the current depth reaches a first preset depth threshold, stirring the cement slurry in the stirring device;

[0125] When the current depth reaches a second preset depth threshold, the pump valve is opened to press cement slurry into the foundation to form a mixing pile, wherein the first preset depth threshold is less than the second preset depth threshold.

[0126] According to the construction requirements and geological conditions, the first preset depth threshold and the second preset depth threshold are set. These two thresholds should be determined based on the design depth of the mixing pile, geological conditions and the performance of the mixer to ensure the quality and safety of the mixing pile.

[0127] Before pile foundation construction, prepare an appropriate amount of cement slurry according to the design requirements. For example, the cement mixing ratio is generally between 12% and 15% as required. The preparation of cement slurry must strictly control the water-cement ratio, which is generally 0.45-0.50, and the specific gravity is generally 1.65-1.7. The prepared cement slurry is required to have good fluidity and workability.

[0128] The electronic device generates a mixing instruction and sends the mixing instruction to the driver on the drilling rig. The driver drives the mixing device to descend into the pile hole and starts the mixing device for preliminary mixing to remove debris in the hole and preliminarily mix the foundation soil. The electronic device obtains the current depth of the mixer in real time through the depth sensor on the mixing device. When the current depth of the mixer reaches the first preset depth threshold, the driver drives the cement slurry mixing device inside the mixing device to fully mix the cement slurry in the mixing device to ensure the uniformity and fluidity of the cement slurry.

[0129] As the mixer continues to sink, when the current depth reaches the second preset depth threshold, the mixing device is driven to open the pump valve. After the pump valve is opened, the cement slurry in the mixing device is pressed into the foundation under pressure. At the same time, the mixer continues to rotate and sink, fully mixing the cement slurry with the foundation soil to form a mixing pile.

[0130] When the mixer reaches the required depth, stop sinking and stirring, close the pump valve, and end the grouting process.

[0131] The above-mentioned embodiment introduces an intelligent construction method of pile foundation under complex soft ground conditions from the perspective of method flow. The following embodiment introduces an intelligent construction device of pile foundation under complex soft ground conditions from the perspective of virtual module or virtual unit. Please refer to the following embodiment for details.

[0132] See also Figure 4 The intelligent pile foundation construction device 40 under complex soft ground conditions may specifically include: a coordinate acquisition module 401, a generation module 402, a determination module 403, an information acquisition module 404, a judgment module 405 and a control module 406. Specifically:

[0133] An intelligent pile foundation construction device 40 under complex soft ground conditions, comprising:

[0134] A coordinate acquisition module 401 is used to acquire the pile hole coordinates corresponding to each pile hole;

[0135] A generating module 402 is used to generate a movement instruction corresponding to each pile hole coordinate, so as to control the drilling machine to move to the position corresponding to the pile hole coordinate, and control the drilling machine to complete the initial construction work corresponding to each pile hole coordinate;

[0136] A determination module 403 is used to determine that the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig are target pile hole coordinates;

[0137] An information acquisition module 404 is used to acquire pile foundation information corresponding to the target pile hole coordinates, where the pile foundation information includes a drill rod inclination rate and a drill rod verticality;

[0138] A judgment module 405 is used to judge whether the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range;

[0139] The control module 406 is used to control the drilling machine to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile if the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range.

[0140] In a possible implementation of the embodiment of the present application, the intelligent pile foundation construction device 40 under complex soft ground conditions may also include:

[0141] The adjustment module is used to generate an adjustment instruction for the target pile hole coordinates if the pile foundation information corresponding to the target pile hole coordinates does not satisfy the pile position error range, so as to control the drilling rig to adjust the verticality of the drill rod of the pile foundation corresponding to the target pile hole coordinates so that the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range;

[0142] The grouting module is used to control the drilling rig to grout the pile hole corresponding to the target pile hole coordinates to form a mixing pile when the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range.

[0143] In a possible implementation of the embodiment of the present application, the initial construction work includes drilling operations and reinforcement construction. When the generation module 402 generates a movement instruction corresponding to each pile hole coordinate, it can be specifically used to:

[0144] Generate a movement sequence of the drilling rig based on the pile hole coordinates corresponding to each pile hole;

[0145] Based on the movement sequence, a first movement sub-instruction and a second movement sub-instruction corresponding to each pile hole coordinate are generated, wherein the first movement sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the movement sequence, and to instruct the drilling rig to perform drilling work at the positions corresponding to each pile hole coordinate, and the second movement sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the movement sequence after completing the first movement sub-instruction, and to instruct the drilling rig to perform reinforcement construction at the positions corresponding to each pile hole coordinate;

[0146] Based on the first movement sub-instruction and the second movement sub-instruction corresponding to each stake hole coordinate, a movement instruction corresponding to each stake hole coordinate is obtained.

[0147] In a possible implementation of the embodiment of the present application, the generation module 402 instructs the drilling machine to perform drilling work at the position corresponding to each pile hole coordinate, and instructs the drilling machine to perform drilling work at the position corresponding to each pile hole coordinate, which can be specifically used to:

[0148] Control the drilling machine to open a hole with the first stroke and detect the drilling depth;

[0149] When the drilling depth is greater than the drilling depth threshold, the drill is controlled to drill a hole with a second stroke until the drilling depth meets the depth requirement, wherein the first stroke is smaller than the second stroke.

[0150] In a possible implementation of the embodiment of the present application, the generation module 402 instructs the drilling rig to perform steel bar construction at the position corresponding to each pile hole coordinate, and instructs the drilling rig to perform steel bar construction at the position corresponding to each pile hole coordinate, which can be specifically used for:

[0151] Get the cooling water circulation status of the drilling rig at the current moment, whether the cooling water circulation status is normal or abnormal;

[0152] When the cooling water circulation state is normal, the mixing equipment of the drilling rig is started, and the sinking speed of the lifting equipment of the drilling rig is determined based on the rated current;

[0153] The steel wire rope of the lifting equipment is controlled to sink based on the sinking speed, so that the mixing equipment sinks along the guide frame to mix and cut the soil.

[0154] In a possible implementation of the embodiment of the present application, when the determination module 403 determines that the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig are the target pile hole coordinates, it can be specifically used to:

[0155] The pile hole coordinates corresponding to the second movement sub-instruction being executed by the drilling rig are determined as the target pile hole coordinates;

[0156] When acquiring the pile foundation information corresponding to the target pile hole coordinates, the information acquisition module 404 can be specifically used to:

[0157] Obtain the sinking depth of the lifting equipment;

[0158] Based on the sinking depth of the lifting equipment, the pile foundation information corresponding to the target pile hole coordinates is obtained.

[0159] In a possible implementation of the embodiment of the present application, when the control module 406 controls the drilling machine to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile, it can be specifically used to:

[0160] Get the current depth of the drilling rig's mixing equipment in real time;

[0161] When the current depth reaches a first preset depth threshold, stirring the cement slurry in the stirring device;

[0162] When the current depth reaches a second preset depth threshold, the pump valve is opened to press cement slurry into the foundation to form a mixing pile, wherein the first preset depth threshold is less than the second preset depth threshold.

[0163] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0164] See also Figure 5 , the embodiment of the present application also introduces an electronic device from the perspective of a physical device, such as Figure 5 As shown, Figure 5 The electronic device 50 shown includes: a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the electronic device 50 may also include a transceiver 504. It should be noted that in actual applications, the transceiver 504 is not limited to one, and the structure of the electronic device 50 does not constitute a limitation on the embodiments of the present application.

[0165] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0166] The bus 502 may include a path to transmit information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0167] The memory 503 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0168] The memory 503 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 501. The processor 501 is used to execute the application code stored in the memory 503 to implement the contents shown in the above method embodiment.

[0169] The electronic devices include but are not limited to: mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc., and can also be servers, etc. Figure 5 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0170] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment.

[0171] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0172] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An intelligent pile foundation construction method under complex soft ground conditions, characterized in that: Executed by electronic equipment on a drilling rig, the method includes: Get the pile hole coordinates corresponding to each pile hole; Generate a movement instruction corresponding to each pile hole coordinate to control the drilling rig to move to the position corresponding to the pile hole coordinate, and control the drilling rig to complete the initial construction work corresponding to each pile hole coordinate; Determining the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig as the target pile hole coordinates; Acquire pile foundation information corresponding to the target pile hole coordinates, wherein the pile foundation information includes a drill rod inclination rate and a drill rod verticality; Determine whether the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range; If the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range, controlling the drilling rig to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile; Wherein, when the initial construction work includes drilling operations and reinforcement construction, the generation of movement instructions corresponding to each pile hole coordinate includes: Generate a movement sequence of the drilling rig based on the pile hole coordinates corresponding to each pile hole; Based on the movement sequence, a first movement sub-instruction and a second movement sub-instruction corresponding to each pile hole coordinate are generated, wherein the first movement sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the movement sequence, and to instruct the drilling rig to perform drilling work at the positions corresponding to each pile hole coordinate, and the second movement sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the movement sequence after completing the first movement sub-instruction, and to instruct the drilling rig to perform reinforcement construction at the positions corresponding to each pile hole coordinate; Based on the first movement sub-instruction and the second movement sub-instruction corresponding to each stake hole coordinate, a movement instruction corresponding to each stake hole coordinate is obtained.

2. The intelligent construction method for pile foundation under complex soft ground conditions according to claim 1 is characterized in that: The method further comprises: If the pile foundation information corresponding to the target pile hole coordinates does not satisfy the pile position error range, an adjustment instruction for the target pile hole coordinates is generated to control the drilling rig to adjust the verticality of the drill rod of the pile foundation corresponding to the target pile hole coordinates so that the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range; When the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range, the drilling rig is controlled to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile.

3. The intelligent construction method for pile foundation under complex soft ground conditions according to claim 1 is characterized in that: The process of instructing the drilling machine to perform drilling work at a position corresponding to each pile hole coordinate and instructing the drilling machine to perform drilling work at a position corresponding to each pile hole coordinate includes: Controlling the drilling machine to drill a hole with a first stroke and detecting the drilling depth; When the drilling depth is greater than a drilling depth threshold, the drilling rig is controlled to drill a hole with a second stroke until the drilling depth meets a depth requirement, wherein the first stroke is smaller than the second stroke.

4. The intelligent construction method for pile foundation under complex soft ground conditions according to claim 1 is characterized in that: The process of instructing the drilling rig to perform steel bar construction at a position corresponding to each pile hole coordinate and instructing the drilling rig to perform steel bar construction at a position corresponding to each pile hole coordinate includes: Acquire the cooling water circulation state of the drilling rig at the current moment, wherein the cooling water circulation state is normal or abnormal; When the cooling water circulation state is normal, starting the mixing device of the drilling rig, and determining the sinking speed of the lifting device of the drilling rig based on the rated current; The steel wire rope of the lifting device is controlled to sink based on the sinking speed, so that the mixing device sinks along the guide frame to mix and cut the soil.

5. The intelligent construction method for pile foundation under complex soft ground conditions according to claim 4 is characterized in that: The step of determining the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig as the target pile hole coordinates includes: Determine the pile hole coordinates corresponding to the second movement sub-instruction being executed by the drilling rig as the target pile hole coordinates; Wherein, the obtaining of pile foundation information corresponding to the target pile hole coordinates includes: Obtaining the sinking depth of the lifting equipment; Based on the sinking depth of the lifting equipment, pile foundation information corresponding to the target pile hole coordinates is obtained.

6. The intelligent construction method for pile foundation under complex soft ground conditions according to claim 1 or 2, characterized in that: The controlling the drilling machine to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile includes: Acquire the current depth of the mixing device of the drilling rig in real time; When the current depth reaches a first preset depth threshold, stirring the cement slurry in the stirring device; When the current depth reaches a second preset depth threshold, the pump valve is opened to press cement slurry into the foundation to form a mixing pile, wherein the first preset depth threshold is less than the second preset depth threshold.

7. An intelligent pile foundation construction device under complex soft ground conditions, characterized in that: include: A coordinate acquisition module, used to acquire the pile hole coordinates corresponding to each pile hole; A generation module is used to generate movement instructions corresponding to each pile hole coordinate to control the drilling rig to move to the position corresponding to the pile hole coordinate, and control the drilling rig to complete the initial construction work corresponding to each pile hole coordinate; A determination module, used to determine that the pile hole coordinates corresponding to the movement instruction being executed by the drilling rig are target pile hole coordinates; An information acquisition module, used to acquire pile foundation information corresponding to the target pile hole coordinates, wherein the pile foundation information includes a drill rod inclination rate and a drill rod verticality; A judgment module, used to judge whether the pile foundation information corresponding to the target pile hole coordinates meets the pile position error range; A control module, configured to control the drilling rig to perform grouting on the pile hole corresponding to the target pile hole coordinates to form a mixing pile if the pile foundation information corresponding to the target pile hole coordinates satisfies the pile position error range; Wherein, when the initial construction work includes drilling operations and reinforcement construction, the generation module, when generating the movement instructions corresponding to each pile hole coordinate, is specifically used to: Generate a movement sequence of the drilling rig based on the pile hole coordinates corresponding to each pile hole; Based on the movement sequence, a first movement sub-instruction and a second movement sub-instruction corresponding to each pile hole coordinate are generated, wherein the first movement sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the movement sequence, and to instruct the drilling rig to perform drilling work at the positions corresponding to each pile hole coordinate, and the second movement sub-instruction is used to instruct the drilling rig to move to the positions corresponding to the pile hole coordinates in sequence according to the movement sequence after completing the first movement sub-instruction, and to instruct the drilling rig to perform reinforcement construction at the positions corresponding to each pile hole coordinate; Based on the first movement sub-instruction and the second movement sub-instruction corresponding to each stake hole coordinate, a movement instruction corresponding to each stake hole coordinate is obtained.

8. An electronic device, characterized in that: The electronic equipment is located on the drilling rig, and the electronic equipment includes: at least one processor; Memory; At least one application, wherein at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the intelligent construction method for pile foundation under complex soft ground conditions as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the intelligent pile foundation construction method under complex soft ground conditions as described in any one of claims 1 to 6.

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