A real-time monitoring system and control method for construction of connecting rod type cement mixing piles

Abstract

The invention discloses a real-time monitoring system and control method for the construction of a connecting rod type cement mixing pile. The system includes but is not limited to a drill rod monitoring module, a data acquisition module, a data processing module and a real-time feedback control module. The system acquires real-time data of construction technical parameters to determine whether the construction quality of the connecting rod type cement mixing pile meets the expected requirements, thereby realizing real-time feedback control of the construction equipment. The method includes but is not limited to determining the functional relationship between monitoring data through a process pile forming test, axis consistency monitoring when connecting the rod, depth, speed and rotation speed monitoring and control when the drill rod is drilled or lifted, cement content monitoring and control during drill rod grouting, and pile body quality evaluation. The invention realizes real-time monitoring of construction quality problems that may occur in the connecting rod type cement mixing pile, such as insufficient pile length, insufficient cement content, poor pile body uniformity, inconsistent axis lines of each section of the drill rod, and timely adjustment of construction technical parameters to control the construction quality.

Description

Technical Field

[0001] The invention belongs to the technical field of soft soil foundation reinforcement, and relates to a real-time monitoring system and a control method for the construction of a connecting rod type cement mixing pile. Background Art

[0002] Cement mixing piles are a commonly used foundation treatment method in deep soft soil areas. Cement slurry is sprayed while drilling or lifting in the soft soil by a cement mixing pile machine, so that the soft soil and cement slurry are fully mixed to form a cement soil column with high strength and good integrity. The foundation reinforcement plan for deep soft soil areas requires cement mixing piles to meet more stringent mechanical stability requirements, which usually leads to a larger designed pile length of cement mixing piles, which in turn requires a larger vertical construction space for the corresponding cement mixing pile machine. When there is insufficient construction clearance above the cement mixing piles due to elevated bridges, high-voltage lines, etc., connecting rod cement mixing piles are usually used to overcome the problem of insufficient construction clearance. Compared with conventional cement mixing piles, the connecting rod cement mixing pile process is more complicated and the construction quality is more difficult to control. The construction quality problems that may occur during construction, such as insufficient pile length, insufficient cement content, and poor pile uniformity, will be more significant compared with conventional cement mixing piles, and the connecting rod process may have the problem of inconsistent axis of each section of drill rod. At present, the main way to ensure the construction quality of cement mixing piles is construction quality inspection, including checking construction records, pile head excavation, coring and light dynamic probing. These construction quality inspection methods are all post-inspections and cannot monitor in real time during construction and adjust the construction methods in time to control the construction quality.

[0003] Therefore, in areas with deep soft soil and insufficient construction clearance, it is urgent to propose a corresponding real-time construction monitoring system and control method for connecting rod type cement mixing piles, so as to realize real-time monitoring of the construction technical parameters of connecting rod type cement mixing piles, evaluation and control of construction quality, and improve the information construction level of connecting rod type cement mixing piles. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention proposes a real-time monitoring system and control method for the construction of connecting rod type cement mixing piles, which is suitable for the foundation reinforcement project of connecting rod type cement mixing piles in deep soft soil areas and under insufficient construction clearance conditions, and is conducive to the real-time monitoring of the construction parameters of the connecting rod type cement mixing piles, and the evaluation and control of the construction quality.

[0005] In a first aspect, the present application discloses a real-time monitoring system for the construction of a connecting rod type cement mixing pile, the system comprising a drill rod monitoring module, a data acquisition module, a data processing module and a real-time feedback control module;

[0006] The drill pipe monitoring module includes an inclinometer sensor, an inclination data transmission device, a distance sensor, a depth data transmission device, a drill pipe speed sensor, a speed data transmission device, a cement content sensor and a cement content data transmission device; wherein the inclinometer sensor is arranged on the surface of the initial section drill pipe and the extended section drill pipe; the initial section drill pipe is the first section of the drill pipe in the process of drilling the extended cement mixing pile, and the head end of the extended section drill pipe is tightly connected to the tail end of the initial section drill pipe, or the two extended section drill pipes are connected end to end; the input end and the output end of the inclination data transmission device are respectively connected to the inclinometer sensor and the data acquisition module through wireless communication technology, so as to obtain the inclination data of the initial section drill pipe and the extended section drill pipe collected by the inclinometer sensor; the distance sensor is arranged at the end of the initial section drill pipe near; the input end and output end of the depth data transmission device are respectively connected to the distance sensor and the data acquisition module through wireless communication technology, so as to obtain the depth data of the initial section drill pipe end collected by the distance sensor; the input end and output end of the speed data transmission device are respectively connected to the drill pipe speed sensor and the data acquisition module through wireless communication technology, so as to obtain the drill pipe speed data collected by the drill pipe speed sensor, wherein the drill pipe speed sensor is installed on the cement mixing pile machine; the cement content sensor is arranged on the surface of the initial section drill pipe; the input end and output end of the cement content data transmission device are respectively connected to the cement content sensor and the data acquisition module through wireless communication technology, so as to obtain the cement soil resistivity data collected by the cement content sensor;

[0007] The data acquisition module is used to receive data including but not limited to the data output by the drill pipe monitoring module, including but not limited to the inclination data of the initial section drill pipe and the extended section drill pipe, the depth data of the end of the initial section drill pipe and the cement soil resistivity data, and send it to the data processing module;

[0008] The data processing module includes a data preprocessing unit, a data storage unit, a data analysis unit and a signal output unit; the data preprocessing unit is used to filter and normalize the original data to improve the data quality; the data storage unit is used to store data; the data analysis unit is used to calculate the preprocessed data to obtain the corresponding construction technical parameters, including but not limited to obtaining the verticality of the connecting rod type cement mixing pile and the consistency index of the axis of each section of the drill rod according to the inclination data of the initial section drill rod and the extended section drill rod, obtaining the depth of the connecting rod type cement mixing pile and the vertical displacement speed of the drill rod according to the depth data of the end of the initial section drill rod, and obtaining the cement content according to the cement soil resistivity data, and then comparing these construction technical parameters with the corresponding design control values, judging in real time whether the construction quality of the connecting rod type cement mixing pile meets the expected requirements and generating a feedback control signal; the signal output unit is used to transmit the feedback control signal to the real-time feedback control module;

[0009] The real-time feedback control module is used to control construction equipment according to feedback control signals, including but not limited to alarms, variable frequency spray pumps and cement pile mixers; wherein the alarm is installed on the cement pile mixer, the cement pile mixer is connected to the cement slurry pool through a cement slurry delivery pipe, and is used to pump cement slurry through the variable frequency spray pump installed on the cement slurry delivery pipe.

[0010] Preferably, the real-time monitoring system for the construction of the connecting rod type cement mixing piles also includes an on-board monitoring module installed on the cement mixing pile driver; the on-board monitoring module includes a positioning device, a pile position data transmission device, a levelness measuring instrument and a pile driver levelness data transmission device; wherein, the input end and the output end of the pile position data transmission device are respectively connected to the positioning device and the data acquisition module through wireless communication technology, so as to obtain the pile position coordinate data collected by the positioning device, wherein the positioning device is installed on the cement mixing pile driver; the input end and the output end of the pile driver levelness data transmission device are respectively connected to the levelness measuring instrument and the data acquisition module through wireless communication technology, so as to obtain the pile driver levelness data collected by the levelness measuring instrument, wherein the levelness measuring instrument is installed on the cement mixing pile driver.

[0011] Preferably, the real-time monitoring system for the construction of the connecting rod type cement mixing piles also includes a pump monitoring module installed on the cement slurry delivery pipe; the pump monitoring module includes an electromagnetic flowmeter, a flow data acquisition device, an ultrasonic densitometer and a density data acquisition device; wherein the input end and the output end of the flow data acquisition device are respectively connected to the electromagnetic flowmeter and the data acquisition module through wireless transmission technology, so as to obtain the cement slurry volume flow data collected by the electromagnetic flowmeter; the input end and the output end of the density data acquisition device are respectively connected to the ultrasonic densitometer and the data acquisition module through wireless transmission technology, so as to obtain the cement slurry density data collected by the ultrasonic densitometer; wherein the electromagnetic flowmeter is installed on the cement slurry delivery pipe, and the monitoring object is the cement slurry passing through the cement slurry delivery pipe 75; the ultrasonic densitometer is installed on the cement slurry delivery pipe, and the monitoring object is the cement slurry passing through the cement slurry delivery pipe.

[0012] The second aspect of the present application discloses a control method for a real-time monitoring system for construction of a connecting rod type cement mixing pile, the method comprising:

[0013] S100. Determine the functional relationship between monitoring data through technological pile tests: Before the formal construction of the rod-type cement mixing pile, it is necessary to select representative rod-type cement mixing piles to carry out technological pile tests. In addition to formulating construction technical parameters such as drill pipe speed, drilling speed, lifting speed, pumping pressure and optimal cement content, the test objectives also need to determine the functional relationship between monitoring data based on the test results, including but not limited to cement content. W c Unconfined compressive strength Q u Functional relationship of cement soil resistivity collected by cement content sensor R c Cement content W c Functional relationship of pumping pressure P c and cement slurry volume flow Q c These functional relationships will be used for data analysis in the data analysis unit of the data processing module;

[0014] Among them, cement content W c is the ratio of the weight of cement added to the weight of soil, and the unconfined compressive strength of cement soil is Q u It mainly depends on the cement content, and the two approximately satisfy a linear relationship, as shown in the following expression:

[0015] Q u = k1 · W c + b 1

[0016] in, k 1 , b 1 are all fitting constants;

[0017] Cement soil resistivity collected by cement content sensor R c It reflects the conductivity of cement soil, which is mainly affected by the hydroxide ions in the cement slurry. During the mixing process of cement soil, the concentration of hydroxide ions increases with the increase of cement content. Therefore, the conductivity of cement soil can be monitored by R c Indirect calculation of cement content W c , the two approximately satisfy a linear relationship, as shown in the following expression:

[0018] W c = k 2 · R c + b 2

[0019] in, k 2 , b 2 are all fitting constants;

[0020] When the cement content is monitored in real time W c When the preset value is deviated, the amount of shotcrete should be adjusted immediately to ensure the cement content is W c To meet the requirements, the adjustment of cement content is mainly achieved by controlling the pumping pressure; for the cement slurry in the cement slurry delivery pipe, the pumping pressure P c and cement slurry volume flow Q c Approximately satisfy the linear relationship, as shown in the following expression:

[0021] P c = k 3 · Q c + b 3

[0022] in, k 3 , b 3 are all fitting constants;

[0023] S200, Axis consistency monitoring during rod splicing: The rod splicing process means that the drill rod is spliced ​​from an initial section of drill rod and several extended sections of drill rod. Therefore, during the rod splicing construction, there may be problems with the axes of the drill rods being inconsistent. Therefore, the drill rod axis consistency monitoring should be carried out through the inclinometer sensors installed on each section of the drill rod, and the inclination changes of the initial section of the drill rod and all the extended sections of the drill rod during the drilling process should be paid attention to in real time to avoid the problem of inconsistent axes between adjacent drill rod sections; the inclination α is the angle between the axis of each drill pipe section and the vertical axis, and the inclination difference between adjacent drill pipe sections is Da n Satisfies the following expression:

[0024] Da n =| α n - α n-1 |≤[ Da n ]

[0025] in, α n For the n The inclination angle of the drill pipe, α n-1 For the n-1 The inclination angle of the drill pipe, Da n ] is the limit of the inclination difference between adjacent drill pipe segments;

[0026] After the data processing module analyzes the data, it determines the inclination difference between adjacent drill pipe segments. Da n When the requirements are not met, the command is transmitted to the alarm through the real-time feedback control module and the alarm is triggered;

[0027] S300, depth, speed and rotation speed monitoring and control when the drill pipe is lowered or lifted: the vertical displacement data of the drill pipe collected by the distance measuring sensor can be used to determine the depth of the end of the drill pipe, and the vertical movement speed of the drill pipe can be obtained according to the depth change curve over time. v m The drill pipe speed sensor is used to monitor the drill pipe speed. r m ; According to the requirements for the uniformity of the pile body of the connecting rod type cement mixing pile, the mixing times at any point within the depth range of the pile body N m Satisfies the following expression:

[0028]

[0029] in, d l is the mixing blade width, N l is the total number of stirring blades, β l is the vertical angle between the stirring blade and the stirring shaft, r m is the drill pipe speed, v m is the vertical moving speed of the drill pipe, [ N m ] is the stirring times limit; the stirring blade is located on the outer surface of the initial section drill pipe or the extended section drill pipe;

[0030] In actual construction, due to the unevenness of the strata, the actual vertical movement speed of the drill rod when drilling or lifting v m and drill pipe speed r m The vertical movement speed may be affected by the formation and deviate from the expected value. After the data processing module analyzes the data, it determines the vertical movement speed. v m and drill pipe speed r m When the speed deviates from the expected value, the real-time feedback control module transmits the command to the cement mixer and adjusts the vertical movement speed of the drill rod in time according to the real-time monitoring data. v m and drill pipe speed r m , to avoid problems such as uneven spraying and insufficient mixing;

[0031] S400, cement content monitoring and control during drill pipe shotcrete: cement content W c The ratio of the weight of cement to the weight of soil is an important indicator affecting the strength of the rod-type cement mixing pile body and needs to be monitored and controlled during construction. n The construction process of the rod-type cement mixing pile with multiple shotcreting requires the cement dosage increment to be W c0 / n ,in W c0 is the designed cement content of the connecting rod type cement mixing pile; during the shotcrete process, the cement content sensor records the resistivity of the cement slurry in real time. R c Value and convert it into cement content W c ; When thex Measure cement content after the first shotcrete W c Deviation from expected value W c0 · x / n When the cement content deviation is ΔW c , need to adjust x+ Pumping pressure during 1 shotcrete P c To achieve the cement content W c The adjustment range of pumping pressure is ΔP c , then the cement content deviation ΔW c With additional pumping pressure ΔP c The relationship satisfies the following expression:

[0032]

[0033] in, m s is the quality of the soil within the scope of this shotcrete. T The time used for this shotcrete;

[0034] Calculation of additional pumping pressure based on data processing module ΔP c , through the real-time feedback control module, the command is transmitted to the variable frequency shotcrete pump to adjust the pumping pressure P c To achieve the cement content W c Monitoring and corrective control;

[0035] S500, Pile body quality evaluation: Based on the measured value of the unconfined compressive strength of the pile body Q u1 With expected value Q u0 The pile body quality evaluation is carried out by comparing the cement content of each shotcrete section in step S400, which is converted into the unconfined compressive strength of each shotcrete section, and then the unconfined compressive strength of a single pile is obtained by weighted average algorithm. Q u1 ; Using strength index scoring P s Evaluate the quality of the pile body and score the strength index P s Satisfies the following expression:

[0036]

[0037] Determine the strength index score based on actual engineering requirements P s The qualified standard is then scored according to the strength index of the connecting rod cement mixing pile. P s The measured value is used to evaluate the pile body quality of the pile.

[0038] Preferably, the control method for the real-time monitoring system for the construction of connecting rod type cement mixing piles also includes monitoring of the pile position and levelness when the cement mixing pile driver is in place: when the cement mixing pile driver is installed in place, the pile position and levelness should be monitored respectively by a positioning device and a levelness measuring instrument to avoid the pile position deviation and the pile driver inclination exceeding the limit value, and ensure that the pile position and the pile driver levelness meet the construction requirements;

[0039] Pile position deviation ΔS cn Satisfies the following expression:

[0040]

[0041] in, Δx n , Δy n The actual pile position and the designed pile position are x , y Deviation value in direction, [ ΔS cn ] is the positioning deviation limit;

[0042] Pile driver inclination β is the angle between the drill pipe axis and the vertical axis, and satisfies the following expression:

[0043] β ≤[ β ]

[0044] in,[ β ] is the inclination limit of the pile driver;

[0045] When the data processing module determines the pile position deviation after data analysis ΔS cn or pile driver inclination β If the requirements are not met, the real-time feedback control module transmits the command to the alarm and triggers the alarm; the pile position deviation ΔS cn and pile driver inclination β Drilling can only be started when all requirements are met. ΔS cn and pile driver inclination β If the requirements are not met simultaneously, the position and posture of the pile driver should be adjusted until the requirements are met.

[0046] Preferably, the control method for the real-time monitoring system of the construction of the connecting rod type cement mixing pile also includes flow and density monitoring when pumping cement slurry: using an electromagnetic flowmeter to monitor the volume flow of cement slurry when it flows in the delivery pipeline. Q c ;Use ultrasonic densitometer to monitor the density of cement slurry r cw , and the density r cw Water-cement ratio of cement paste m The relationship between them satisfies the following expression:

[0047]

[0048] in, r c is the density of cement, r w is the density of water;

[0049] When the data processing module determines the water-cement ratio of cement slurry after data analysis m When the requirements are not met, the instructions are transmitted to the alarm through the real-time feedback control module and the alarm is triggered.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows: in view of the fact that construction quality problems such as insufficient pile length, insufficient cement content, poor pile body uniformity, etc. that may occur during the construction of connecting rod type cement mixing piles are more obvious than those of conventional cement mixing piles, and the connecting rod process may have the problem of inconsistent axis lines of each section of the drill rod. A real-time construction monitoring system for connecting rod type cement mixing piles is disclosed, including but not limited to a drill rod monitoring module, a data acquisition module, a data processing module and a real-time feedback control module. The drill rod monitoring module is used to obtain real-time data of construction technical parameters, and then the real-time data is transmitted to the data processing module through the data acquisition module. Then the data processing module determines whether the construction quality of the connecting rod type cement mixing piles meets the expected requirements and generates a feedback control signal. Finally, the real-time feedback control module determines whether the construction quality of the connecting rod type cement mixing piles meets the expected requirements and generates a feedback control signal. The construction equipment is controlled according to the feedback control signal; in addition, the present invention also discloses a control method for the real-time monitoring system for the construction of a connecting rod type cement mixing pile, including but not limited to determining the functional relationship between the monitoring data through a process pile forming test, monitoring the axis consistency when connecting the rod, monitoring and controlling the depth, speed and rotation speed when the drill rod is drilled or lifted, monitoring and controlling the cement content during drill rod spraying, and evaluating the quality of the pile body. This method is suitable for the real-time monitoring system for the construction of a connecting rod type cement mixing pile. By real-time monitoring the construction control parameters during the construction process of the connecting rod type cement mixing pile, real-time monitoring can be achieved for possible construction quality problems such as insufficient pile length, insufficient cement content, poor pile body uniformity, and inconsistent axis lines of each section of the drill rod, and construction technical parameters can be adjusted in time to control the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of a control method of a construction real-time monitoring system of a connecting rod type cement mixing pile according to the present invention;

[0052] Figure 2 It is a connection diagram of a real-time monitoring system for construction of a connecting rod type cement mixing pile according to the present invention;

[0053] Figure 3 It is a structural schematic diagram of a real-time monitoring system for construction of a connecting rod type cement mixing pile according to the present invention;

[0054] Figure 4 Cement content in the process pile test W c Unconfined compressive strength Q u Functional relationship of

[0055] Figure 5 Resistivity of cement soil in the technological pile test R c Cement content W cFunctional relationship of

[0056] Figure 6 The pumping pressure in the process pile test P c and cement slurry volume flow Q c Functional relationship of

[0057] Figure numerals: 1-drill pipe monitoring module, 11-inclinometer sensor, 12-inclination data transmission device, 13-distance sensor, 14-depth data transmission device, 15-drill pipe speed sensor, 16-speed data transmission device, 17-cement content sensor, 18-cement content data transmission device, 2-data acquisition module, 3-data processing module, 31-data preprocessing unit, 32-data storage unit, 33-data analysis unit, 34-signal output unit, 4-real-time feedback control module, 5-machine Upper monitoring module, 51-positioning device, 52-pile position data transmission device, 53-levelness measuring instrument, 54-pile driver levelness data transmission device, 6-pump monitoring module, 61-electromagnetic flowmeter, 62-flow data acquisition device, 63-ultrasonic density meter, 64-density data acquisition device, 70-drill rod, 71-initial section drill rod, 72-extended section drill rod, 73-mixing blade, 74-cement mixing pile machine, 75-cement slurry delivery pipe, 76-variable frequency spraying pump, 77-cement slurry tank, 78-server. DETAILED DESCRIPTION

[0058] The following is a more detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and the accompanying drawings so that a person skilled in the art can implement the embodiments after reading the description. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0059] This embodiment relies on an actual underpass tunnel project, in which the underpass tunnel project section is located at the bottom of a city viaduct. The stratum of the proposed site is mainly thick soft soil. According to the design requirements, the pile foundation and the cap of the city viaduct are reinforced with cement mixing piles to prevent the impact on the bridge piers during the excavation of the underpass tunnel foundation pit. Due to the lack of clearance at the bottom of the bridge, a connecting rod type cement mixing pile is used for construction. The average length of the connecting rod type cement mixing pile is 19m, the pile diameter is 0.5m, the cement strength grade is 42.5 ordinary silicate cement, and the water-cement ratio is 0.55.

[0060] The first aspect of the present invention provides Figure 1-4 A real-time monitoring system for the construction of a connecting rod type cement mixing pile is shown, the system comprising a drill rod monitoring module 1, a data acquisition module 2, a data processing module 3 and a real-time feedback control module 4;

[0061] The drill pipe monitoring module 1 includes an inclinometer sensor 11, an inclination data transmission device 12, a distance sensor 13, a depth data transmission device 14, a drill pipe speed sensor 15, a speed data transmission device 16, a cement content sensor 17 and a cement content data transmission device 18; wherein the inclinometer sensor 11 is arranged on the surface of the initial section drill pipe 71 and the extended section drill pipe 72, the initial section drill pipe 71 is the first section of the drill pipe in the process of drilling the extended rod type cement mixing pile, the head end of the extended section drill pipe 72 is tightly connected to the tail end of the initial section drill pipe 71, or the two extended section drill pipes 72 are connected end to end; the input end and the output end of the inclination data transmission device 12 are respectively connected to the inclinometer sensor 11 and the data acquisition module 2 through wireless communication technology, so as to obtain the inclination data of the initial section drill pipe 71 and the extended section drill pipe 72 collected by the inclinometer sensor 11; the distance sensor 13 is arranged on the initial section drill pipe 71 and the extended section drill pipe 72. near the end of the segment drill rod 71; the input end and the output end of the depth data transmission device 14 are respectively connected to the distance sensor 13 and the data acquisition module 2 through wireless communication technology, so as to obtain the depth data of the end of the initial segment drill rod 71 collected by the distance sensor 13; the input end and the output end of the speed data transmission device 16 are respectively connected to the drill rod speed sensor 15 and the data acquisition module 2 through wireless communication technology, so as to obtain the drill rod speed data collected by the drill rod speed sensor 15, wherein the drill rod speed sensor 15 is installed on the cement mixing pile machine 74; the cement content sensor 17 is arranged on the surface of the initial segment drill rod 71; the input end and the output end of the cement content data transmission device 18 are respectively connected to the cement content sensor 17 and the data acquisition module 2 through wireless communication technology, so as to obtain the cement soil resistivity data collected by the cement content sensor 17;

[0062] The data acquisition module 2 is used to receive data including but not limited to the data output by the drill pipe monitoring module 1, including but not limited to the inclination data of the initial section drill pipe 71 and the extended section drill pipe 72, the depth data of the end of the initial section drill pipe 71 and the cement soil resistivity data, and send it to the data processing module 3;

[0063] The data processing module 3 includes a data preprocessing unit 31, a data storage unit 32, a data analysis unit 33 and a signal output unit 34; the data preprocessing unit 31 is used to filter and normalize the original data to improve the data quality; the data storage unit 32 is used to store data; the data analysis unit 33 is used to calculate the preprocessed data to obtain the corresponding construction technical parameters, including but not limited to obtaining the verticality of the connecting rod type cement mixing pile and the consistency index of the axis of each section of the drill rod according to the inclination data of the initial section drill rod 71 and the extended section drill rod 72, obtaining the depth of the connecting rod type cement mixing pile and the vertical displacement speed of the drill rod 70 according to the end depth data of the initial section drill rod 71, and obtaining the cement content according to the cement soil resistivity data, and then comparing these construction technical parameters with the corresponding design control values, judging in real time whether the construction quality of the connecting rod type cement mixing pile meets the expected requirements and generating a feedback control signal; the signal output unit 34 is used to transmit the feedback control signal to the real-time feedback control module 4;

[0064] The real-time feedback control module 4 is used to control the construction equipment according to the feedback control signal, including but not limited to the alarm, the variable frequency spray pump 76 and the cement mixing pile machine 74; wherein the alarm is installed on the cement mixing pile machine 74, the cement mixing pile machine 74 is connected to the cement slurry pool 77 through the cement slurry delivery pipe 75, and is used to pump cement slurry through the variable frequency spray pump 76 installed on the cement slurry delivery pipe 75.

[0065] In a specific implementation, the real-time monitoring system for the construction of the connecting rod type cement mixing pile also includes an on-board monitoring module 5 installed on the cement mixing pile machine 74; the on-board monitoring module 5 includes a positioning device 51, a pile position data transmission device 52, a levelness measuring instrument 53 and a pile driver levelness data transmission device 54; wherein the input end and the output end of the pile position data transmission device 52 are respectively connected to the positioning device 51 and the data acquisition module 2 through wireless communication technology, so as to obtain the pile position coordinate data collected by the positioning device 51, wherein the positioning device 51 is installed on the cement mixing pile machine 74; the input end and the output end of the pile driver levelness data transmission device 54 are respectively connected to the levelness measuring instrument 53 and the data acquisition module 2 through wireless communication technology, so as to obtain the pile driver levelness data collected by the levelness measuring instrument 53, wherein the levelness measuring instrument 53 is installed on the cement mixing pile machine 74.

[0066] In a specific implementation, the real-time monitoring system for the construction of the connecting rod type cement mixing pile also includes a pump monitoring module 6 installed on the cement slurry delivery pipe 75; the pump monitoring module 6 includes an electromagnetic flowmeter 61, a flow data acquisition device 62, an ultrasonic densitometer 63 and a density data acquisition device 64; wherein, the input end and the output end of the flow data acquisition device 62 are respectively connected to the electromagnetic flowmeter 61 and the data acquisition module 2 through wireless communication technology, so as to obtain the cement slurry volume flow data collected by the electromagnetic flowmeter 61; the input end and the output end of the density data acquisition device 64 are respectively connected to the ultrasonic densitometer 63 and the data acquisition module 2 through wireless communication technology, so as to obtain the cement slurry density data collected by the ultrasonic densitometer 63; wherein, the electromagnetic flowmeter 61 is installed on the cement slurry delivery pipe 75, and the monitoring object is the cement slurry passing through the cement slurry delivery pipe 75; the ultrasonic densitometer 63 is installed on the cement slurry delivery pipe 75, and the monitoring object is the cement slurry passing through the cement slurry delivery pipe 75.

[0067] The second aspect of the present application discloses a control method for a construction real-time monitoring system of a connecting rod type cement mixing pile, which specifically comprises the following steps:

[0068] S100. Determine the functional relationship between monitoring data through technological pile tests: Before the formal construction of the rod-type cement mixing pile, it is necessary to select representative rod-type cement mixing piles to carry out technological pile tests. In addition to formulating construction technical parameters such as drill pipe speed, drilling speed, lifting speed, pumping pressure and optimal cement content, the test objectives also need to determine the functional relationship between monitoring data based on the test results, including but not limited to cement content. W c Unconfined compressive strength Q u The functional relationship between the cement soil resistivity and the cement content sensor 17 R c Cement content W c Functional relationship of pumping pressure P c and cement slurry volume flow Q c These functional relationships will be used for data analysis in the data analysis unit of the data processing module 3;

[0069] Among them, cement content W c is the ratio of the weight of cement added to the weight of soil, and the unconfined compressive strength of cement soil is Q u It mainly depends on the cement content, and the two approximately satisfy a linear relationship, as shown in the following expression:

[0070] Q u = k 1 · W c + b 1 =103.74 W c -877.01 (1)

[0071] in, k 1 , b 1 are all fitting constants;

[0072] The cement soil resistivity collected by the cement content sensor 17 R c It reflects the conductivity of cement soil, which is mainly affected by the hydroxide ions in the cement slurry. During the mixing process of cement soil, the concentration of hydroxide ions increases with the increase of cement content. Therefore, the conductivity of cement soil can be monitored by R c Indirect calculation of cement content W c , the two approximately satisfy a linear relationship, as shown in the following expression:

[0073] W c = k 2 · R c + b 2 =3.0664 R c +0.9008 (2)

[0074] in, k 2 , b 2 are all fitting constants;

[0075] When the cement content is monitored in real time W c When the preset value is deviated, the amount of shotcrete should be adjusted immediately to ensure the cement content is W c To meet the requirements, the adjustment of cement content is mainly achieved by controlling the pumping pressure; for the cement slurry in the cement slurry delivery pipe, the pumping pressure P c and cement slurry volume flow Q c Approximately satisfy the linear relationship, as shown in the following expression:

[0076] P c = k 3 · Q c + b 3 =0.0248 Q c +0.0878 (3)

[0077] in, k 3 , b 3 are all fitting constants;

[0078] S200, monitoring of pile position and levelness when the cement mixing pile driver is in place: When the cement mixing pile driver 74 is installed in place, the pile position and levelness should be monitored by the positioning device 51 and the levelness measuring instrument 53 respectively to avoid the pile position deviation and the pile driver inclination exceeding the limit value, and ensure that the pile position and the pile driver levelness meet the construction requirements;

[0079] Pile position deviation ΔS cn Satisfies the following expression:

[0080] (4)

[0081] in, Δx n , Δy n The actual pile position and the designed pile position are x , y Deviation value in direction, [ ΔS cn ] is the positioning deviation limit;

[0082] Pile driver inclination β is the angle between the drill pipe axis and the vertical axis, and satisfies the following expression:

[0083] β ≤[ β ] (5)

[0084] in,[ β ] is the inclination limit of the pile driver;

[0085] When the data processing module 3 determines the pile position deviation after data analysis ΔS cn or pile driver inclination β If the requirements are not met, the real-time feedback control module 4 transmits the instruction to the alarm and triggers the alarm; ΔScn and pile driver inclination β Drilling can only be started when all requirements are met. ΔScn and pile driver inclination β If the requirements are not met at the same time, the position and posture of the pile driver should be adjusted until the requirements are met;

[0086] In the specific implementation, the pile position deviation of a typical connecting rod cement mixing pile corresponds to Δx n , Δy n They are 22mm and 27mm respectively, and the corresponding pile position deviation ΔS cn 34.8mm; the measured inclination of the pile driver β 0.12%; in specific implementation, [ ΔS cn ]=50mm,[ β ]=1%, obviously ΔS cn ≤[ ΔS cn ]and β ≤[ β ], pile position deviation ΔS cn and pile driver inclination β All requirements were met and no alarm was triggered;

[0087] S300, axis consistency monitoring during rod connection: the rod connection process means that the drill rod 70 is composed of one initial segment drill rod 71 and several extended segments drill rod 72. Therefore, during the rod connection construction, there may be a problem of inconsistent axes of the drill rods 70. Therefore, the drill rod axis consistency monitoring should be carried out by installing the inclinometer sensor 11 on each segment of the drill rod 70, and the inclination changes of the initial segment drill rod 71 and all the extended segments drill rod 72 during the drilling process should be paid attention to in real time to avoid the problem of inconsistent axes between adjacent drill rod segments; the inclination α is the angle between the axis of each drill pipe section and the vertical axis, and the inclination difference between adjacent drill pipe sections is Da n Satisfies the following expression:

[0088] Da n =| α n - α n-1 |≤[ Da n ] (6)

[0089] in, α n For then The inclination angle of the drill pipe, α n-1 For the n-1 The inclination angle of the drill pipe, Da n ] is the limit of the inclination difference between adjacent drill pipe segments;

[0090] When the data processing module 3 determines the inclination difference of adjacent drill pipe segments after data analysis, Da n When the requirements are not met, the command is transmitted to the alarm through the real-time feedback control module and the alarm is triggered;

[0091] In a specific implementation, the maximum inclination difference of a typical connecting rod cement mixing pile occurs between the third and fourth drill rods 70. Da n =| α n - α n-1 |=|0.08%-0.02%|=0.06%; Specific implementation requirements [ Da n ]=0.2%, obviously Da n ≤[ Da n ], the inclination difference between adjacent drill pipe segments Da n The requirements were met and no alarm was triggered;

[0092] S400, flow rate and density monitoring when pumping cement slurry: using the electromagnetic flowmeter 61 to monitor the volume flow rate of cement slurry when it flows in the delivery pipeline Q c ; Using the ultrasonic densitometer 63 to monitor the density of cement slurry r cw , and the density of cement paste r cw Water-cement ratio of cement paste m The relationship between them satisfies the following expression:

[0093] (7)

[0094] in, r c is the density of cement, r w is the density of water;

[0095] When the data processing module 3 determines the water-cement ratio of the cement slurry after data analysis m When the requirements are not met, the real-time feedback control module 4 transmits the instruction to the alarm and triggers the alarm;

[0096] In a specific implementation, a typical electromagnetic flowmeter 61 monitors the volume flow rate of cement slurry flowing in the delivery pipeline. Q c The ultrasonic density meter 63 monitors the density of the cement slurry. r cw 1.78 g / cm 3 ; Corresponding water-cement ratio m It is 0.546, which is close to the design requirement of 0.55, and no alarm is triggered;

[0097] S500, depth, speed and rotation speed monitoring and control when the drill rod is lowered or lifted: the vertical displacement data of the drill rod collected by the distance measuring sensor 13 can be used to determine the depth of the end of the drill rod, and the vertical movement speed of the drill rod can be obtained according to the depth-time variation curve. v m The drill pipe speed sensor 15 is used to monitor the drill pipe speed r m ; According to the requirements for the uniformity of the pile body of the connecting rod type cement mixing pile, the mixing times at any point within the depth range of the pile body N m Satisfies the following expression:

[0098] (8)

[0099] in, d l is the mixing blade width, N l is the total number of stirring blades, β l is the vertical angle between the stirring blade and the stirring shaft, r m is the drill pipe speed, v m is the vertical moving speed of the drill pipe, [ N m ] is the stirring times limit; the stirring blade 73 is located on the outer surface of the initial section drill rod 71 or the extended section drill rod 72;

[0100] In actual construction, due to the unevenness of the strata, the actual vertical movement speed of the drill rod when drilling or lifting v m and drill pipe speed r m The vertical movement speed may be affected by the formation and deviate from the expected value. After the data processing module analyzes the data, it determines the vertical movement speed. v m and drill pipe speed r mWhen the speed deviates from the expected value, the real-time feedback control module 4 transmits the command to the cement mixing pile machine and adjusts the vertical movement speed of the drill rod in time according to the real-time monitoring data. v m and drill pipe speed r m , to avoid problems such as uneven spraying and insufficient mixing;

[0101] In a specific implementation, the mixing blade width of the cement mixing pile machine 74 is d l 10cm, total number of stirring blades N l The vertical angle between the stirring blade and the stirring shaft is 10. β l is 78°, the stirring times limit [ N m ] is 20 times, the actual vertical moving speed of the drill rod when drilling or lifting under a certain working condition v m The drill pipe speed is 0.7m / min. r m The stirring frequency at any point within the depth range of the pile body is 70 rpm. N m is 20.8 times, obviously N m ≥[ N m ], meet the requirements; under this condition, the requirements v m 0.6 m / min, r m is 70 rpm, of which v m If the drill pipe deviates from the expected value, the real-time feedback control module 4 transmits the command to the cement mixer 74 and adjusts the vertical movement speed of the drill pipe in time. v m Up to 0.6 m / min;

[0102] S600, cement content monitoring and control during drill pipe shotcrete: cement content W c The ratio of the weight of cement to the weight of soil is an important indicator affecting the strength of the rod-type cement mixing pile body and needs to be monitored and controlled during construction. n The construction process of the rod-type cement mixing pile with multiple shotcreting requires the cement dosage increment to be W c0 / n ,in W c0is the designed cement content of the connecting rod type cement mixing pile; during the shotcrete process, the cement content sensor records the resistivity of the cement slurry in real time. R c Value and convert it into cement content W c ; When the x Measure cement content after the first shotcrete W c Deviation from expected value W c0 · x / n When the cement content deviation is ΔW c , need to adjust x+ Pumping pressure during 1 shotcrete P c To achieve the cement content W c The adjustment range of pumping pressure is ΔP c , then the cement content deviation ΔW c With additional pumping pressure ΔP c The relationship satisfies the following expression:

[0103] (9)

[0104] in, m s is the quality of the soil within the scope of this shotcrete. T The time used for this shotcrete;

[0105] The additional pumping pressure is calculated according to the data processing module 3 ΔP c , the real-time feedback control module 4 transmits the instruction to the variable frequency shotcrete pump to adjust the pumping pressure P c To achieve the cement content W c Monitoring and corrective control;

[0106] In a typical shotcrete process, the cement content deviation is ΔW c 2%, the quality of the soil within the scope of this shotcrete m s 0.746t, water-cement ratio m is 0.55, the density of cement paste r cw 1.78t / m 3 The time taken for this spraying Tis 11.4min, then the additional pumping pressure ΔP c The preset pumping pressure for this shotcrete is 0.5MPa, considering the additional pumping pressure ΔP c Cement content W c The deviation correction control is adopted, so the actual pumping pressure of this shotcrete is 0.616MPa;

[0107] S700, Pile body quality evaluation: Based on the measured value of the unconfined compressive strength of the pile body Q u1 With expected value Q u0 The pile body quality evaluation is carried out by comparing the cement content of each shotcrete section in step S400, which is converted into the unconfined compressive strength of each shotcrete section, and then the unconfined compressive strength of a single pile is obtained by weighted average algorithm. Q u1 ; Using strength index scoring P s Evaluate the quality of the pile body and score the strength index P s Satisfies the following expression:

[0108] (10)

[0109] Determine the strength index score based on actual engineering requirements P s The qualified standard is then scored according to the strength index of the connecting rod cement mixing pile. P s The measured value is used to evaluate the pile body quality of the pile;

[0110] In the specific implementation, the measured cement content of a typical shotcrete section of a rod-type cement mixing pile is 21.1%, and the corresponding unconfined compressive strength is Q u1 1312 kPa; the expected value of the unconfined compressive strength of the pile body in the specific implementation Q u0 1400 kPa, and strength index score is required P s The qualified standard is more than 90%; the strength index score is calculated P s It is 93.7%, which meets the qualification requirements.

[0111] The above are one or more embodiments of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A control method for a real-time monitoring system for construction of a connecting rod type cement mixing pile, characterized in that: The control is achieved through a monitoring system, which includes a drill pipe monitoring module, a data acquisition module, a data processing module and a real-time feedback control module; The drill pipe monitoring module includes an inclinometer sensor, an inclination data transmission device, a distance sensor, a depth data transmission device, a drill pipe speed sensor, a speed data transmission device, a cement content sensor and a cement content data transmission device; wherein the inclinometer sensor is arranged on the surface of the initial section drill pipe and the extended section drill pipe; the initial section drill pipe is the first section of the drill pipe in the process of drilling the extended cement mixing pile, and the head end of the extended section drill pipe is tightly connected to the tail end of the initial section drill pipe, or the two extended section drill pipes are connected end to end; the input end and the output end of the inclination data transmission device are respectively connected to the inclinometer sensor and the data acquisition module through wireless communication technology, so as to obtain the inclination data of the initial section drill pipe and the extended section drill pipe collected by the inclinometer sensor; the distance sensor is arranged at the end of the initial section drill pipe near; the input end and output end of the depth data transmission device are respectively connected to the distance sensor and the data acquisition module through wireless communication technology, so as to obtain the depth data of the initial section drill pipe end collected by the distance sensor; the input end and output end of the speed data transmission device are respectively connected to the drill pipe speed sensor and the data acquisition module through wireless communication technology, so as to obtain the drill pipe speed data collected by the drill pipe speed sensor, wherein the drill pipe speed sensor is installed on the cement mixing pile machine; the cement content sensor is arranged on the surface of the initial section drill pipe; the input end and output end of the cement content data transmission device are respectively connected to the cement content sensor and the data acquisition module through wireless communication technology, so as to obtain the cement soil resistivity data collected by the cement content sensor; The data acquisition module is used to receive data output by the drill pipe monitoring module, including the inclination data of the initial section drill pipe and the extended section drill pipe, the depth data of the end of the initial section drill pipe and the cement soil resistivity data, and send it to the data processing module; The data processing module includes a data preprocessing unit, a data storage unit, a data analysis unit and a signal output unit; the data preprocessing unit is used to filter and normalize the original data; the data storage unit is used to store data; the data analysis unit is used to calculate the preprocessed data to obtain the corresponding construction technical parameters, including obtaining the verticality of the connecting rod type cement mixing pile and the consistency index of the axis of each section of the drill rod according to the inclination data of the initial section drill rod and the extended section drill rod, obtaining the depth of the connecting rod type cement mixing pile and the vertical displacement speed of the drill rod according to the depth data of the end of the initial section drill rod, and obtaining the cement content according to the cement soil resistivity data, and then comparing these construction technical parameters with the corresponding design control values, judging in real time whether the construction quality of the connecting rod type cement mixing pile meets the expected requirements and generating a feedback control signal; the signal output unit is used to transmit the feedback control signal to the real-time feedback control module; The real-time feedback control module is used to control the construction equipment according to the feedback control signal, including an alarm, a variable frequency spraying pump and a cement mixing pile machine; wherein the alarm is installed on the cement mixing pile machine, the cement mixing pile machine is connected to the cement slurry pool through a cement slurry delivery pipe, and the variable frequency spraying pump installed on the cement slurry delivery pipe is used to pump cement slurry; The control method comprises the following steps: S100. Determine the functional relationship between monitoring data through technological pile tests: Before the formal construction of the rod-type cement mixing pile, it is necessary to select representative rod-type cement mixing piles to carry out technological pile tests. According to the test results, determine the functional relationship between monitoring data, including cement content. W c Unconfined compressive strength Q u The functional relationship between the cement soil resistivity and the cement content sensor R c Cement content W c Functional relationship of pumping pressure P c and cement slurry volume flow Q c Functional relationship of Among them, cement content W c Unconfined compressive strength Q u The functional relationship is shown in the following expression: Q u = k 1 · W c + b 1 in, k 1 , b 1 are all fitting constants; Cement soil resistivity collected by cement content sensor R c Cement content W c The functional relationship is shown in the following expression: W c = k 2 · R c + b 2 in, k 2 , b 2 are all fitting constants; Pumping pressure P c and cement slurry volume flow Q c The functional relationship is shown in the following expression: P c = k 3 · Q c + b 3 in, k 3 , b 3 are all fitting constants; S200, axis consistency monitoring during rod connection: During the rod connection construction, there may be a problem of inconsistent axes of various sections of drill rods. The drill rod axis consistency monitoring is carried out by installing the inclinometer sensors on each section of the drill rod, and the inclination changes of the initial section of the drill rod and all the extended sections of the drill rod during the drilling process are monitored in real time; α is the angle between the axis of each drill pipe section and the vertical axis, and the inclination difference between adjacent drill pipe sections is Δα n Satisfies the following expression: Δα n =| α n - α n-1 |≤[ Δα n ] in, α n For the n The inclination angle of the drill pipe, α n-1 For the n-1 The inclination angle of the drill pipe, Δα n ] is the limit of the inclination difference between adjacent drill pipe segments; When the data processing module determines the inclination difference of adjacent drill pipe segments after data analysis, Δα n When the requirements are not met, the real-time feedback control module transmits the instruction to the alarm and triggers the alarm; S300, depth, speed and rotation speed monitoring and control when the drill pipe is lowered or lifted: the vertical displacement data of the drill pipe collected by the distance measuring sensor is used to determine the depth of the end of the drill pipe, and the vertical movement speed of the drill pipe is obtained according to the depth change curve over time. v m The drill pipe speed sensor is used to monitor the drill pipe speed. r m ; According to the requirements for the uniformity of the pile body of the connecting rod type cement mixing pile, the mixing times at any point within the depth range of the pile body N m Satisfies the following expression: in, d l is the mixing blade width, N l is the total number of stirring blades, β l is the vertical angle between the stirring blade and the stirring shaft, r m is the drill pipe speed, v m is the vertical moving speed of the drill pipe, [ N m ] is the stirring times limit; the stirring blade is located on the outer surface of the initial section drill pipe or the extended section drill pipe; When the data processing module determines the vertical moving speed after data analysis v m and drill pipe speed r m When the speed deviates from the expected value, the real-time feedback control module transmits the command to the cement mixing pile machine and adjusts the vertical movement speed of the drill rod in time according to the real-time monitoring data. v m and drill pipe speed r m ; S400, cement content monitoring and control during drill pipe shotcrete: n The construction process of the rod-type cement mixing pile with multiple shotcreting requires the cement dosage increment to be W c0 / n ,in W c0 is the designed cement content of the connecting rod type cement mixing pile; during the shotcrete process, the cement content sensor records the resistivity of the cement slurry in real time. R c Value and convert it into cement content W c ; When the x Measure cement content after the first shotcrete W c Deviation from expected value W c0 · x / n When the cement content deviation is Δ W c , need to adjust x+ Pumping pressure during 1 shotcrete P c To achieve the cement content W c The adjustment range of pumping pressure is ΔP c , then the cement content deviation ΔW c With additional pumping pressure ΔP c The relationship satisfies the following expression: in, m s is the quality of the soil within the scope of this shotcrete. T The time used for this shotcrete; μ is the water-cement ratio of cement paste, ρ cw is the density of cement paste; Calculate the additional pumping pressure according to the data processing module ΔP c , the real-time feedback control module transmits the command to the variable frequency shotcrete pump to adjust the pumping pressure P c To achieve the cement content W c Monitoring and corrective control; S500, Pile body quality evaluation: Based on the measured value of the unconfined compressive strength of the pile body Q u1 With expected value Q u0 The pile body quality evaluation is carried out by comparing the cement content of each shotcrete section in step S400, which is converted into the unconfined compressive strength of each shotcrete section, and then the unconfined compressive strength of a single pile is obtained by weighted average algorithm. Q u1 ; Using strength index scoring P s Evaluate the quality of the pile body and score the strength index P s Satisfies the following expression: Determine the strength index score based on actual engineering requirements P s The qualified standard is then scored according to the strength index of the connecting rod cement mixing pile. P s The measured value is used to evaluate the pile body quality of the pile.

2. The control method of a real-time monitoring system for construction of a connecting rod type cement mixing pile according to claim 1, characterized in that: It also includes an on-board monitoring module installed on the cement mixing pile driver; the on-board monitoring module includes a positioning device, a pile position data transmission device, a levelness measuring instrument and a pile driver levelness data transmission device; wherein the input end and the output end of the pile position data transmission device are respectively connected to the positioning device and the data acquisition module through wireless communication technology, so as to obtain the pile position coordinate data collected by the positioning device, wherein the positioning device is installed on the cement mixing pile driver; the input end and the output end of the pile driver levelness data transmission device are respectively connected to the levelness measuring instrument and the data acquisition module through wireless communication technology, so as to obtain the pile driver levelness data collected by the levelness measuring instrument, wherein the levelness measuring instrument is installed on the cement mixing pile driver.

3. The control method of a real-time monitoring system for construction of a connecting rod type cement mixing pile according to claim 1, characterized in that: It also includes a pump monitoring module installed on the cement slurry delivery pipe; the pump monitoring module includes an electromagnetic flowmeter, a flow data acquisition device, an ultrasonic densitometer and a density data acquisition device; wherein the input end and the output end of the flow data acquisition device are respectively connected to the electromagnetic flowmeter and the data acquisition module through wireless transmission technology, so as to obtain the cement slurry volume flow data collected by the electromagnetic flowmeter; the input end and the output end of the density data acquisition device are respectively connected to the ultrasonic densitometer and the data acquisition module through wireless transmission technology, so as to obtain the cement slurry density data collected by the ultrasonic densitometer; wherein the electromagnetic flowmeter is installed on the cement slurry delivery pipe, and the monitoring object is the cement slurry passing through the cement slurry delivery pipe; the ultrasonic densitometer is installed on the cement slurry delivery pipe, and the monitoring object is the cement slurry passing through the cement slurry delivery pipe.

4. The control method of a real-time monitoring system for construction of a connecting rod type cement mixing pile according to claim 1, characterized in that: It also includes monitoring of pile position and levelness when the cement mixing pile machine is in place: when the cement mixing pile machine is installed in place, the pile position and levelness should be monitored respectively by using a positioning device and a levelness measuring instrument to prevent the pile position deviation and the pile machine inclination from exceeding the limit value, and ensure that the pile position and pile machine levelness meet the construction requirements; Pile position deviation ΔS cn Satisfies the following expression: in, Δx n , Δy n The actual pile position and the designed pile position are x , y Deviation value in direction, [ ΔS cn ] is the positioning deviation limit; Pile driver inclination β is the angle between the drill pipe axis and the vertical axis, and satisfies the following expression: β ≤[ β ]in,[ β ] is the inclination limit of the pile driver; When the data processing module determines the pile position deviation after data analysis ΔS cn or pile driver inclination β If the requirements are not met, the real-time feedback control module transmits the instruction to the alarm and triggers the alarm; ΔS cn and pile driver inclination β Drilling can only be started when all requirements are met. ΔS cn and pile driver inclination β If the requirements are not met simultaneously, the position and posture of the pile driver should be adjusted until the requirements are met.

5. The control method of a real-time monitoring system for construction of a connecting rod type cement mixing pile according to claim 1, characterized in that: It also includes flow and density monitoring when pumping cement slurry: using electromagnetic flowmeter to monitor the volume flow of cement slurry when it flows in the delivery pipeline Q c ;Use ultrasonic densitometer to monitor the density of cement slurry ρ cw , and the density ρ cw Water-cement ratio of cement paste μ The relationship between them satisfies the following expression: in, ρ c is the density of cement, ρ w is the density of water; When the data processing module determines the water-cement ratio of the cement slurry after data analysis μ When the requirements are not met, the real-time feedback control module transmits the instruction to the alarm and triggers the alarm.

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