Intelligent pile foundation reinforcement cage accurate positioning device and control system thereof

Abstract

A detection rod is arranged in a reinforcement cage body, a position sensor and a depth sensor are arranged on the detection rod to detect the position of the reinforcement cage body, and the detected position is combined and compared with a GPS positioning system. The multiple position adjusting devices are arranged to adjust the position of the reinforcement cage body, different adjusting devices are selected according to different detection results, the adjusting effect is enhanced through cooperation and cooperation of the adjusting devices, and therefore the position precision of the reinforcement cage body is accurately guaranteed.

Description

Technical Field

[0001] The invention relates to the field of construction engineering, and in particular to an intelligent pile foundation reinforcement cage precise positioning device and a control system thereof. Background Art

[0002] Steel cage is a commonly used building structural material in construction projects, and is widely used in foundation engineering, tunnel engineering, bridge engineering, water conservancy engineering and other fields. In foundation engineering, steel cage is often used for earthwork reinforcement, site transformation, pile foundation reinforcement and other occasions; in tunnel engineering, steel cage is used for tunnel support, tunnel portal reinforcement and other occasions; in bridge engineering, steel cage is mainly used to reinforce bridge piers, abutments and other parts. In water conservancy projects, steel cages are mainly used in embankment reinforcement, river bank protection, flood discharge hole reinforcement and other occasions; when installing the steel cage, it needs to be placed in a pre-drilled pit by a crane. In the process of placing it in the pit, due to the mud or silt in the pit, the installation position of the steel cage is difficult to determine, and it may deviate from the installation position during the installation process. The solution to this problem in the prior art is to add a positioning device. The utility model patent with publication number CN221465750U discloses a precise positioning monitoring device for a bridge pier steel cage, which locates the steel cage by setting a GNSS antenna and protects and locates the steel cage by setting a protective shell. The utility model patent with publication number CN220908168U discloses a precise positioning monitoring device for a cast-in-place pier steel cage. A fast positioning guide device is provided, and a first GPS positioning sensor is arranged inside the steel cage; the positioning component comprises a positioning plate fixedly connected between the two L-shaped rods on one side opposite to the two L-shaped rods, and a threaded column is threadedly connected to the top of the positioning plate, and the position of the pier column steel cage is monitored in real time by two GPS sensors, so that it is convenient for workers to move the steel cage when offset occurs, and the position of the steel cage is quickly guided and adjusted; it can be seen that the navigation system has been applied to the installation process of the pile foundation steel cage in the prior art, and the installation of the steel cage is corrected by navigation and positioning, but the method of positioning and correcting the steel cage in the prior art is still too simple and not accurate enough. Even if the position is detected to be inaccurate, the adjustment method is simply to adjust it by manual or mechanical devices, and the adjustment accuracy of the steel cage position is poor and the detection accuracy is not high.

[0003] 1. Technical issues to be solved

[0004] In order to solve the above technical problems, the present invention provides an intelligent pile foundation reinforcement cage precise positioning device and its control system

[0005] (II) Technical solution

[0006] An intelligent pile foundation steel cage precision positioning device comprises a steel cage body, an installation device, a GPS positioning device, an adjustment device, a foundation device, and a data comparison device; the installation device installs the pile foundation steel cage, the positioning device performs positioning during the installation process, and the adjustment system performs adjustment after positioning, and the foundation device and the installation device cooperate with each other.

[0007] Furthermore, the foundation device includes a foundation pit dug in advance, sleeves are arranged on both side edges of the foundation pit, the bottom of the foundation pit is set as a reference plane, the center of the reference plane is set as point O0, the direction from the center of the circle to the side edges of the sleeves on both sides of the pit is set as X, and the direction from the center of the circle vertically to the lower part of the pit reference plane is set as Y.

[0008] Furthermore, the steel cage body includes steel bars parallel to the Y direction, a plurality of steel bars are provided, and are evenly arranged along the circumferential direction to form a steel cage, a plurality of surrounding hoops are provided along the steel cage from top to bottom, the surrounding hoops are perpendicular to the Y direction of the steel bars and clamp the steel cage in the circumferential direction, steel cage adjustment rings are provided between the surrounding hoops, and the steel cage adjustment rings are also perpendicular to the Y direction of the steel bars and clamp the steel cage in the circumferential direction.

[0009] Furthermore, the material of the surrounding clamp is rubber-like.

[0010] Furthermore, the steel bar cage adjustment ring includes a mounting ring I and a mounting ring II. The interior of the mounting ring I is a cavity, and a motor I is arranged in the cavity. The driving shaft of the motor is connected to a screw rod, and the screw rod extends from the cavity of the two side end walls of the mounting ring I and is fixedly connected to the two side end walls of the mounting ring II. Starting the motor I can rotate the screw rod to shorten the distance between the mounting ring I and the mounting ring II, thereby adjusting the radius width of the steel bar cage.

[0011] Furthermore, a detection rod is arranged from top to bottom on the inner center point of the steel vertical cage, and a position sensor and a depth sensor are arranged at the bottom end of the detection rod. The detection rod always remains at the center position of the steel vertical cage, and the bottom end position of the detection rod is always flush with the bottom end position of the steel vertical cage. The sensor and the depth sensor detect the position and depth of the detection rod, and transmit the detection result back to the GPS positioning device, and the steel cage body is positioned by the GPS positioning device.

[0012] Furthermore, the adjustment device includes an adjustment device I arranged on both sides of the upper end of the steel cage body, and a limiting device arranged on the upper end of the sleeve. The adjustment device I includes a steel pipe I welded on the vertical bars of the steel bars at the upper end of the steel cage. The diameter of the steel pipe I is 48 mm. The direction of the steel pipe I is parallel to the direction of the vertical bars. A steel pipe II is mounted on the steel pipe I. The diameter of the steel pipe II is 60 mm. Retractable screw rods I are arranged on the steel pipes II on both sides. One end of the screw rod I is connected to the motor II, and the other end of the screw rod I is connected to the steel pipe II.

[0013] Furthermore, the limiting device includes a limiting rod arranged inside the sleeve, and there are multiple limiting rods. A plurality of screw rods II are also arranged on the side wall of the sleeve. One end of the screw rod II is arranged on the side wall of the sleeve, and the other end extends to the inner side of the sleeve to abut against the vertical steel bar of the steel cage body. An abutting rod is arranged on one side of the screw rod II, and the abutting rod is arranged between the steel cage body and the sleeve.

[0014] Furthermore, the installation device includes a steel cage body lifting device, which includes a base plate, a vertical rod, a mechanical arm, and a mechanical claw; the base plate is supported on the ground, the direction of the vertical rod is perpendicular to the ground, one end of the vertical rod is connected to the base plate, and the other end of the vertical rod is hinged to one end of the mechanical arm through a hinge shaft, and the other end of the mechanical arm is connected to the mechanical claw.

[0015] Furthermore, a slide rail I is arranged on the vertical rod, and a steel cage depth adjustment device is arranged in the slide rail I through a slider II. The steel cage depth adjustment device includes a movable cross bar, and the movable cross bar can move up and down in the slide rail I driven by the slider II. A steel cage lifting device is arranged at the lower end of the other end of the movable cross bar. The steel cage lifting device includes multiple fixed blocks, and a slide rail II is arranged inside the fixed block. The slide rail II drives two lifting fingers to slide left and right in the slide rail through the slider II.

[0016] Furthermore, it also includes a control device, which includes an inner diameter detection device arranged in the steel cage body. The inner diameter detection device detects that the inner diameter of the steel cage is d, and the inner diameter of the sleeve is D. The inner diameter detection device transmits the detection result to the data comparison system. When d>=D, the control system controls the motor I to rotate the screw to shorten the distance between the mounting ring I and the mounting ring II to reduce the inner diameter of the steel cage body.

[0017] Further, when the inner diameter detection device detects that the value of d reaches (D 2 -d 2 ) / D>Σ, the control system controls motor I to rotate the screw to increase the distance between mounting ring I and mounting ring II to increase the inner diameter of the steel cage body.

[0018] Furthermore, the steel cage body is installed by means of the installation device, and the steel cage is grabbed and placed into the sleeve by controlling the mechanical arm and the mechanical claw. When the position sensor on the detection rod is placed on the reference plane at the bottom of the foundation pit, the relationship between the position of the detection rod on the reference plane and the O0 point is detected. When the detection rod falls on the O0 point, the position of the steel cage body is not adjusted.

[0019] Furthermore, when the distance between the position of the detection rod and the point O0 in the X direction is 0<X0<=0.05L0, the position of the steel cage body is not adjusted. When 0.05L0<X0<0.1L0, the control device controls the motor Ⅱ to adjust the multiple screw rods Ⅰ to push the steel pipe Ⅱ to adjust the position of the steel cage body so that the position of the detection rod on the reference plane returns to the normal range.

[0020] Furthermore, when X0>0.1L0, the control device controls motor II to adjust multiple screw rods I to push steel pipe II and control multiple screw rods II to push the vertical steel bars and screw rods I to adjust the position of the steel cage body so that the position of the detection rod on the reference plane returns to the normal range.

[0021] Furthermore, the depth sensor on the detection rod detects the distance Y0 from the detection rod to the reference plane on the Y axis. When 0.02L1<Y0<0.05L1, the position of the steel cage body is not adjusted. When 0<Y0<0.02L1, the steel cage lifting device controls the sliding of the lifting fingers to grasp the steel pipe Ⅰ of the steel cage body and squeeze it downward to deepen the depth of the steel cage body on the reference plane.

[0022] Furthermore, when Y0>0.05L1, the lifting finger is controlled to slide through the steel cage lifting device to grasp the steel pipe I of the steel cage body and lift the steel cage upward to return to the normal depth range.

[0023] Furthermore, when (X0 2 -Y0 2 ) / (X0-Y0)>(L0-L1) / L0, restart the installation system to reinstall the steel cage body.

[0024] Furthermore, the sleeve may be circular or square.

[0025] (3) Beneficial effects;

[0026] The present invention detects the position of the steel cage body by arranging a detection rod in the steel cage body and arranging a position sensor and a depth sensor on the detection rod, and combines and compares the detected position with a GPS positioning system. The position of the steel cage body is adjusted by arranging multiple position adjustment devices, and different adjustment devices are selected according to different detection results. The adjustment effect is enhanced by the coordination and synergy between the various adjustment devices, thereby accurately ensuring the position accuracy of the steel cage body. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Attached Figure 1 Schematic diagram of the foundation system.

[0028] Attached Figure 2 Schematic diagram of the steel cage body.

[0029] Attached Figure 3 This is a top view of the steel cage body.

[0030] Attached Figure 4 A schematic diagram of the sleeve.

[0031] Attached Figure 5 Schematic diagram of the steel vertical cage adjustment ring.

[0032] Attached Figure 6 Schematic diagram of the steel cage lifting device.

[0033] Attached Figure 7 A schematic diagram of the reference surface.

[0034] 1-foundation pit; 2-sleeve; 3-steel cage body; 4-surrounding hoop; 5-steel vertical cage adjustment ring; 6-detection rod; 7-steel pipe Ⅰ, 8-steel pipe Ⅱ, 9-screw rod Ⅰ, 10-limit rod, 11-screw rod Ⅱ, 12-abutment rod, 13-mounting ring Ⅰ, 14-mounting ring Ⅱ, 15-screw rod, 16-vertical rod, 17-mechanical arm, 18-mechanical claw, 19-moving crossbar, 20-fixed block, 21-lifting finger, 22-reference surface DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] An intelligent pile foundation steel cage precise positioning device and its control system, comprising a steel cage body, an installation device, a GPS positioning device, an adjustment device, a foundation device, and a data comparison device; the installation device installs the pile foundation steel cage, and the positioning system is used to position it during the installation process, and the adjustment device is used to adjust it after positioning, the foundation device and the installation device cooperate, the foundation device comprises a pre-dug foundation pit 1, sleeves 2 are arranged on both side edges of the foundation pit 1 and close to the pit, the bottom of the foundation pit is set as a reference plane 22, the center of the reference plane 22 is set as point O0, the direction from the center of the circle to the side of the sleeve 2 on both sides of the pit is set to X, the direction from the center of the circle to the lower part of the pit reference plane is set to Y, the steel cage body 3 comprises a plurality of holes parallel to the Y direction. A plurality of steel bars are arranged in the direction of the vertical steel bars, and are evenly arranged along the circumferential direction to form a steel cage. A plurality of surrounding hoops 4 are arranged along the steel cage from top to bottom. The surrounding hoops 4 are perpendicular to the Y direction of the steel bars and clamp the steel cage in the circumferential direction. A steel cage adjustment ring 5 is arranged between the surrounding hoops 4. The steel cage adjustment ring 5 is also perpendicular to the Y direction of the steel bars and clamps the steel cage in the circumferential direction. The surrounding hoops 4 are made of rubber. The steel cage adjustment ring includes a mounting ring I (13) and a mounting ring II (14). The interior of the mounting ring I (13) is a cavity. A motor I is arranged in the cavity. The drive shaft of the motor is connected to a screw 15. The screw 15 extends from the cavity of the end walls on both sides of the mounting ring I. , fixedly connected to the end walls of both sides of the mounting ring II (14), starting the motor I can rotate the screw 15 to shorten the distance between the mounting ring I (13) and the mounting ring II (14), thereby adjusting the radius width of the steel cage. A detection rod 6 is arranged from top to bottom on the inner center point of the steel cage, and a position sensor and a depth sensor are arranged at the bottom end of the detection rod 6. The detection rod 6 is always kept at the center position of the steel cage, and the bottom end position of the detection rod 6 is always flush with the bottom end position of the steel cage. The sensor and the depth sensor detect the position and depth of the detection rod, and transmit the detection results back to the GPS positioning device, and the steel cage body is positioned by the GPS positioning device. The adjustment device includes adjustment devices arranged on both sides of the upper end of the steel cage body Device I, and a limiting device arranged at the upper end of the sleeve, the adjusting device I comprises a steel pipe I (7) welded to the steel bar at the upper end of the steel bar cage, the diameter of the steel pipe I (7) is 48 mm, the direction of the steel pipe I (7) is parallel to the direction of the steel bar, and a steel pipe II (8) is sleeved on the steel pipe I, the diameter of the steel pipe II (8) is 60 mm, and a retractable screw rod I (9) is arranged on both sides of the steel pipe II (8), one end of the screw rod I (9) is connected to the motor II, and the other end of the screw rod I (9) is connected to the steel pipe II (8), the limiting device comprises a limiting rod (10) arranged inside the sleeve, and a plurality of limiting rods (10) are arranged, and a plurality of screw rods II (11) are also arranged on the side wall of the sleeve, and one end of the screw rod II (11) is arranged on the side wall of the sleeve,The other end extends outward from the inner side of the sleeve to abut against the steel bar of the steel cage body. Abutment rod 12 is arranged on one side of the screw rod II (11), and the abutment rod 12 is arranged between the steel cage body and the sleeve. The installation system comprises a steel cage body lifting device, and the steel cage body lifting device comprises a base plate, a vertical rod 16, a mechanical arm 17, and a mechanical claw 18; the base plate is supported on the ground, the direction of the vertical rod 16 is perpendicular to the ground, one end of the vertical rod 16 is connected to the base plate, and the other end of the vertical rod is hinged to one end of the mechanical arm 17 through a hinge shaft, and the other end of the mechanical arm 17 is connected to the mechanical claw 18, and a slide rail I is arranged on the vertical rod, and a steel cage depth adjustment device is arranged in the slide rail I through a slider II, and the steel cage depth adjustment device comprises a moving cross bar 19, and the moving cross bar 19 It can move up and down in the slide rail I driven by the slider II. The other lower end of the moving cross bar is provided with a steel cage lifting device. The steel cage lifting device includes a plurality of fixed blocks 20. The fixed block 20 is provided with a slide rail II. The slide rail II drives two lifting fingers 21 to slide left and right in the slide rail through the slider II. The control system also includes an inner diameter detection device arranged in the steel cage body. The inner diameter detection device detects that the inner diameter of the steel cage is d, and the inner diameter of the sleeve is D. The inner diameter detection device transmits the detection result to the data comparison system. When d>=D, the control system controls the motor I to rotate the screw to shorten the distance between the mounting ring I and the mounting ring II to reduce the inner diameter of the steel cage body. When the inner diameter detection device detects that the value of d reaches (D, 2 -d 2) / D>Σ, the control system controls the motor Ⅰ to rotate the screw to increase the distance between the installation ring Ⅰ and the installation ring Ⅱ to increase the inner diameter of the steel cage body, and the steel cage body is installed through the installation system. The steel cage is grabbed and placed in the sleeve by controlling the mechanical arm and the mechanical claw. When the position sensor on the detection rod is placed on the reference plane at the bottom of the foundation pit, the position sensor detects the relationship between the position of the detection rod on the reference plane and the O0 point. When the detection rod falls on the O0 point, the position of the steel cage body is not adjusted. When the distance between the position of the detection rod and the O0 point in the X direction is 0<X0<=0.05L0, the position of the steel cage body is also not adjusted. When 0.05L0<X0<0.1L0, the control device controls the motor Ⅱ to adjust the multiple screw rods Ⅰ to push the steel pipe Ⅱ to adjust the position of the steel cage body so that the position of the detection rod on the reference plane returns to normal range, when X0>0.1L0, the control device controls the motor Ⅱ to adjust multiple screw rods Ⅰ to push the steel pipe Ⅱ and control multiple screw rods Ⅱ to push the steel bar vertical bar and cooperate with screw rod Ⅰ to adjust the position of the steel cage body so that the position of the detection rod on the reference plane returns to the normal range. The depth sensor on the detection rod detects the distance Y0 from the detection rod to the reference plane on the Y axis. When 0.02L1<Y0<0.05L1, the position of the steel cage body is not adjusted. When 0<Y0<0.02L1, the steel cage lifting device controls the lifting finger to slide and grasp the steel pipe Ⅰ of the steel cage body to squeeze downward to deepen the depth of the steel cage body on the reference plane. When Y0>0.05L1, the steel cage lifting device controls the lifting finger to slide and grasp the steel pipe Ⅰ of the steel cage body to lift the steel cage upward to return to the normal depth range. When (X0 2 -Y0 2 ) / (X0-Y0)>(L0-L1) / L0, restart the installation system to reinstall the steel cage body. The sleeve can be round or square.

Claims

1. An intelligent pile foundation steel cage precise positioning device, comprising a steel cage body, an installation device, a GPS positioning device, an adjustment device, a foundation device, and a data comparison device; the installation device installs the pile foundation steel cage, the positioning device performs positioning during the installation process, and the adjustment device performs adjustment after positioning, the foundation device and the installation device cooperate, the foundation device comprises a pre-drilled foundation pit, sleeves are arranged on both sides of the foundation pit, the bottom of the foundation pit is set as a reference plane, the center of the reference plane is set as point O0, and the center of the circle is extended to both sides of the pit. The direction of the side of the side sleeve is set to X, and the direction of the center of the circle perpendicular to the lower part of the pit reference plane is set to Y. The steel cage body includes steel bars parallel to the Y direction. There are several steel bars and they are evenly arranged along the circumferential direction to form a steel cage. A plurality of surrounding hoops are arranged from top to bottom along the steel cage. The surrounding hoops are perpendicular to the Y direction of the steel bars and clamp the steel cage in the circumferential direction. Steel cage adjustment rings are arranged between the surrounding hoops. The steel cage adjustment rings are also perpendicular to the Y direction of the steel bars and clamp the steel cage in the circumferential direction.

2. The intelligent pile foundation reinforcement cage precise positioning device according to claim 1 is characterized by: The steel bar cage adjustment ring includes a mounting ring I and a mounting ring II. The interior of the mounting ring I is a cavity, and a motor I is arranged in the cavity. The driving shaft of the motor is connected to a screw rod, and the screw rod extends from the cavity of the two side end walls of the mounting ring I and is fixedly connected to the two side end walls of the mounting ring II. Starting the motor I can rotate the screw rod to shorten the distance between the mounting ring I and the mounting ring II, thereby adjusting the radius width of the steel bar cage.

3. The intelligent pile foundation reinforcement cage precise positioning device according to claim 2 is characterized by: A detection rod is arranged from top to bottom on the inner center point of the steel cage, and a position sensor and a depth sensor are arranged at the bottom end of the detection rod. The detection rod always remains at the center position of the steel cage, and the bottom end position of the detection rod is always flush with the bottom end position of the steel cage. The sensor and the depth sensor detect the position and depth of the detection rod, and transmit the detection results back to the GPS positioning system, and the steel cage body is positioned through the GPS positioning system.

4. The intelligent pile foundation reinforcement cage precise positioning device according to claim 3 is characterized by: The adjusting device includes an adjusting device I arranged on both sides of the upper end of the steel cage body, and a limiting device arranged on the upper end of the sleeve. The adjusting device I includes a steel pipe I welded on the vertical bars of the steel bars at the upper end of the steel cage. The diameter of the steel pipe I is 48 mm. The direction of the steel pipe I is parallel to the direction of the vertical bars. A steel pipe II is mounted on the steel pipe I. The diameter of the steel pipe II is 60 mm. Retractable screw rods I are arranged on the steel pipes II on both sides. One end of the screw rod I is connected to the motor II, and the other end of the screw rod I is connected to the steel pipe II.

5. The intelligent pile foundation reinforcement cage precise positioning device according to claim 4 is characterized in that: The limiting device includes a limiting rod arranged inside the sleeve, and there are multiple limiting rods. Multiple screw rods II are also arranged on the side wall of the sleeve. One end of the screw rod II is arranged on the side wall of the sleeve, and the other end extends to the inner side of the sleeve and abuts against the vertical steel bar of the steel cage body. An abutting rod is arranged on one side of the screw rod II, and the abutting rod is arranged between the steel cage body and the sleeve. The installation system includes a steel cage body lifting device, and the steel cage body lifting device includes a base plate, a vertical rod, a mechanical arm, and a mechanical claw; the base plate is supported on the ground, the direction of the vertical rod is perpendicular to the ground, one end of the vertical rod is connected to the base plate, and the other end of the vertical rod is hinged to one end of the mechanical arm through a hinge shaft, and the other end of the hinged arm is connected to the mechanical claw.

6. The intelligent pile foundation reinforcement cage precise positioning device according to claim 5 is characterized by: A slide rail I is arranged on the vertical rod, and a steel cage depth adjustment device is arranged in the slide rail I through a slider II. The steel cage depth adjustment device includes a moving cross bar, and the moving cross bar can move up and down in the slide rail I driven by the slider II. A steel cage lifting device is arranged at the lower end of the other end of the moving cross bar. The steel cage lifting device includes multiple fixed blocks, and a slide rail II is arranged inside the fixed block. The slide rail II drives two lifting fingers to slide left and right in the slide rail through the slider II.

7. A control system for controlling the intelligent pile foundation reinforcement cage precise positioning device according to claims 1 to 6, characterized in that: It also includes an inner diameter detection device arranged in the steel cage body. The inner diameter detection device detects that the inner diameter of the steel cage is d, and the inner diameter of the sleeve is D. The inner diameter detection device transmits the detection result to the data comparison system. When d>=D, the control system controls the motor I to rotate the screw to shorten the distance between the mounting ring I and the mounting ring II to reduce the inner diameter of the steel cage body.

8. The control system according to claim 7, characterized in that: When the inner diameter detection device detects that the value of d reaches (D 2 -d 2 ) / D>Σ, the control system controls motor Ⅰ to rotate the screw to increase the distance between mounting ring Ⅰ and mounting ring Ⅱ to increase the inner diameter of the steel cage body, and the steel cage body is installed through the installation system. The steel cage is grabbed and placed in the sleeve by controlling the mechanical arm and the mechanical claw. When the position sensor on the detection rod is placed on the reference plane at the bottom of the foundation pit, the relationship between the position of the detection rod on the reference plane and the O0 point is detected. When the detection rod falls on the O0 point, the position of the steel cage body is not adjusted.

9. The control system according to claim 8, characterized in that: When the distance between the position where the detection rod falls and the point O0 in the X direction is 0<X0<=0.05L0, the position of the steel cage body is not adjusted. When 0.05L0<X0<0.1L0, the control device controls the motor Ⅱ to adjust the multiple screw rods Ⅰ to push the steel pipe Ⅱ, thereby adjusting the position of the steel cage body to make the position of the detection rod on the reference plane return to the normal range. When X0>0.1L0, the control device controls the motor Ⅱ to adjust the multiple screw rods Ⅰ to push the steel pipe Ⅱ and control the multiple screw rods Ⅱ to push the vertical steel bars and cooperate with the screw rod Ⅰ to adjust the position of the steel cage body to make the position of the detection rod on the reference plane return to the normal range.

10. The control system according to claim 9, characterized in that: The depth sensor on the detection rod detects the distance Y0 from the detection rod to the reference surface on the Y axis. When 0.02L1<Y0<0.05L1, the position of the steel cage body is not adjusted. When 0<Y0<0.02L1, the lifting device of the steel cage controls the lifting finger to slide and grasp the steel pipe Ⅰ of the steel cage body to squeeze downward to deepen the depth of the steel cage body on the reference surface. When Y0>0.05L1, the lifting device of the steel cage controls the lifting finger to slide and grasp the steel pipe Ⅰ of the steel cage body to lift the steel cage upward to return to the normal depth range. When (X0 2 -Y0 2 ) / (X0-Y0)>(L0-L1) / L0, restart the installation system to reinstall the steel cage body.

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