Rotary drilling cast-in-situ bored pile construction control method and system based on rotary drilling rig

Abstract

The invention discloses a rotary drilling cast-in-situ bored pile construction control method and system based on a rotary drilling rig, and the method comprises the steps: determining the stability of the rotary drilling rig according to a pre-constructed inclination angle and ground bearing capacity model, and controlling the rotary drilling rig to be in place; according to a pre-constructed position and gradient model, whether the steel casing burying meets the required index or not is determined, and a power head of the rotary drilling rig is controlled to vertically press the steel casing into the soil body; controlling the rotary drilling rig to drill according to a pre-constructed drilling precision control model, and determining whether the drilling precision is qualified or not; hole cleaning is conducted through a hole cleaning method, and whether hole cleaning is qualified or not is determined according to a pre-constructed sediment cleaning model; whether the reinforcement cage structure is stable or not is determined according to a pre-constructed structure stability analysis model, and the reinforcement cage is controlled to be in place; concrete pouring is controlled according to the pre-constructed concrete pouring quality control model, whether the concrete pouring quality index is qualified or not is determined, and construction accuracy, safety and efficiency are improved.

Description

Technical Field

[0001] The present application relates to the technical field of rotary drilling rig control, and in particular to a rotary drilling rig-based rotary bored pile construction control method and system. Background Art

[0002] A rotary drilling rig is a construction machine widely used in hole-forming operations in building foundation engineering, and is particularly suitable for drilling holes in various stratum structures. In the prior art, improvements to rotary drilling rigs are mostly focused on how to improve construction efficiency, enhance mechanical stability, and intelligent control.

[0003] For example, in the patent with publication number CN111851484B and patent name: Method for removing semi-intrusive prestressed anchor cables in support piles by rotary drilling rig, the problem of removing prestressed anchor cables in foundation pit support piles is effectively solved through the use of rotary drilling rigs. The construction efficiency and safety are improved through the steps of construction preparation, rotary drilling, pouring concrete to fix anchor cables, cutting and drilling with pick-tooth barrel drill, and subsequent construction of foundation pit support piles.

[0004] The publication number is: CN111962511A, and the patent name is: The patent document of the ultra-deep bored pile construction method of full-casing multifunctional drilling rig combined with rotary drilling rig combines the advantages of full-casing multifunctional drilling rig and rotary drilling rig, and realizes the efficient construction of ultra-deep drilling through a series of meticulous construction steps, such as simultaneous rotation of casing and spiral drill rod, concrete pouring, etc.

[0005] The patent with publication number: CN111721566B and patent name: Comprehensive performance test and debugging test device and test method for rotary drilling rigs, can comprehensively detect the performance parameters of the rotary drilling rig by simulating actual working conditions to conduct torque loading tests, providing a scientific basis for optimizing design and improving product quality.

[0006] The patent document with publication number: CN114517638A and patent name: A pure electric rotary drilling rig power system and control method thereof proposes a new power system and control method thereof to improve motor efficiency and reduce energy consumption in response to the efficiency problem of existing pure electric rotary drilling rigs.

[0007] The publication number is: CN118498895B, and the patent name is: In the patent for an adjustable drilling tool for a rotary drilling rig, detachable or adjustable parts are used to facilitate the discharge of mud residue, prevent mud residue from adhering to the inner wall of the drill barrel, and improve the efficiency of drilling.

[0008] The publication number is: CN117166910A, and the patent name is: A rotary drilling rig drilling method, device and patent document of a rotary drilling rig. By automatically selecting the ground pressure and rotation speed, the torque is kept in the optimal state, which improves the drilling efficiency and reduces the labor intensity of the operator.

[0009] The above technologies demonstrate the innovative trend of rotary drilling rig technology in terms of adaptability, intelligence and improved construction efficiency. However, in the existing technology, the control accuracy, safety and efficiency of rotary drilling rigs have not yet reached the expected level. With the continuous advancement of technology, rotary drilling rigs in the future are expected to achieve a higher level of construction automation and better construction results. Summary of the invention

[0010] To this end, the present application provides a rotary drilling rig-based bored pile construction control method and system to solve the problems of low control accuracy, low safety and low efficiency of the rotary drilling rig in the prior art.

[0011] In order to achieve the above objectives, this application provides the following technical solutions:

[0012] In a first aspect, a method for controlling the construction of a rotary bored pile based on a rotary drilling rig comprises:

[0013] Step 1: Determine the stability of the rotary drilling rig based on the pre-built inclination angle and ground bearing capacity model, and control the rotary drilling rig to be in place;

[0014] Step 2: Determine whether the steel casing burial meets the required indicators based on the pre-built position and inclination model, and control the rotary drilling rig power head to press the steel casing vertically into the soil;

[0015] Step 3: Control the rotary drilling rig to drill according to the pre-built drilling accuracy control model, and determine whether the drilling accuracy is qualified;

[0016] Step 4: Use the hole cleaning method to clean the hole, and determine whether the hole cleaning is qualified according to the pre-built sediment removal model;

[0017] Step 5: Determine whether the steel cage structure is stable based on the pre-built structural stability analysis model, and control the steel cage in place;

[0018] Step 6: Control the concrete pouring according to the pre-built concrete pouring quality control model, and determine whether the concrete pouring quality index is qualified.

[0019] Optionally, in step 1, the inclination angle and ground bearing capacity model is:

[0020]

[0021] Where θ represents the inclination angle of the drilling rig to the vertical direction, P represents the ground bearing capacity, W represents the weight of the drilling rig, A represents the contact area between the drilling rig and the ground, and F wind represents wind force, μ represents the friction coefficient between the drilling rig legs and the ground, θ rad represents the effect of inclination angle on stability, θ max Indicates the maximum inclination angle between the rotary drilling rig and the plane when it is in place, P act Indicates the pressure of the drilling rig on the ground, M wind represents the overturning moment caused by wind, M fri represents the friction torque.

[0022] Optionally, in step 2, the position and inclination model is:

[0023] P e ≤0.5×d dri -d inn ;

[0024] Δθ≤t all ;

[0025] Among them, P e Indicates the overall position deviation of the steel casing, d dri Indicates the drill diameter, d inn Indicates the inner diameter of the casing, t all Indicates the maximum allowable deviation of casing inclination.

[0026] Optionally, in step 3, the drilling accuracy control model is:

[0027]

[0028] Where Δα represents the verticality deviation, T all Indicates the maximum allowable deviation of verticality, D act Indicates the actual drilling diameter, D des represents the designed drilling depth, ΔH represents the drilling depth deviation, H des Indicates the designed drilling depth.

[0029] Optionally, in step 4, the sediment removal model is: S dep ≤T cut , where S dep Indicates the actual bottom sediment thickness, T cut Indicates the maximum allowable sediment thickness.

[0030] Optionally, in step 4, the hole cleaning method is a compressed air method or a mud suction pump method.

[0031] Optionally, when the hole cleaning method is a compressed air method, S dep =f(Q air, L p , D h ), where Q air Indicates the compressed air flow rate, L p Indicates the length of the trachea inserted into the catheter, D h Indicates the borehole diameter; when the hole cleaning method is the mud suction pump method, S dep =g(Q w , D h , H h ), where Q w Indicates the water volume of the dredge pump, D h Indicates the drilling diameter, H h Indicates the drilling depth.

[0032] Optionally, in step 5, the structural stability analysis model is:

[0033] Stable structure;

[0034] Structural instability;

[0035] Among them, h f Represents the horizontal displacement of the steel cage during hoisting, V f It indicates the vertical displacement of the steel cage during hoisting, and L indicates the length of the steel cage.

[0036] Optionally, in step 6, the concrete pouring quality control model is:

[0037]

[0038] Among them, F L Indicates the actual fluidity index of concrete, F des Indicates the concrete fluidity index required by the design, S T Indicates the actual slump of concrete, S des Indicates the concrete slump required by the design, H D Indicates the buried depth of the conduit, H act Indicates the actual pile top elevation, H des Indicates the pile top elevation required by the design.

[0039] In the second aspect, a rotary drilling rig-based bored pile construction control system comprises:

[0040] A rotary drilling rig positioning control module is used to determine the stability of the rotary drilling rig according to a pre-built inclination angle and ground bearing capacity model, and to control the rotary drilling rig positioning;

[0041] The steel casing embedding position control module is used to determine whether the steel casing embedding meets the required indicators according to the pre-built position and inclination model, and control the rotary drilling rig power head to press the steel casing vertically into the soil;

[0042] A drilling accuracy control module is used to control the rotary drilling rig to drill holes according to a pre-built drilling accuracy control model, and determine whether the drilling accuracy is qualified;

[0043] A hole cleaning control module is used to clean the hole using a hole cleaning method and determine whether the hole cleaning is qualified according to a pre-built sediment removal model;

[0044] A reinforcement cage in-place control module is used to determine whether the reinforcement cage structure is stable according to a pre-built structural stability analysis model and control the reinforcement cage in place;

[0045] The concrete pouring quality control module is used to control the concrete pouring according to the pre-built concrete pouring quality control model and determine whether the concrete pouring quality index is qualified.

[0046] Compared with the prior art, this application has at least the following beneficial effects:

[0047] The present application provides a method and system for controlling the construction of rotary bored piles based on a rotary drilling rig, which ensures the control accuracy, safety and efficiency of the rotary drilling rig in the construction of rotary bored piles through pre-constructed inclination angle and ground bearing capacity models, position and inclination models, drilling accuracy control models, sediment removal models, structural stability analysis models and concrete pouring quality control models, thereby improving the accuracy, safety and efficiency of the construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more intuitively illustrate the prior art and the present application, exemplary drawings are given below. It should be understood that the specific shapes and structures shown in the drawings should not generally be regarded as limiting conditions for implementing the present application; for example, those skilled in the art are capable of easily making conventional adjustments or further optimizations to the addition / reduction / attribution division, specific shapes, positional relationships, connection methods, dimensional ratios, etc. of certain units (components) based on the technical concepts and exemplary drawings disclosed in the present application.

[0049] Figure 1 A flow chart of a method for controlling the construction of rotary bored piles based on a rotary drilling rig provided in Example 1 of the present application;

[0050] Figure 2 This is a schematic diagram of the staggered position structure of the steel bar joints provided in Example 1 of the present application. DETAILED DESCRIPTION

[0051] The present application is further described below in detail through specific embodiments in conjunction with the accompanying drawings.

[0052] In the description of this application: unless otherwise specified, the meaning of "plurality" is two or more. The terms "first", "second", "third", etc. in this application are intended to distinguish the objects referred to, and do not have special meanings in terms of technical connotations (for example, they should not be understood as emphasizing the importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0053] The terms such as "upper", "lower", "left", "right", "middle", etc. cited in this application are usually used to indicate the general relative position relationship for the purpose of intuitive understanding by referring to the drawings, and are not absolute limitations on the position relationship in the actual product.

[0054] Embodiment 1

[0055] See also Figure 1 This embodiment provides a method for controlling the construction of a rotary bored pile based on a rotary drilling rig, comprising:

[0056] S1: Determine the stability of the rotary drilling rig based on the pre-built inclination angle and ground bearing capacity model, and control the rotary drilling rig in place;

[0057] This step requires pre-construction of the inclination angle and ground bearing capacity model, through which the influence of the drilling rig inclination angle and ground bearing capacity on the drilling rig stability is analyzed.

[0058] When constructing the inclination angle and ground bearing capacity model, key factors affecting stability need to be considered, such as the inclination angle of the drilling rig (θ), the ground bearing capacity (P), the weight of the drilling rig (W), the contact area between the drilling rig and the ground (A), and possible external forces, such as wind force (F wind ). The detailed parameter definitions are as follows:

[0059] θ: the inclination angle of the drilling rig to the vertical direction, in degrees (°) or radians (rad);

[0060] P: Ground bearing capacity, in kilonewtons per square meter (kN / m 2 );

[0061] W: drilling rig weight, in kilonewton (kN);

[0062] A: The contact area between the drilling rig and the ground, in square meters (m 2 );

[0063] F wind : wind force, in kilonewton (kN);

[0064] μ: Friction coefficient between the drilling rig legs and the ground;

[0065] S1: Stability index, 1 means stable, 0 means unstable.

[0066] S101: Calculate the effect of inclination angle on stability θ rad ;

[0067] When θ≤4° (or the maximum inclination angle allowed by other designs), the rig is considered stable, so the effect of inclination on stability is expressed in radians as follows:

[0068]

[0069] S102: Calculate the pressure P of the drilling rig on the ground act ;

[0070] Because the pressure of the drilling rig on the ground is: So when P act When ≤P, the foundation will not be damaged.

[0071] S103: Calculate the overturning moment M caused by wind wind ;

[0072] Overturning moment caused by wind force M wind =F wind ×L, where L is the distance from the center of gravity of the drilling rig to the supporting surface.

[0073] S104: Calculate the friction torque M fri .

[0074] Stability index: When P act ≤P and θ≤θ max And M wind ≤M fri When the drilling rig is stable, the friction torque M fri =μ×W×L.

[0075] In summary, the inclination angle and ground bearing capacity model (i.e. stability function) is:

[0076]

[0077] For example:

[0078] Assume that the parameters are:

[0079] θ = 4 (maximum inclination angle allowed by design);

[0080] P=250kN / m 2 (ground bearing capacity);

[0081] W = 1000kN (rig weight);

[0082] A = 40m2 (contact area between drilling rig and ground);

[0083] F wind =50kN (wind force);

[0084] μ = 0.6 (friction coefficient);

[0085] After calculation, the results are as follows:

[0086] P act =25kN / m 2 ;

[0087] θ rad = 0.0698 radians;

[0088] M wind =500kN·M;

[0089] M fri =6000kN·M;

[0090] Judging stability based on the stability function:

[0091] If θ rad ≤θ max ,P act ≤P,M wind ≤M fri , then S1=1 (stable).

[0092] This step determines the stability of the rotary drilling rig based on the constructed inclination angle and ground bearing capacity model and controls the rotary drilling rig in place. The maximum inclination angle of the rotary drilling rig with the plane does not exceed 4° when it is in place, and the on-site ground bearing capacity is greater than 250KN / m 2 , so the drilling platform must be compacted. Carry out pile position layout, drive the drilling rig to the hole to be constructed, adjust the mast angle, operate the winch, align the drill bit center with the drill hole center, and put it into the hole, adjust the verticality parameters of the drilling rig to make the drill rod vertical, and slightly lift the drill tool to ensure that the drill ring cutter floats freely in the hole. The chassis of the rotary drilling rig is a telescopic automatic leveling device, and there is an instrument in the operating room to accurately display the electronic readings. When the drill bit is aligned with the crosshairs at the center of the pile position, all data can be locked and no further adjustment is required. After the drilling rig is in place, the drill bit center and the pile center should be accurately aligned, and the error should be controlled within 2cm.

[0093] S2: Determine whether the buried steel casing meets the required indicators according to the pre-built position and inclination model, and control the rotary drilling rig power head to press the steel casing vertically into the soil;

[0094] Pre-constructing the position and inclination model can control the position and inclination of the casing and ensure the accuracy of subsequent drilling. In order to construct a mathematical model to control the buried position and inclination of the steel casing, it is first necessary to define the relevant parameters and establish a model to evaluate the accuracy of the casing position and inclination. The detailed parameter definitions are as follows:

[0095] x des ,y des : Coordinates of the designed pile position (meters);

[0096] x act ,y act : The actual measured center coordinate of the casing (meter);

[0097] θ des : Design the inclination angle of the pile position (degrees or radians);

[0098] θ act : Actual inclination angle of casing (degrees or radians);

[0099] d inn : Inner diameter of casing (m);

[0100] d dri Drill bit diameter (m);

[0101] t all : Maximum allowable deviation of casing inclination (degrees or radians);

[0102] P e : Casing position deviation (m);

[0103] A e : Casing inclination angle deviation (degrees or radians);

[0104] S2: An indicator of whether the casing burial meets the requirements, 1 means satisfied, 0 means not satisfied.

[0105] S201: Calculate the casing center position deviation: Δx = x act -x des , Δy=y act -y des , overall position deviation:

[0106] S202: Calculate the tilt angle deviation: Δθ = θ act -θ des ;

[0107] S203: Determine the deviation control standard: The casing position deviation must meet P e ≤0.5×d dri -d inn , the casing inclination angle deviation must satisfy Δθ≤t all ;

[0108] Stability index: When the casing position deviation and the inclination angle deviation meet the requirements, S2=1, otherwise S2=0.

[0109] Therefore, the position and tilt model is:

[0110] P e ≤0.5×d dri -d inn

[0111] Δθ≤t all .

[0112] For example:

[0113] (x des ,y des ) = (10,10) (designed pile position coordinates, meters);

[0114] (x act ,y ac ) = (10.1, 9.9) (actual center coordinates of casing, meters);

[0115] θ des =0 degrees (design tilt angle, i.e. vertical);

[0116] θ act =0.5 degrees (actual inclination angle of casing);

[0117] d inn =1.2 m (inner diameter of casing);

[0118] d dri =1.1 m (drill diameter);

[0119] t all =1 degree (maximum allowable deviation in inclination).

[0120] After calculation, the results are as follows:

[0121] P e =0.1414 meters, Δθ=0.5 degrees.

[0122] The position deviation of 0.1414 meters is greater than the judgment standard of 0.01 meters, and the tilt angle deviation of 0.5 is greater than 1 degree, both of which do not meet the requirements.

[0123] The output stability index S2 = 0 (does not meet the requirements).

[0124] In this step, the steel casing is buried after the steel casing is buried according to the position and inclination model constructed to determine that the steel casing meets the required indicators. When burying the steel casing, the casing is set according to the pile position. The inner diameter of the casing should be greater than the drill bit diameter by 100mm. The casing position should be buried correctly and stably. The deviation between the casing center and the pile center shall not be greater than 50mm, and the deviation of the inclination shall not be greater than 1%. Clay should be used to fill the space between the casing and the pit wall. During construction, the casing is buried using the static pressure method of the rotary drilling rig. First, the drilling rig is correctly positioned so that the verticality of the machine body and the three lines of the pile position steel bar are aligned. Then, the barrel drill bit is placed on the top of the drill rod, and the casing is lifted by a crane and correctly positioned. The rotary drilling rig power head is used to press it vertically into the soil. After the casing is buried, the pile center is led back through four control piles to reconcile the center of the casing with the center of the pile, and the position of the pile direction line is marked on the casing with red paint.

[0125] The buried depth of the casing should not be less than 4m in clay soil and not less than 8m in sandy soil. The casing should be 20 to 30cm above the ground.

[0126] S3: Control the rotary drilling rig to drill according to the pre-built drilling accuracy control model, and determine whether the drilling accuracy is qualified;

[0127] The drilling accuracy control model can analyze the impact of drilling speed and verticality on drilling accuracy. In order to build a drilling accuracy control model, it is necessary to consider the impact of key parameters such as drilling speed and verticality on drilling accuracy. The detailed parameter definitions are as follows:

[0128] v: drilling speed (m / min);

[0129] α: drill pipe verticality deviation (degrees or arc);

[0130] D des : Designed drilling diameter (m);

[0131] D act : Actual borehole diameter (m);

[0132] H des : Designed drilling depth (m);

[0133] H act : Actual drilling depth (m);

[0134] T all : Maximum allowable deviation from verticality (degrees or radians);

[0135] A acc : Drilling accuracy index, 1 means the accuracy is qualified, and 0 means the accuracy is unqualified.

[0136] Drilling speed and borehole diameter control: The relationship between drilling speed and borehole diameter can be controlled by the drill bit specifications and drilling time. Ideally, the drilling speed should ensure that the borehole diameter is close to the designed diameter.

[0137] S301: Calculate verticality deviation: Δα=|α-α des |;

[0138] S302: Calculate drilling depth deviation: ΔH=|H act -H des |;

[0139] Drilling accuracy evaluation: If Δα≤T all and And ΔH≤0.5%×H des , the drilling accuracy is considered qualified.

[0140] Therefore, the drilling accuracy control model is:

[0141]

[0142] For example:

[0143] v = 1.0 m / min (drilling speed);

[0144] α = 0.5 degrees (actual verticality deviation of drill pipe);

[0145] D des =1.2m (designed drilling diameter);

[0146] D act =1.22 m (actual borehole diameter);

[0147] H des =30m (designed drilling depth);

[0148] H act =30.1 m (actual drilling depth);

[0149] T all =0.5 degrees (maximum allowable deviation from verticality).

[0150] After calculation, the results are as follows:

[0151] Δα=0.5 degrees;

[0152]

[0153] ΔH=0.1m.

[0154] Judgment accuracy: verticality deviation 0.5 degrees less than or equal to 0.5 degrees, drilling diameter deviation rate 1.0167 less than 1.05, drilling depth deviation 0.1 meters less than 0.15 meters, all meet the requirements. acc =1, the accuracy is acceptable.

[0155] This step controls the rotary drilling rig to drill holes according to the pre-built drilling accuracy control model. Before drilling, the casing elevation is determined with a level and used as a base point. The hole depth is calculated according to the hole bottom elevation required by the design, and the hole depth is determined by the drill length. The hole depth deviation is not shorter than the designed depth, and the over-drilling depth is not more than 50cm. The hole diameter is measured with a borehole inspection device. If the diameter shrinkage phenomenon occurs, the hole should be scanned. The next process may be carried out after meeting the requirements.

[0156] When the drilling rig is accurately positioned, start drilling. The penetration rate each time should be controlled at about 60cm. At the beginning, the rotary drilling speed should be slowed down, and attention should be paid to lowering the bucket steadily and lifting the bucket slowly. Especially during the rotary drilling process in the 5-8m section of the hole mouth, attention should be paid to monitoring the verticality through the control panel. If there is any deviation, it should be corrected in time.

[0157] The operator observes whether the drill rod is vertical at any time and controls the drilling depth through the depth counter. When the rotary bucket drill bit rotates clockwise to drill, the cutting plate of the bottom plate is aligned with the back of the cylinder flap. The drill cuttings enter the cylinder. After filling a bucket, the drill bit rotates counterclockwise, the bottom plate is positioned by the positioning block and the bottom opening is sealed, and then the drill bit is lifted to the ground to unload the soil. When drilling starts, low-speed drilling is adopted, and the main winch wire rope bears no less than 20% of the sum of the weight of the drill rod and the drilling tool to ensure that there is no deviation in the hole position. High-speed drilling can be used 3m below the drilling casing. The drilling speed is related to the pressure. The friction between the drill bit and the drill rod is used for pressure. Under the pressure of 150Mpa, the penetration speed is 20cm / min; under the pressure of 200Mpa, the penetration speed is 30cm / min; under the pressure of 260Mpa, the penetration speed is 50cm / min.

[0158] S4: Perform 000 hole cleaning using the hole cleaning method, and determine whether the hole cleaning is qualified according to the pre-built sediment removal model;

[0159] The sediment removal model can analyze the control effect of the hole cleaning method on the thickness of the sediment at the bottom of the hole. When building the sediment removal model, it is necessary to define relevant parameters. The detailed parameter definitions are as follows:

[0160] Q air : Compressed air flow (m3 / min);

[0161] L p : length of trachea inserted into the catheter (m);

[0162] D h : borehole diameter (m);

[0163] H h : Drilling depth (m);

[0164] T cut : Maximum allowable sediment thickness (meter);

[0165] S typ : Type of hole cleaning method, for example: 1 represents compressed air method, 2 represents suction pump method;

[0166] Q w : The water volume of the sludge pump (m3 / min);

[0167] S dep : Actual thickness of sediment at the bottom of the hole (m);

[0168] S3: Whether the hole cleaning is qualified, 1 means qualified, 0 means unqualified.

[0169] Evaluation of sediment removal effect: For compressed air method, S dep =f(Q air , L p , D h ); For the sludge pump method, S dep =g(Q w , D h , H h ).

[0170] Calculate the thickness of the slag by compressed air method: The removal effect of the compressed air method is related to the air flow, air pipe length and drill hole diameter. The formula for calculating the slag thickness is:

[0171] Wherein, C represents a constant related to the efficiency of the pump.

[0172] Hole cleaning qualification judgment: If S dep ≤T cut If the hole cleaning is qualified, S3=1; otherwise, the hole cleaning is unqualified, S3=0.

[0173] For example:

[0174] Q air =0.6 cubic meters / minute (compressed air flow);

[0175] L p = 1.0 m (the length of the trachea inserted into the catheter);

[0176] D h =1.5 m (drilling hole diameter);

[0177] H h =30 m (drilling depth);

[0178] T cut=0.1m (maximum allowable sediment thickness);

[0179] S typ =1 (hole cleaning method type, compressed air method);

[0180] Q w =0.5 cubic meters / minute (water pumping capacity of the sludge pump).

[0181] After calculation, the results are as follows:

[0182] If compressed air is used, S dep =0.0267 m.

[0183] If the suction pump method is used, S dep =0.000694 m.

[0184] S calculated by two methods dep Both are less than T cut , so S3=1 (qualified).

[0185] In this step, after drilling to the designed hole depth, the drill bucket is left in place and mechanically rotated several times to fill the loose soil at the bottom of the hole as much as possible into the bucket. The loose soil at the bottom of the hole still needs to be cleaned after drilling. Generally, a sediment treatment drill bucket (drill bucket with baffle) is used to discharge sediment. Before pouring underwater concrete, a large volume funnel is filled with concrete, and then quickly lowered to use the gravity of the concrete to impact the bottom of the pile to reduce the thickness of the sediment at the bottom of the pile.

[0186] Transportation of surplus soil: During the construction of rotary bored piles, the earth and stone in the site have been completed according to the design leveling. The earth and stone excavated from the piles cannot be used in the site, so a separate dump must be set up. The dump is designated, and the amount of waste soil is calculated by multiplying the pile depth by the pile diameter. The earth and stone excavated from the pile foundation is transferred to a location that does not affect the on-site construction by a loader, and then loaded with an excavator and transported to the designated dump in a sealed manner by a dump truck.

[0187] S5: Determine whether the steel cage structure is stable according to the pre-built structural stability analysis model, and control the steel cage in place;

[0188] The structural stability analysis model can analyze the effects of welding, connection and hoisting of steel cage on structural stability. When building the structural stability analysis model, it is necessary to consider factors such as the geometric parameters, material properties, welding and connection quality of the steel cage. The detailed parameter definitions are as follows:

[0189] E: elastic modulus of the steel bar (Pascal);

[0190] A g : cross-sectional area of ​​a single steel bar (square meters);

[0191] L: length of steel cage (meter);

[0192] N: the total number of steel bars in the steel cage;

[0193] f u : tensile strength of steel bar (Pascal);

[0194] σ y : yield strength of steel bar (Pascal);

[0195] θ: welding angle (degrees);

[0196] φ: ratio of welding length to steel bar diameter;

[0197] h f : Horizontal displacement of the steel cage during hoisting (m);

[0198] V f :Vertical displacement of the steel cage during hoisting (m);

[0199] T: Maximum tension (Newton) that the steel cage bears during the lifting process;

[0200] S4: Structural stability index, 1 means stable and 0 means unstable.

[0201] Steel bar welding and connection strength assessment: Welding strength is related to the welding angle (θ) and the ratio of welding length to steel bar diameter (φ). Welding strength formula: T = f u ×θ×φ.

[0202] Stability assessment of steel cage hoisting: The stability during hoisting is related to the stiffness of the steel cage, hoisting displacement and the tension it bears. Hoisting stability formula:

[0203] Structural stability index: The structural stability index takes into account the yield strength of the steel bars and the displacement of the steel cage during the lifting process. The structure is considered stable. and The structure is considered unstable.

[0204] Therefore, the structural stability analysis model is:

[0205] Stable structure;

[0206] The structure is unstable.

[0207] For example:

[0208] E = 2.1 × 1011 Pascal (elastic modulus of steel bar);

[0209] A g = 0.00314 m2 (cross-sectional area of ​​a single steel bar);

[0210] L = 20 meters (length of the steel cage);

[0211] N = 100 (the total number of steel bars in the steel cage);

[0212] f u =500×106 Pascal (tensile strength of steel bar);

[0213] σ y =300×106 Pascal (yield strength of steel bar);

[0214] θ = 5 degrees (welding angle);

[0215] φ=5(ratio of welding length to steel bar diameter);

[0216] h f =0.05m (horizontal displacement of steel cage during hoisting);

[0217] v f =0.1m (vertical displacement of steel cage during hoisting);

[0218] T = 50,000 Newtons (the maximum tension that the steel cage bears during the lifting process).

[0219] After calculation, the results are as follows:

[0220] Welding strength T = 1.25 × 1010 Pascal, S4 = 1.304.

[0221] because The structure is stable.

[0222] In this step, the production process of the steel cage is specifically as follows:

[0223] (1) If double-sided welding is used, the welding length is 5 times the main reinforcement diameter; if single-sided welding is used, the welding length is 10 times the main reinforcement diameter; the two overlapping steel bars should be on the same center of gravity line, and the main reinforcement joints must be staggered; the welding rod must be of E55 or above strength.

[0224] (2) When the main reinforcement joint is connected with straight thread:

[0225] 1) The steel bars should be cut with a toothless saw and not by gas welding. The end section should be perpendicular to the axis of the steel bar and should not be horseshoe-shaped or warped.

[0226] 2) The thread head, tooth shape, thread, etc. of the processed steel bar thread must be consistent with the tooth shape and pitch of the connecting sleeve, and must pass the matching gauge inspection.

[0227] 3) When processing steel bar threads, water-soluble cutting lubricant should be used. Do not use machine oil as lubricant or threading without lubricant.

[0228] 4) Abnormal impact, vibration, creeping, swaying, noise, over-temperature and over-pressure in the hydraulic system are caused by many reasons. The inspection methods are: 1. Smoothly operate the reversing valve to slow down the speed; 2. Check whether there is air mixed in the hydraulic system; 3. Check whether the viscosity of the hydraulic oil is appropriate; 4. Check whether the configuration of the original parts of the hydraulic system is reasonable, whether the installation is correct, and whether the parameters are adjusted appropriately. Once the fault is confirmed, it should be eliminated in time.

[0229] 5) Operators should check the appearance quality of the steel wire heads one by one. Unqualified wire heads should be cut off and reprocessed, and protected in time. One end of the steel bar should be covered with plastic protective caps of different colors according to different specifications, and they should be neatly stacked according to specifications for use.

[0230] 6) When connecting steel bars, the specifications of the steel bars and the connecting sleeves should be consistent, and the form, pitch, and outer diameter of the steel bar threads should match those of the connecting sleeves. Ensure that the threads of the steel bars and the connecting sleeves are clean and intact.

[0231] 7) When installing, first install one end of the connecting sleeve on the end of the basic steel bar and tighten it in place with a pipe wrench, then use the guide to center and clamp the connecting sleeve, center the steel bar to be connected through the middle hole of the guide clamp, screw it into the sleeve and tighten it in place to complete the connection. Remove the tool and inspect it at any time. If it is unqualified, correct it immediately. If it is qualified, apply the inspected symbol on the sleeve.

[0232] (3) The external stirrups of the pile should be in the form of spiral reinforcement. Attention should be paid to the combined connection of the steel cage. After the steel cage is completed, the construction drawings should be verified. The length of the external stirrup reinforcement densification area is from the top of the pile to 5 times the pile diameter below the ground.

[0233] (4) The guard plate can be replaced by precast concrete binding pads, but the size should meet the design requirements.

[0234] (5) Ф10 steel bars should be welded between the main reinforcement of the pile and the anchor plate of the anchor bolt.

[0235] (6) The staggered position of the steel bar joints is as follows Figure 2 shown.

[0236] The steel cage is hoisted into the hole as a whole by a 25T crane. When the upper end of the steel cage reaches the top of the casing, the steel cage is placed on the casing with a steel pole. When hoisting, the deformation control of the steel cage during lifting and displacement should be considered.

[0237] In order to ensure that the steel cage does not deform when hoisting, it is advisable to use two points of hoisting. The first hoisting point is set at the lower part of the frame, and the second hoisting point is set between the midpoint of the frame length and the upper two-thirds point. When hoisting, first lift the first hoisting point to slightly lift the frame, and then hoist it with the second hoisting point at the same time. As the second hoisting point continues to rise, slowly loosen the first hoisting point until the frame is vertical to the ground or platform, stop hoisting at the first hoisting point, and fix it with a rigid frame.

[0238] Reinforcement measures should be set at the lifting position of the steel cage to prevent or minimize deformation of the steel cage during lifting and placement. When lifting, it should be lowered gently and slowly according to the hole position. It is forbidden to lower it by force to prevent tilting, bending or collision with the hole wall. If it cannot be lowered, it should be lifted to analyze the cause and then lowered again. After the steel cage is in place, the lifting rod should be fixed immediately to prevent the steel cage from moving. The elevation error between the top and bottom surfaces of the steel cage should not exceed 50mm. After the steel cage is lowered to the designed depth, the concrete delivery conduit should be lowered immediately to avoid collision between the conduit and the steel cage. If it is difficult to lower the conduit, the cause should be found out in time.

[0239] In order to ensure the verticality of the vertical axis of the steel cage and the thickness of the concrete protective layer, welding steel earrings or tying prefabricated blocks of the same grade as the pile foundation concrete should be used around the outer periphery of the steel cage for control.

[0240] After the steel cage is put into the hole, check the placement position according to the design requirements and make a record. If it meets the requirements, the upper end of the steel cage can be connected with 4 main bars to extend it to the hole to prevent the steel cage from falling due to its own weight or moving upward when pouring concrete, causing dislocation.

[0241] S6: Control the concrete pouring according to the pre-constructed concrete pouring quality control model, and determine whether the concrete pouring quality indicators are qualified.

[0242] The concrete pouring quality control model can analyze the impact of concrete fluidity, slump and pouring height on the quality of pile concrete. To build a concrete pouring quality control model, it is necessary to consider the impact of key parameters such as concrete fluidity, slump and pouring height on the quality of pile concrete. The detailed parameter definitions are as follows:

[0243] F L : The actual fluidity index of concrete, ranging from 0 (no fluidity) to 100 (highest fluidity);

[0244] S T : Actual slump of concrete (mm);

[0245] H D : Conduit burial depth (m);

[0246] H des : Design required pile top elevation (m);

[0247] H act : Actual pile top elevation (m);

[0248] C Q : Concrete design strength grade (such as C30, C40, C50);

[0249] H C : Distance from the bottom of the conduit to the bottom of the hole during initial filling (m);

[0250] Q H :Concrete pouring quality index, 1 means qualified quality, 0 means unqualified quality.

[0251] Concrete fluidity and slump assessment: Concrete fluidity and slump have a direct impact on the uniformity and density of concrete. Ideally, F L and S T Should meet the design requirements.

[0252] The influence of perfusion height on quality: catheter burial depth H D Affects the uniformity of concrete and the quality of pile concrete. The distance H from the bottom of the conduit to the bottom of the hole during initial pouring C It should be 30 to 50 cm to ensure smooth discharge of the water stopper.

[0253] Concrete strength assessment: Design strength grade of concrete C Q Should meet the structural design requirements.

[0254] Concrete pouring quality index: If F L and S T Meet the design requirements, H D Keep within 2 to 6 m, and H act Higher than H des 0.3m, the concrete pouring quality is considered qualified.

[0255] Therefore, the concrete pouring quality control model is:

[0256]

[0257] Among them, F des Indicates the concrete fluidity index required by the design, S des Indicates the slump of concrete required by the design.

[0258] In this step, it is necessary to install an acoustic detection tube when pouring concrete, connect the concrete pouring conduit, perform a second hole cleaning, and finally pour concrete to form a pile.

[0259] Install the acoustic detection pipe:

[0260] According to the pile foundation inspection requirements of "Technical Specifications for Building Pile Foundation Inspection" JGJ-106-2003, the inner diameter of the acoustic detection tube is selected to be 50-60mm. The lower end of the acoustic detection tube is closed, the upper end is covered, and there is no foreign matter in the tube; the connection of the acoustic detection tube is smooth, the pipe mouth is more than 100mm above the pile top, and the height of the pipe mouth of each acoustic detection tube is consistent. The acoustic detection tube is fixed on the inside of the steel cage, tied with wire, and arranged in a symmetrical shape. The number of buried roots: 3-4 roots are determined according to the construction drawings. According to the relevant regulations and requirements of the Quality Supervision Station, ultrasonic testing is carried out according to relevant requirements for piles with a depth of ≥15m. The material and buried frequency of the acoustic detection tube are constructed in accordance with the relevant regulations and requirements of the Quality Supervision Station, and the labor and material engineering quantities incurred in burying the acoustic detection tube are confirmed by the on-site receiving party's signature.

[0261] Concrete pouring conduit connection:

[0262] The conduit adopts a conduit with a wall thickness of δ=3mm and a diameter of Φ300. Each section is 2 to 4 meters long. The length of the lowest section of the conduit should be 4.5 to 6m and should not be shorter than 4m. In order to equip the appropriate conduit column length, the upper conduit is 1m or 0.5m long. The conduit is connected with a cruise nut and sealed with a rubber "O" type sealing ring to prevent water leakage. When the conduit is used for the first time, a watertight pressure bearing test is performed. The water pressure of the watertight test is not less than 1.5 times the pressure of the water depth in the wellbore. In order to ensure reliable sealing performance and no leakage of the conduit during underwater operations, the sealing ring is replaced before each subsequent pouring. When the conduit is hoisted into the hole, the rubber ring or rubber pad is placed neatly and tightly to ensure good sealing. The position of the conduit in the pile hole should be kept centered to prevent the conduit from running, hitting the steel cage and damaging the conduit; the height of the bottom of the conduit from the bottom of the hole (or the sediment surface at the bottom of the hole) should be such that the water stopper and concrete can be released, generally 250 to 400mm. After all the catheters are inserted into the holes, calculate the total length of the catheter column and the position of the bottom of the catheter, and make records.

[0263] Secondary hole cleaning:

[0264] Insert the air pipe with a 1m long tube at the head into the conduit, with the minimum distance between the bottom of the air pipe and the bottom of the conduit being 2m. Compressed air is ejected from the bottom of the air pipe. If the bottom of the conduit can be moved continuously at the bottom of the pile hole, all the sediment can be discharged. For pile holes with a depth of less than 10m, use an air suction pump to clean the sediment. The thickness of the sediment at the bottom of the hole before pouring concrete should meet the requirements.

[0265] Pouring concrete into piles (using C35 commercial concrete):

[0266] (1) Concrete pouring adopts the conduit method. Concrete pouring should start immediately after the steel cage is hoisted and all test data are qualified. The ball-cutting method is used to pour concrete. After confirming that the initial stock is sufficient, the water stopper wire can be cut off and the first batch of concrete can be poured in. At the same time, observe the grouting situation in the hole, measure the buried pipe depth and make records.

[0267] (2) Before pouring bored piles, calculate the initial pouring volume to ensure the success of the initial burying of the pipe.

[0268] (3) C35 commercial concrete is used for concrete, which is transported to the pile position by a conveyor truck and poured with a truck crane. The concrete strength grade must meet the design requirements and should have good workability. When pouring concrete, in order to allow the water stop to be discharged smoothly, the distance from the bottom of the conduit to the bottom of the hole should be 30 to 50 cm, so that the conduit can be buried more than 0.8 m below the concrete surface at one time. Concrete must be poured continuously to the design elevation. The actual top surface height of the pile is required to be 0.3 m higher than the design requirement to ensure the concrete strength of the pile body under the designed pile top. During the pouring process, the buried depth of the conduit should be 2 to 6 m. It is strictly forbidden for the conduit to be raised from the concrete surface. A dedicated person is assigned to detect the buried depth of the conduit and the height difference of the concrete liquid level inside and outside the pipe.

[0269] (4) As the concrete in the hole rises, the conduit needs to be removed section by section and the removed conduit must be cleaned immediately.

[0270] (5) When pouring near the top of the pile, in order to strictly control the elevation of the pile top, calculate the required amount of concrete and strictly control the amount of concrete poured in the last pour.

[0271] (6) During the concrete pouring process, a generator is installed to generate electricity to ensure continuous concrete pouring. The concrete surface of the bored pile is 0.5m to 1.0m higher than the design so that the floating slurry and pile head can be chiseled off to ensure the quality of the pile concrete.

[0272] In summary, the key parameters of rotary drilling rig foundation construction include:

[0273] Table 1: External environment and measures parameters

[0274] parameter Related requirements Ground bearing capacity <![CDATA[The on-site ground bearing capacity needs to be greater than 250 KN / m 2 > Ground compaction at the drilling platform Rolling compaction Casing inner diameter Should be 100mm larger than the drill bit diameter Casing buried depth In clay soil, it should not be less than 4m. In sandy soil, it should not be less than 8m. The casing should be higher than the ground 20~30cm. Casing position accuracy The deviation between the center of the casing and the center of the pile shall not exceed 50mm. Casing stability The deviation of the inclination is not more than 1% Casing elevation Use a level to determine and use it as the base point for calculating the hole depth. Location of spoil site Designated by Party A of the project. Length of the reinforcement area outside the steel cage The distance from the top of the pile to 5 times the pile diameter below the ground. …… ……

[0275] Table 2: Mechanical parameters

[0276] parameter Related requirements Drilling rig inclination The maximum inclination angle of the rotary drilling rig to the plane when in place shall not exceed 4° Drilling rig chassis Telescopic automatic leveling device Operating room instruments Accurate display of electronic readings Drill bit alignment Automatically align the pile center crosshairs Requirements for drilling rig positioning The three lines of machine body verticality and pile position reinforcement bars are integrated into one. Main winch The weight of the wire rope shall not be less than 20% of the total weight of the drill pipe and drilling tools. Pile depth Ultrasonic testing is required when the pile depth is ≥15m Height of acoustic testing pipe opening More than 100mm higher than the pile top. Acoustic tube The inner diameter is 50-60mm, and the lower end is required to be closed and the upper end is covered. Number of buried acoustic detection pipes 3-4 pieces, determined according to the construction drawings. …… ……

[0277] Table 3: Construction process control parameters

[0278]

[0279] This embodiment provides a method for controlling the construction of a rotary bored pile based on a rotary drilling rig, which improves the accuracy, safety and efficiency of the construction through mathematical models and systematic analysis methods. Specifically, through the mathematical model of inclination angle and ground bearing capacity, the safe operation of the drilling rig under complex geological conditions is ensured to avoid the risk of overturning; the mathematical model of position and inclination is used to accurately control the burial of the casing to ensure the accuracy of subsequent drilling and the stability of the pile foundation; the influence of drilling speed and verticality on drilling accuracy is analyzed, and the drilling process is optimized through the model to reduce deviation and improve the quality of the hole; a model is constructed to analyze the control effect of the hole cleaning method on the thickness of the sediment at the bottom of the hole to ensure the bearing capacity of the pile foundation; through the mathematical model considering welding, connection and hoisting, the stability of the steel cage is evaluated to prevent structural failure; the influence of concrete fluidity, slump and pouring height on the quality of the pile body concrete is analyzed to ensure that the concrete quality meets the design requirements. These models provide scientific decision-making support for the construction of rotary bored piles, which helps to promote the advancement of construction technology and the modernization of construction management.

[0280] Embodiment 2

[0281] This embodiment provides a rotary drilling rig-based bored pile construction control system, including:

[0282] A rotary drilling rig positioning control module is used to determine the stability of the rotary drilling rig according to a pre-built inclination angle and ground bearing capacity model, and to control the rotary drilling rig positioning;

[0283] The steel casing embedding position control module is used to determine whether the steel casing embedding meets the required indicators according to the pre-built position and inclination model, and control the rotary drilling rig power head to press the steel casing vertically into the soil;

[0284] A drilling accuracy control module is used to control the rotary drilling rig to drill holes according to a pre-built drilling accuracy control model, and determine whether the drilling accuracy is qualified;

[0285] A hole cleaning control module is used to clean the hole using a hole cleaning method and determine whether the hole cleaning is qualified according to a pre-built sediment removal model;

[0286] A reinforcement cage in-place control module is used to determine whether the reinforcement cage structure is stable according to a pre-built structural stability analysis model and control the reinforcement cage in place;

[0287] The concrete pouring quality control module is used to control the concrete pouring according to the pre-built concrete pouring quality control model and determine whether the concrete pouring quality index is qualified.

[0288] For the specific implementation content of each module in a rotary drilling rig-based bored pile construction control system, please refer to the above definition of a rotary drilling rig-based bored pile construction control method, which will not be repeated here.

[0289] The technical features of the above embodiments may be arbitrarily combined (as long as there is no contradiction in the combination of these technical features). To make the description concise, not all possible combinations of the technical features in the above embodiments are described; these embodiments that are not explicitly written should also be considered to be within the scope of this specification.

Claims

1. A method for controlling the construction of a rotary bored pile based on a rotary drilling rig, characterized in that: include: Step 1: Determine the stability of the rotary drilling rig based on the pre-built inclination angle and ground bearing capacity model, and control the rotary drilling rig to be in place; Step 2: Determine whether the steel casing burial meets the required indicators based on the pre-built position and inclination model, and control the rotary drilling rig power head to press the steel casing vertically into the soil; Step 3: Control the rotary drilling rig to drill according to the pre-built drilling accuracy control model, and determine whether the drilling accuracy is qualified; Step 4: Use the hole cleaning method to clean the hole, and determine whether the hole cleaning is qualified according to the pre-built sediment removal model; Step 5: Determine whether the steel cage structure is stable based on the pre-built structural stability analysis model, and control the steel cage in place; Step 6: Control the concrete pouring according to the pre-built concrete pouring quality control model, and determine whether the concrete pouring quality index is qualified.

2. The method for controlling the construction of rotary bored piles based on a rotary drilling rig according to claim 1, characterized in that: In step 1, the inclination angle and ground bearing capacity model is: Where θ represents the inclination angle of the drilling rig to the vertical direction, P represents the ground bearing capacity, W represents the weight of the drilling rig, A represents the contact area between the drilling rig and the ground, and F wind represents wind force, μ represents the friction coefficient between the drilling rig legs and the ground, θ rad Indicates the effect of inclination angle on stability, θ max Indicates the maximum inclination angle between the rotary drilling rig and the plane when it is in place, P act Indicates the pressure of the drilling rig on the ground, M wind represents the overturning moment caused by wind, M fri represents the friction torque.

3. The method for controlling the construction of rotary bored piles based on a rotary drilling rig according to claim 1, characterized in that: In step 2, the position and inclination model is: P e ≤0.5×d dri -d inn ; Δθ≤t all ; Among them, P e Indicates the overall position deviation of the steel casing, d dri Indicates the drill diameter, d inn Indicates the inner diameter of the casing, t all Indicates the maximum allowable deviation of casing inclination.

4. The method for controlling the construction of rotary bored piles based on a rotary drilling rig according to claim 1, characterized in that: In step 3, the drilling accuracy control model is: Where Δα represents the verticality deviation, T all Indicates the maximum allowable deviation of verticality, D act Indicates the actual drilling diameter, D des represents the designed drilling depth, ΔH represents the drilling depth deviation, H des Indicates the designed drilling depth.

5. The method for controlling the construction of rotary bored piles based on a rotary drilling rig according to claim 1, characterized in that: In step 4, the sediment removal model is: S dep ≤T cut , where S dep Indicates the actual bottom sediment thickness, T cut Indicates the maximum allowable sediment thickness.

6. The method for controlling the construction of rotary bored piles based on a rotary drilling rig according to claim 5, characterized in that: In step 4, the hole cleaning method is a compressed air method or a mud suction pump method.

7. The method for controlling the construction of rotary bored piles based on a rotary drilling rig according to claim 6, characterized in that: When the hole cleaning method is the compressed air method, S dep =f(Q air , L p , D h ), where Q air Indicates the compressed air flow rate, L p Indicates the length of the trachea inserted into the catheter, D h Indicates the borehole diameter; when the hole cleaning method is the mud suction pump method, S dep =g(Q w , D h , H h ), where Q w Indicates the water volume of the dredge pump, D h Indicates the drilling diameter, H h Indicates the drilling depth.

8. The method for controlling the construction of rotary bored piles based on a rotary drilling rig according to claim 1, characterized in that: In step 5, the structural stability analysis model is: S4≥1 and and Stable structure; S4<1 and and Structural instability; Among them, h f Represents the horizontal displacement of the steel cage during hoisting, V f It indicates the vertical displacement of the steel cage during hoisting, and L indicates the length of the steel cage.

9. The method for controlling the construction of rotary bored piles based on a rotary drilling rig according to claim 1, characterized in that: In step 6, the concrete pouring quality control model is: Among them, F L Indicates the actual fluidity index of concrete, F des Indicates the concrete fluidity index required by the design, S T Indicates the actual slump of concrete, S des Indicates the concrete slump required by the design, H D Indicates the buried depth of the conduit, H act Indicates the actual pile top elevation, H des Indicates the pile top elevation required by the design.

10. A rotary drilling rig-based bored pile construction control system, characterized in that: include: A rotary drilling rig positioning control module is used to determine the stability of the rotary drilling rig according to a pre-built inclination angle and ground bearing capacity model, and to control the rotary drilling rig positioning; The steel casing embedding position control module is used to determine whether the steel casing embedding meets the required indicators according to the pre-built position and inclination model, and control the rotary drilling rig power head to press the steel casing vertically into the soil; A drilling accuracy control module is used to control the rotary drilling rig to drill holes according to a pre-built drilling accuracy control model, and determine whether the drilling accuracy is qualified; A hole cleaning control module is used to clean the hole using a hole cleaning method and determine whether the hole cleaning is qualified according to a pre-built sediment removal model; A reinforcement cage in-place control module is used to determine whether the reinforcement cage structure is stable according to a pre-built structural stability analysis model and control the reinforcement cage in place; The concrete pouring quality control module is used to control the concrete pouring according to the pre-built concrete pouring quality control model and determine whether the concrete pouring quality index is qualified.

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