Real-time kinematic (RTK) high-precision positioning tamping machine construction data management method and system

Abstract

The invention discloses an RTK high-precision positioning tamper construction data management method and system, and relates to the field of tamper construction in composite foundation engineering, and the method comprises the following steps: obtaining the GPS positioning data of different working parts of a tamper through a single-machine double-GPS module, and positioning the respective position and height; processing the obtained GPS positioning data by using an RTK technology to obtain high-precision position information; and according to the high-precision position information, whether the position of the rammer deviates from the ramming pile position or not is judged in combination with construction pile position distribution diagram data, and if deviation occurs, alarm information is sent out. Through the design of the single-machine double-GPS module, the position and height information of the rammer body and the rammer can be obtained at the same time, data synchronism is guaranteed, the problems that cost is increased and information synchronization is inconsistent due to the fact that a plurality of devices are used are solved, the overall performance and stability of the devices are improved, and the practicability is high. And the requirement on multi-position information in the construction process is better met.

Description

Technical Field

[0001] The present invention relates to the field of ramming machine construction in composite foundation engineering, and in particular to a ramming machine construction data management method and system with RTK high-precision positioning. Background Art

[0002] In the field of ramming machine construction of composite foundation engineering, the improvement of construction quality and management level is crucial. At present, RTK carrier phase difference, as a new commonly used satellite positioning measurement method, can obtain centimeter-level positioning accuracy in real time in the field compared with the previous static, fast static and dynamic measurements, bringing new measurement principles and methods for engineering layout, topographic mapping and various control measurements, greatly improving the operation efficiency. The ramming machine construction quality management system has also come into being. The system uses Beidou high-precision positioning, hydraulic sensing, coding sensing, Internet of Things data collection and big data analysis technologies to collect ramming machine construction data in real time and analyze, process and dynamically display it, guide and control the construction process, and retain the original data of the construction process and upload it to the smart construction management platform to provide decision-making support for construction management, quality traceability and optimized design.

[0003] However, the existing tamping machine construction quality management system based on RTK high-precision positioning has certain defects. Most products on the market are single-machine single-positioning antennas. In some business scenarios that require multiple location information, additional equipment is often required to meet the needs. This not only increases the cost, but also the dual equipment has the problem of inconsistent information synchronization, which affects the customer's experience. Therefore, there is an urgent need for a tamping machine construction data management method and system that can integrate multiple technical advantages and overcome existing problems to achieve precise construction, efficient management and optimal resource allocation, and improve the overall quality and benefits of composite foundation projects. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a rammer construction data management method and system with RTK high-precision positioning, so as to solve the technical problem that most products on the market are single-machine with single positioning antenna. In some business scenarios that require multiple location information, additional equipment is often required to meet the needs, and there is also the problem of inconsistent information synchronization between dual devices.

[0005] In view of the above problems, the present application provides a rammer construction data management method and system with RTK high-precision positioning.

[0006] The first aspect of the present application provides a rammer construction data management method with RTK high-precision positioning, comprising the following steps: Step 1: Use a single dual GPS module to obtain GPS positioning data of different working parts of the rammer, and locate their respective positions and heights at the same time. Among them, one GPS module locates the position of the rammer body, and the other GPS module locates the position of the rammer. Through internal data processing, the positioning data of the two are synchronized to meet the simultaneous positioning requirements. The data synchronization formula is: ,in, is the synchronized location data. is the rammer position data, It is the position data of the ramming machine body.

[0007] Step 2: Use RTK technology to process the acquired GPS positioning data to obtain high-precision location information. After the device is turned on, the 4G module searches the network and goes online, the MCU module controls the power supply and initialization of the GPS module, and obtains the AGPS platform data to accelerate positioning; after successful positioning, the 4G module uploads the original GPS data to the RTK platform, and the platform returns the differential packet after processing. The device 4G module sends the differential packet to the GPS module, and the GPS module processes and corrects the positioning data. After the correction is completed, it is returned to the 4G module through the MCU. The 4G module uploads the corrected positioning information to the monitoring platform. The positioning accuracy calculation formula is: ,in, is the positioning error, ( , , ) is the RTK positioning coordinate, ( , , ) are the actual coordinates.

[0008] Step 3: Based on the high-precision location information and the construction pile position distribution map data, determine whether the rammer position deviates from the rammer position. If it deviates, an alarm message is issued. The management system compares the rammer position data with the construction pile position distribution map data in the database. When the deviation exceeds the preset threshold, it is determined to be a deviation. The deviation calculation formula is: ,in, is the deviation value, ( , ) is the coordinate of the rammer position, ( , ) is the position coordinate of the rammed pile, and the preset threshold is set according to the construction accuracy requirements.

[0009] Step 4: Calculate the falling height of the rammer and the number of times the rammer hits through the coding sensor and hydraulic sensor. The formula for calculating the falling height of the rammer by the coding sensor is: ,in, is the rammer drop height, is the number of pulses measured by the encoder sensor, is the number of pulses per revolution of the encoder, is the radius of the transmission component related to the falling of the rammer. The method for the hydraulic sensor to count the number of rammer hits is: each time a change in the hydraulic pressure peak is detected and meets the preset pressure change range, it is recorded as one rammer hit, and the pressure change judgment formula is: ,in, is the pressure change value, is the peak pressure, It is the pressure valley value. The preset pressure variation range is determined according to the rammer model and construction requirements.

[0010] Step 5: Report the relevant data during the tamping process, including the highest and lowest GPS positioning data, the number of tamping times, the location information of the tamping hammer, etc., to the management system to achieve data retention and analysis, and provide a data source for later maintenance. Comprehensively record the construction process, and its data storage format is: ,in, For construction time, For the construction site, is the environmental information, ) is the coordinate of the rammer position, is the number of tamping times, is the rammer drop height, Pressure related data.

[0011] The second aspect of the present application also provides a ramming machine construction data management system with RTK high-precision positioning, including: Single machine dual GPS modules: used to obtain GPS positioning data of different working parts of the rammer, and locate their respective positions and heights at the same time. One GPS module is connected to the rammer body, the other GPS module is connected to the rammer hammer, and both GPS modules are connected to the internal data synchronization unit.

[0012] RTK processing module: used to process the acquired GPS positioning data to obtain high-precision location information. This module includes a 4G communication unit, an MCU control unit, a GPS positioning unit, an AGPS auxiliary unit, and a differential correction unit connected in sequence.

[0013] Position judgment alarm module: It is used to judge whether the position of the tamping hammer deviates from the tamping pile position based on the high-precision position information and the construction pile position distribution map data. If it deviates, an alarm message will be issued. This module includes a data comparison unit and an alarm execution unit.

[0014] Data acquisition module: including coding sensor and hydraulic sensor, which are used to calculate the falling height of the rammer and count the number of times the rammer hits. The coding sensor and hydraulic sensor are connected to the data processing unit respectively.

[0015] Data management module: used to report relevant data during the tamping process, including the highest and lowest GPS positioning data, tamping times, tamping hammer location information, etc., to the management system to achieve data retention and analysis, and provide data sources for later maintenance. This module includes a data integration unit and a data upload unit.

[0016] In summary, the present invention mainly has the following beneficial effects: Through the design of a single-machine dual GPS module, the present invention can simultaneously obtain the position and height information of the rammer body and the rammer hammer, and ensure the synchronization of data, avoiding the problems of increased cost and inconsistent information synchronization caused by the use of multiple devices, improving the overall performance and stability of the equipment, and better meeting the needs for multi-location information during the construction process.

[0017] The present invention uses RTK technology to achieve high-precision positioning, providing accurate location information for construction. Combined with the construction pile position distribution map data, it can accurately determine whether the rammer position is deviated, and issue alarm information in time, reducing construction errors and improving construction quality. At the same time, the encoding sensor and hydraulic sensor respectively accurately calculate and count the rammer drop height and ramming times, providing strong support for precise control of the construction process.

[0018] The data management system of the present invention can comprehensively record various data in the construction process, including construction time, location, environmental information, etc., and realizes the effective retention and analysis of data. It not only provides a rich data source for later maintenance, but also facilitates the construction management party to grasp the project progress, construction quality and other conditions in real time, which is helpful to reasonably allocate resources and achieve the goals of shortening the construction period, reducing fuel consumption and mechanical wear, etc., thereby improving the construction speed and management efficiency of the construction team and improving the overall benefits of the composite foundation project. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a system hardware module diagram of the present invention; Figure 2 It is the workflow diagram of the software of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0021] The following describes an embodiment of the present invention based on its overall structure.

[0022] Example 1 A tamping machine construction data management method with RTK high-precision positioning includes the following steps: Step 1: Get GPS location data of different working parts of the rammer.

[0023] A single dual GPS module is installed on the tamping machine, with one GPS module accurately installed at a suitable position on the tamping machine body, and the other GPS module firmly installed on the tamping hammer. After the equipment is turned on, the internal circuit system starts to work, and the MCU module controls the power supply of the two GPS modules to put them into working state and initialize them. At the same time, the GPS module establishes a connection with the AGPS platform to obtain the data returned by the AGPS platform to speed up the positioning speed. In this process, the two GPS modules independently obtain the GPS positioning data of the tamping machine body and the tamping hammer, which contain location information (longitude, latitude) and altitude information. Then, through the internal data synchronization unit, the data obtained by the two GPS modules are processed according to the data synchronization formula to obtain the synchronized location data, thereby realizing the simultaneous positioning of the position and height of the tamping machine body and the tamping hammer, meeting the needs for location information of different working parts during the construction process.

[0024] The data synchronization formula is:

[0025] in, This is the synchronized position data. This data is obtained after processing and can simultaneously reflect the relatively unified position information of the rammer body and the rammer hammer. It comprehensively considers the position of the body and the rammer hammer, and provides a unified position reference for subsequent construction guidance, position judgment and other operations.

[0026] The data is the position data of the rammer. This data is obtained by the GPS module installed on the rammer, and contains the position information of the rammer in space, such as longitude, latitude, and altitude. This information is very important for accurately judging the position change and movement trajectory of the rammer during the construction process, and is one of the important data sources for realizing precise construction of the rammer.

[0027] It is the position data of the rammer body. It is obtained by the GPS module installed on the rammer body and also contains the position coordinates and height information of the body. The position data of the rammer body is also of great significance for the positioning and control of the entire construction process. It can help determine the overall position status of the rammer and, combined with the rammer hammer position data, can fully reflect the actual working conditions of the rammer during construction.

[0028] This formula uses the method of averaging to achieve data synchronization. By adding the rammer position data and the rammer body position data and taking the average value, an intermediate value that comprehensively considers the positions of the two is obtained as the synchronized position data. The principle of this method is that, ideally, the rammer body and the rammer are a whole during the construction process, and their relative position relationship reflects the working status of the rammer to a certain extent. Taking the average value can smooth the position data fluctuations caused by factors such as the measurement errors of the two GPS modules and the differences in the installation positions to a certain extent, so that the synchronized position data can more accurately represent the overall position of the rammer, thereby improving the accuracy and stability of the entire system's judgment of the rammer position.

[0029] Step 2: Use RTK technology to process GPS positioning data.

[0030] After the GPS module completes initialization and obtains preliminary positioning data, the 4G module starts searching for the network and goes online. Once the network is successfully connected, the 4G module uploads the original GPS data to the RTK platform. After receiving the original data, the RTK platform uses its complex algorithm to process the differential packet, and then returns the processed differential packet to the device. After receiving the differential packet, the 4G module of the device quickly sends it to the GPS module. The GPS module uses the received differential packet to correct the current positioning data. After the correction is completed, the corrected positioning data is returned to the 4G module through the MCU module. Finally, the 4G module uploads the corrected high-precision positioning information to the monitoring platform through the network. Its positioning accuracy can be evaluated and verified according to the positioning accuracy calculation formula to ensure that the positioning accuracy reaches the centimeter-level accuracy required for construction, providing an accurate location basis for subsequent construction guidance and quality control.

[0031] Among them, the positioning accuracy calculation formula is:

[0032] in, The positioning error is a key indicator to measure the accuracy of RTK positioning technology. The smaller the positioning error, the closer the position determined by RTK positioning technology is to the actual position, and the higher the positioning accuracy. During the construction process of the tamping machine, accurate positioning is crucial to ensure that the tamping hammer accurately hits the tamping point and ensures the quality of construction. Therefore, the value of directly affects the accuracy of the entire construction.

[0033] ( , , ) is the RTK positioning coordinate, which represents the coordinate value of the position measured by RTK technology in three-dimensional space, where , Respectively represent the coordinate components in the horizontal direction (longitude and latitude), Represents the coordinate component in the vertical direction (height). These coordinate values ​​are measured and calculated by the RTK system based on satellite signals, and reflect the position information of the rammer or rammer in the construction site.

[0034] ( , , ) is the actual coordinate, that is, the real position coordinate of the rammer or rammer in the real world. This coordinate value is an ideal and accurate position reference, which can usually be obtained through high-precision measuring instruments or other reliable positioning means. It is used to compare with the RTK positioning coordinates to evaluate the positioning accuracy of the RTK technology.

[0035] This formula is based on the distance calculation formula in three-dimensional space (an extension of the Pythagorean theorem in three-dimensional space) to calculate the positioning error. In three-dimensional space, the distance between two points can be obtained by calculating the square root of the sum of the squares of their differences on each coordinate axis. Here, the RTK positioning coordinates are compared with the actual coordinates in The differences in the three directions are squared, summed, and finally the square root is taken to obtain the spatial distance between the RTK positioning and the actual position, that is, the positioning error. This calculation method can fully and accurately reflect the deviation degree of RTK positioning in three-dimensional space, covering the errors in the horizontal and vertical directions.

[0036] Step 3: Determine whether the rammer position is deviated and sound an alarm.

[0037] During the construction process, the management system continuously receives the high-precision rammer position data obtained by the above steps. At the same time, the system retrieves the construction pile position distribution map data from the database. Then, through the data comparison unit, the real-time position data of the rammer is compared and analyzed with the construction pile position distribution map data according to the deviation calculation formula.

[0038] The deviation calculation formula is: ,in, The deviation value is an indicator to measure the degree of deviation between the rammer position and the rammed pile position. The larger the deviation value, the farther the rammer position deviates from the rammed pile position, and the lower the construction accuracy; the smaller the deviation value, the closer the rammer position is to the rammed pile position, and the more accurate the construction. In the construction of the rammer, the deviation value needs to be controlled within a certain range to ensure the construction quality.

[0039] ( , ) is the rammer position coordinate, representing the position information of the rammer on the construction plane (usually can be regarded as a two-dimensional plane, ignoring the slight difference in the height direction), where is the horizontal axis, These coordinates are the rammer position data obtained and processed by the single-machine dual GPS module mentioned above, which accurately reflects the actual position of the rammer in the construction site.

[0040] ( , ) are the ramming pile position coordinates, which are the accurate positions of the ramming piles on the construction plane predetermined in the construction design. These coordinates are the target positions of the construction. The purpose of the ramming machine construction is to make the rammer hit these ramming pile positions as accurately as possible.

[0041] This formula is also based on the distance calculation formula in the two-dimensional plane (the application of the Pythagorean theorem in the two-dimensional plane) to calculate the deviation between the tamping hammer position and the tamping pile position. In a two-dimensional plane, the distance between two points can be obtained by calculating the square root of the sum of the squares of their differences on the two coordinate axes. Here, the coordinates of the tamping hammer position and the coordinates of the tamping pile position are calculated in and The differences in direction are squared, summed, and finally the square root is taken to obtain the plane distance between the tamping hammer and the tamping pile, that is, the deviation value. This calculation method can accurately reflect the deviation of the rammer relative to the rammed pile position on the plane. The height factor is not considered because during the construction of the rammer, the main concern is whether the rammer accurately hits the rammed pile in the horizontal direction, while the deviation in the height direction is usually within the allowable range of the construction process or can be controlled separately by other means.

[0042] If the calculated deviation value If the preset threshold is exceeded (the preset threshold is pre-set in the system according to the specific construction accuracy requirements), it is determined that the rammer position deviates from the rammed pile position. At this time, the data comparison unit triggers the alarm execution unit, which issues alarm information in a variety of ways, such as displaying a striking alarm prompt on the display of the mechanical operation terminal, and broadcasting a voice alarm of "the rammer has deviated from the rammed pile position" through the alarm module, reminding the operator to calibrate the rammer position in time to avoid ineffective construction and improve construction efficiency and quality.

[0043] Step 4: Calculate the falling height of the rammer and count the number of rammer strikes.

[0044] The encoder sensor is installed on the transmission component related to the falling of the rammer. When the rammer falls, the transmission component rotates and the encoder sensor generates a pulse signal. , and combined with the known number of encoder pulses per revolution and the radius of the transmission components associated with the rammer drop , using the formula Accurately calculate the falling height of the rammer.

[0045] : represents the drop height of the rammer, which is an important parameter for measuring the energy transfer and construction effect of the rammer. The drop height of the rammer directly affects the effect of the rammer on the foundation. Accurately calculating the drop height is critical to controlling the construction quality and ensuring that the foundation treatment achieves the expected effect.

[0046] : The number of pulses measured by the encoder sensor. The encoder sensor is installed on the transmission component related to the falling of the rammer. When the rammer falls, the transmission component rotates, and the encoder sensor generates a pulse signal according to the rotation. It is the counting of these pulse signals. The number of pulses is related to the number of rotations or angles of the transmission component. By measuring the number of pulses, the movement information of the transmission component can be indirectly obtained, and then the falling height of the rammer can be calculated.

[0047] Indicates the number of pulses per encoder revolution, which is an inherent characteristic parameter of the encoder sensor and is determined by the design and manufacture of the sensor. It represents the number of pulse signals generated by the encoder when it rotates one circle. Encoder sensors of different models and specifications may have different When using this formula to calculate the falling height of the rammer, it is necessary to accurately know the number of pulses per revolution of the encoding sensor used.

[0048] : is the radius of the transmission component related to the rammer falling, which reflects the geometric size characteristics of the transmission component. The transmission component plays a role in transmitting motion and force during the rammer falling process, and its radius affects the relationship between the rotation of the transmission component and the rammer falling height. For example, a transmission component with a larger radius may correspond to a larger rammer falling height under the same rotation condition.

[0049] This formula is based on the kinematic relationship of the transmission components to calculate the height of the rammer falling. When the rammer falls, it drives the transmission components connected to it to rotate. There is a certain geometric relationship between the rotation angle or number of turns of the transmission components and the height of the rammer falling. The encoder sensor measures the number of pulses generated by the rotation of the transmission components. , the rotation angle or number of revolutions of the transmission component can be calculated (because the number of pulses per revolution is The rotation angle or number of turns of the transmission component is related to the height of the rammer drop. By considering the radius of the transmission component , using the knowledge of circular motion, the rotation angle or number of circles is converted into a linear falling height.

[0050] The hydraulic sensor is installed in the hydraulic system of the rammer to monitor the hydraulic pressure changes in real time. Every time a hydraulic pressure peak change is detected and the change meets the preset pressure change range (this range is determined according to the rammer model and construction requirements, the pressure change judgment formula is used to determine the pressure change. When a judgment is made, the data processing unit records it as one tamping and counts the number of tamping times.

[0051] in, It is the pressure change value, which is an indicator to measure the pressure fluctuation of the hydraulic system during the tamping process. During the construction of the tamping machine, each tamping operation will cause the pressure of the hydraulic system to change. By monitoring the pressure change value, it can be judged whether an effective tamping action has occurred.

[0052] The pressure peak value is the maximum value reached by the hydraulic system in a working cycle (such as a tamping process). This value reflects the maximum pressure that the hydraulic system is subjected to at the moment of tamping, and is closely related to the impact force of the tamping hammer on the ground. It is one of the important bases for judging the tamping intensity.

[0053] The pressure valley is the minimum value reached by the hydraulic system during the same working cycle. The appearance of the pressure valley is usually related to the return of the rammer or the unloading process of the hydraulic system. Together with the pressure peak, it constitutes a complete pressure variation range, which is used to evaluate the working status of the hydraulic system during the rammering process.

[0054] This formula obtains the pressure change value by calculating the difference between the pressure peak and the pressure valley. In the hydraulic system of the tamping machine, each tamping action will cause the pressure of the hydraulic oil to change, starting from the pressure valley. As the tamping hammer falls and hits the ground, the pressure gradually rises to the peak, and then drops back to the valley when the tamping hammer returns or the system is unloaded. By measuring these two extreme values ​​and calculating their difference, an indicator representing the magnitude of the pressure change in the hydraulic system during this tamping process can be obtained, that is, the pressure change value When this pressure change value meets the preset pressure change range (the range is determined in advance based on the tamping machine model and specific construction requirements), the system determines that an effective tamping operation has occurred and counts the number of tamping times accordingly.

[0055] Through the coordinated work of coding sensors and hydraulic sensors, key construction data such as the rammer's drop height and the number of tamping times can be accurately acquired, providing an important basis for construction quality assessment and process control.

[0056] Step 5: Report construction data to the management system.

[0057] During the tamping process, the equipment continuously collects relevant data including the highest and lowest GPS positioning data, the number of tamping times, the location information of the tamping hammer, the construction time (the accurate construction time is obtained through the built-in clock of the equipment), the construction location (determined by GPS positioning or pre-set location information), and environmental information (such as temperature, humidity, etc., which can be obtained through the environmental sensors installed on the equipment). Then, the data integration unit in the data management module integrates and processes these data according to the predetermined data storage format to ensure the integrity and standardization of the data. Finally, the data upload unit uploads the integrated data to the management system through the network. After receiving the data, the management system stores, analyzes and manages the data. On the one hand, it provides data support for real-time monitoring of the construction process, and on the other hand, it retains the data to provide a rich source of data for later maintenance, quality traceability, and optimized design, which helps to comprehensively improve the management level and quality efficiency of composite foundation projects.

[0058] The data storage format is:

[0059] in, For construction time, For the construction site, is the environmental information, ) is the coordinate of the rammer position, is the number of tamping times, is the rammer drop height, Pressure related data.

[0060] This format adopts the concept of collection, organizing different types of construction data in a certain order and format to form an organic whole. Each data element has its specific meaning and position in the collection. In this way, various key information in the construction process can be recorded comprehensively and systematically to avoid data omission and confusion. This data organization method facilitates data storage, transmission, processing and analysis, so that various complex information in the construction process can be effectively managed and utilized in a structured form.

[0061] Example 2 A tamping machine construction data management system with RTK high-precision positioning, comprising: Single machine dual GPS modules: Choose a suitable GPS module to ensure that it has high-precision positioning capabilities and stable data transmission performance. Install a GPS module at a key position on the rammer body through a stable mounting bracket and connecting lines to ensure that it can accurately obtain the position and height information of the body. The other GPS module is also fixed on the rammer in a reliable installation method, so that it can work stably and accurately measure the position and height of the rammer during the movement of the rammer. Both GPS modules are connected to the internal data synchronization unit through a data cable. The data synchronization unit processes the data of the two GPS modules in real time according to a predetermined synchronization algorithm to ensure the synchronization and accuracy of the data, providing a reliable location information basis for the entire system.

[0062] RTK processing module: The 4G communication unit uses a high-performance 4G communication chip to ensure the rapidity and stability of data transmission between the device and the RTK platform. The MCU control unit uses a suitable microcontroller to coordinate and control the workflow of the entire module, including power supply control of the GPS module, data interaction and other operations. The GPS positioning unit is the above-mentioned single-machine dual GPS module, which provides the system with original GPS positioning data. The AGPS auxiliary unit establishes a connection with the external AGPS platform to obtain auxiliary positioning data and accelerate the positioning process of the GPS module. The differential correction unit is responsible for processing the differential packets received from the RTK platform to correct the positioning data of the GPS module and improve the positioning accuracy. These units are connected in sequence and work together to realize the conversion and transmission of original GPS positioning data to high-precision positioning information.

[0063] Position judgment alarm module: The data comparison unit is integrated in the software part of the management system. By writing a special algorithm program, the comparison and analysis function of the rammer position data and the construction pile position distribution map data can be realized. The program can accurately calculate the deviation value according to the preset deviation calculation formula and compare it with the preset threshold. The alarm execution unit is connected to the data comparison unit. When a signal that the deviation exceeds the threshold is received, the corresponding alarm action is triggered. The alarm execution unit is connected to the mechanical operation terminal display and the alarm module through a circuit to ensure that the alarm information can be conveyed to the operator in a timely and accurate manner, reminding him to take corresponding measures to correct the rammer position.

[0064] Data acquisition module: The encoding sensor is selected from high-precision, high-reliability models and installed in a suitable position related to the transmission path of the rammer's fall to ensure that the rotation of the transmission components can be accurately measured and an accurate pulse signal can be generated. The hydraulic sensor selects a sensor suitable for the working pressure range of the rammer's hydraulic system and is installed at the key monitoring points of the hydraulic system to ensure that the hydraulic pressure changes can be accurately monitored. The encoding sensor and the hydraulic sensor are connected to the data processing unit through data cables respectively. The data processing unit counts and calculates the pulse signals transmitted by the encoding sensor to obtain the rammer's fall height data, analyzes and judges the pressure signals transmitted by the hydraulic sensor, and counts the number of tamping times. The data processing unit transmits the processed results to the data management module to prepare for the integration and upload of construction data.

[0065] Data management module: The data integration unit can be a data storage and processing chip in the management system in terms of hardware. In terms of software, by writing a data integration program, the data from various sensors and modules are integrated according to the specified data storage format to ensure the orderliness and integrity of the data. The data upload unit uses a 4G communication module or other network communication means to upload the integrated data to the server of the management system. The server is equipped with a corresponding database management system to classify, store, analyze and process the uploaded data, realize the effective management and utilization of data, and provide comprehensive data support for monitoring, management decision-making, and post-maintenance of the construction process.

[0066] In the actual construction process, the modules of the tamping machine construction data management system with RTK high-precision positioning work together and run in an orderly manner according to the above implementation method, realizing comprehensive monitoring of the tamping machine construction process, accurate data collection and management, effectively improving construction quality and management efficiency, overcoming the problems of existing technologies, and promoting the development and progress of composite foundation engineering construction technology. Construction personnel and management personnel can adjust construction strategies in time according to the data and alarm information provided by the system to ensure the smooth progress of the project, and at the same time provide a strong data basis for subsequent project maintenance and optimization.

[0067] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A tamping machine construction data management method with RTK high-precision positioning, characterized in that: The following steps are involved: Step 1: Obtain GPS positioning data of different working parts of the rammer through a single-machine dual GPS module, and locate their respective positions and heights at the same time; Step 2: Use RTK technology to process the acquired GPS positioning data to obtain high-precision location information; Step 3: Based on the high-precision position information and the construction pile position distribution map data, determine whether the tamping hammer position deviates from the tamping pile position, and issue an alarm message if it deviates; Step 4: Calculate the falling height of the rammer and the number of times the rammer hits by the rammer respectively through the coding sensor and the hydraulic sensor; Step 5: Report relevant data during the tamping process, including the highest and lowest GPS positioning data, number of tamping times, tamping hammer position information, etc. to the management system to achieve data retention and analysis, and provide a data source for later maintenance.

2. The method for managing construction data of a tamping machine using RTK high-precision positioning according to claim 1, characterized in that: In step 1, the working mode of the single-machine dual GPS module is: one GPS module locates the position of the rammer body, and the other GPS module locates the position of the rammer. The positioning data of the two are synchronized through internal data processing to meet the simultaneous positioning requirements. The data synchronization formula is: ; in, is the synchronized location data. is the rammer position data, It is the position data of the ramming machine body.

3. The method for managing construction data of a tamping machine using RTK high-precision positioning according to claim 1, characterized in that: In step 2, the process of RTK technology processing GPS positioning data is as follows: after the device is turned on, the 4G module searches the network and goes online, the MCU module controls the power supply and initialization of the GPS module, and obtains the AGPS platform data to accelerate positioning; after successful positioning, the 4G module uploads the original GPS data to the RTK platform, and the platform returns the differential packet after processing. The device 4G module sends the differential packet to the GPS module, and the GPS module processes and corrects the positioning data. After the correction is completed, it is returned to the 4G module through the MCU, and the 4G module uploads the corrected positioning information to the monitoring platform. The positioning accuracy calculation formula is: ； in, is the positioning error, ( , , ) is the RTK positioning coordinate, ( , , ) are the actual coordinates.

4. The method for managing construction data of a tamping machine using RTK high-precision positioning according to claim 1, characterized in that: In step 3, the method for judging whether the rammer position deviates from the rammer pile position is as follows: the management system compares the rammer position data with the construction pile position distribution map data in the database, and determines that the deviation is a deviation when the deviation exceeds a preset threshold. The deviation calculation formula is: ； in, is the deviation value, ( , ) is the coordinate of the rammer position, ( , ) is the position coordinate of the rammed pile, and the preset threshold is set according to the construction accuracy requirements.

5. The method for managing construction data of a tamping machine using RTK high-precision positioning according to claim 1, characterized in that: In step 4, the formula for calculating the falling height of the rammer by the encoding sensor is: ； in, is the rammer drop height, is the number of pulses measured by the encoder sensor, is the number of pulses per revolution of the encoder, is the radius of the transmission component related to the fall of the rammer.

6. The method for managing construction data of a tamping machine using RTK high-precision positioning according to claim 1, characterized in that: In step 4, the method for the hydraulic sensor to count the number of tamping times is: each time a change in the hydraulic pressure peak is detected and meets the preset pressure change range, it is recorded as one tamping, and the pressure change judgment formula is: ； in, is the pressure change value, is the peak pressure, It is the pressure valley value. The preset pressure variation range is determined according to the rammer model and construction requirements.

7. The method for managing construction data of a tamping machine with RTK high-precision positioning according to claim 1, characterized in that: In step 5, the data reported to the management system also includes construction time and construction site environment information to fully record the construction process. The data storage format is: ； in, For construction time, For the construction site, is the environmental information, ) is the coordinate of the rammer position, is the number of tamping times, is the rammer drop height, Pressure related data.

8. A tamping machine construction data management system with RTK high-precision positioning, characterized in that: include: Single machine dual GPS module, used to obtain GPS positioning data of different working parts of the rammer, and locate their respective positions and heights at the same time; RTK processing module, used to process the acquired GPS positioning data to obtain high-precision location information; The position judgment alarm module is used to judge whether the position of the rammer deviates from the ramming pile position based on the high-precision position information and the construction pile position distribution map data, and issue an alarm message if it deviates; The data acquisition module includes a coding sensor and a hydraulic sensor, which are used to calculate the falling height of the rammer and count the number of times the rammer hits; The data management module is used to report relevant data during the tamping process, including the highest and lowest GPS positioning data, the number of tamping times, the tamping hammer position information, etc. to the management system, so as to retain and analyze the data and provide a data source for later maintenance.

9. The RTK high-precision positioning ramming machine construction data management system according to claim 8, characterized in that: In the single-machine dual GPS module, one GPS module is connected to the tamping machine body, the other GPS module is connected to the tamping hammer, and the two GPS modules are connected to an internal data synchronization unit.

10. The RTK high-precision positioning ramming machine construction data management system according to claim 8, characterized in that: The RTK processing module includes a 4G communication unit, an MCU control unit, a GPS positioning unit, an AGPS auxiliary unit and a differential correction unit connected in sequence; the position judgment alarm module includes a data comparison unit and an alarm execution unit; the encoding sensor and the hydraulic sensor in the data acquisition module are respectively connected to the data processing unit; the data management module includes a data integration unit and a data upload unit.

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