Auxiliary method and system for penetration perpendicularity and angle of static root drilling planting pile

Abstract

The invention relates to the technical field of static root drilling planting pile assisting, in particular to a static root drilling planting pile penetration perpendicularity and angle assisting method and system.The static root drilling planting pile penetration perpendicularity and angle assisting method comprises the steps that penetration process data and soil measurement data are measured in real time, a first perpendicularity error is calculated, and a first soil friction coefficient is calculated according to the soil measurement data; calculating a first soil friction force according to the first soil friction coefficient, the contact area and the penetration pressure; analyzing by adopting a linear regression model to obtain first soil cohesion, and obtaining first corrected penetration pressure according to the first soil friction force, the first soil cohesion and the first perpendicularity error; and according to the first corrected injection pressure and the injection speed, calculating to obtain a first corrected injection speed. According to the method, the accuracy of the penetration perpendicularity and angle of the static drilling root planting pile can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of static drill rooted pile auxiliary technology, in particular to an auxiliary method and system for the verticality and angle of static drill rooted pile penetration. Background Art

[0002] Static drilled root piles are an efficient foundation construction technology, widely used in bridges, buildings and other fields. The accuracy of the penetration process directly affects the overall quality and safety of the project.

[0003] However, the traditional static drill root pile penetration process does not fully consider the impact of penetration pressure and penetration speed on the verticality and angle of static drill root pile penetration, which easily leads to limited accuracy of verticality and angle of static drill root pile penetration.

[0004] Therefore, an auxiliary method and system for penetrating verticality and angle of static drill root piles are proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an auxiliary method and system for the verticality and angle of static drill rooted pile penetration. The present invention relates to the field of auxiliary technology for static drill rooted piles, specifically an auxiliary method and system for the verticality and angle of static drill rooted pile penetration, comprising: calculating a first verticality error by measuring penetration process data and soil measurement data in real time, calculating a first soil friction coefficient based on soil measurement data, and calculating a first soil friction force based on the first soil friction coefficient, contact area and penetration pressure; obtaining a first soil cohesion by using a linear regression model analysis, obtaining a first corrected penetration pressure based on the first soil friction force, the first soil cohesion and the first verticality error; and calculating a first corrected penetration speed based on the first corrected penetration pressure and the penetration speed. The present invention can effectively improve the accuracy of the verticality and angle of static drill rooted pile penetration.

[0006] To achieve the above object, the present invention provides the following technical solutions: An auxiliary method for penetrating verticality and angle of static drill root piles, comprising: S10. Real-time measurement of the penetration process data and soil measurement data of the static drilling root pile, the penetration process data including the penetration speed, penetration pressure, contact area and static drilling root pile offset angle; the soil measurement data including soil shear stress, soil hardness, soil density and soil moisture content; S20. Obtaining a first verticality error according to the penetration process data; S30. According to the soil measurement data, a first soil friction coefficient is obtained; according to the first soil friction coefficient, the contact area and the penetration pressure, a first soil friction force is obtained; a linear regression model is constructed to analyze the soil cohesion to obtain a first soil cohesion force; according to the first soil friction force, the first soil cohesion force, the penetration pressure and the first verticality error, a first corrected penetration pressure is obtained; the first corrected penetration pressure is: ; in, represents the first modified penetration pressure; Indicates penetration pressure; represents the first verticality influencing factor; Indicates the first verticality error; Indicates the preset first verticality error; represents the first soil friction influencing factor; represents the first soil friction; represents the first soil cohesion influencing factor; It indicates the first soil cohesion; S40. Obtain a first corrected penetration speed according to the penetration speed and the first corrected penetration pressure, so that the static drill rooted pile maintains an ideal verticality and angle during the penetration process.

[0007] Preferably, the penetration speed is obtained by a speed sensor; the penetration pressure is obtained by a pressure sensor; the static drill root pile offset angle is obtained by a laser rangefinder; the soil shear stress is obtained by a stress sensor; the soil hardness is obtained by a hardness sensor; the soil density is measured by a densitometer; and the soil moisture content is measured by a soil moisture sensor.

[0008] Preferably, the first soil friction coefficient is: ; in, represents the first soil friction coefficient; represents the reference soil friction coefficient; represents the soil shear stress influencing factor; represents soil shear stress; represents the reference soil shear stress; represents the soil hardness influencing factor; Indicates soil hardness; Indicates the reference soil hardness; represents the soil density influencing factor; Indicates soil density; represents the reference soil density; represents the influencing factor of soil moisture content; Indicates soil moisture content; Indicates the reference soil moisture content.

[0009] Preferably, the first soil friction force is obtained by multiplying the first soil friction coefficient, the contact area and the penetration pressure, and the first soil friction force is specifically expressed as: ; in, represents the first soil friction force; represents the first soil friction coefficient; represents the contact area; Indicates penetration pressure.

[0010] Preferably, the first soil cohesion is: ; in, represents the first soil cohesion; represents soil shear stress; Indicates soil density; Indicates soil moisture content; Indicates soil hardness; , , , and represents the regression coefficient.

[0011] Preferably, the first corrected penetration speed is: ; in, represents the first corrected penetration velocity; Indicates penetration velocity; represents the first modified penetration pressure influence factor; Indicates the first corrected penetration pressure.

[0012] An auxiliary system for the verticality and angle of static drill root pile penetration, comprising: A data measurement module is used to measure the penetration process data and soil measurement data of the static drill rooted pile in real time. The penetration process data includes the penetration speed, penetration pressure, contact area and the deviation angle of the static drill rooted pile; the soil measurement data includes soil shear stress, soil hardness, soil density and soil water content; An error analysis module, used for obtaining a first verticality error according to the penetration process data; A pressure correction module is used to obtain a first soil friction coefficient according to the soil measurement data; obtain a first soil friction force according to the first soil friction coefficient, the contact area and the penetration pressure; construct a linear regression model to analyze the soil cohesion to obtain a first soil cohesion; obtain a first corrected penetration pressure according to the first soil friction force, the first soil cohesion, the penetration pressure and the first verticality error; the first corrected penetration pressure is: ; in, represents the first modified penetration pressure; Indicates penetration pressure; represents the first verticality influencing factor; Indicates the first verticality error; Indicates the preset first verticality error; represents the first soil friction influencing factor; represents the first soil friction; represents the first soil cohesion influencing factor; It indicates the first soil cohesion; The speed correction module is used to obtain a first corrected penetration speed according to the penetration speed and the first corrected penetration pressure, so that the static drill root pile maintains an ideal verticality and angle during the penetration process.

[0013] Preferably, the penetration speed is obtained by a speed sensor; the penetration pressure is obtained by a pressure sensor; the static drill root pile offset angle is obtained by a laser rangefinder; the soil shear stress is obtained by a stress sensor; the soil hardness is obtained by a hardness sensor; the soil density is measured by a densitometer; and the soil moisture content is measured by a soil moisture sensor.

[0014] Preferably, the first soil friction coefficient is: ; in, represents the first soil friction coefficient; represents the reference soil friction coefficient; represents the soil shear stress influencing factor; represents soil shear stress; represents the reference soil shear stress; represents the soil hardness influencing factor; Indicates soil hardness; Indicates the reference soil hardness; represents the soil density influencing factor; Indicates soil density; represents the reference soil density; represents the influencing factor of soil moisture content; Indicates soil moisture content; Indicates the reference soil moisture content.

[0015] Preferably, the first corrected penetration speed is: ; in, represents the first corrected penetration velocity; Indicates penetration velocity; represents the first modified penetration pressure influence factor; Indicates the first corrected penetration pressure.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention uses multiple sensors to measure the penetration process data and soil measurement data of static drill rooted piles in real time, which reflects the comprehensiveness of data measurement, and obtains the first verticality error according to the offset angle of the static drill rooted piles, providing a data basis for the subsequent correction and adjustment of the penetration pressure and penetration speed, thereby further improving the accuracy of the verticality and angle of the static drill rooted pile penetration.

[0017] 2. The present invention obtains the first soil friction coefficient of the soil by comprehensively analyzing the soil measurement data; and obtains the first soil friction force according to the first soil friction coefficient, the contact area and the penetration pressure; on this basis, a linear regression model is constructed to analyze the soil cohesion to obtain the first soil cohesion, and the first corrected penetration pressure is obtained by comprehensively considering the first soil friction force, the first soil cohesion, the penetration pressure, the first verticality error and other factors; and the friction and cohesion of the soil are comprehensively analyzed, and the penetration pressure is flexibly corrected, thereby effectively improving the accuracy and reliability of the static drill rooted pile penetration process, ensuring that the pile body always maintains an ideal verticality and angle during the penetration process, thereby effectively improving the accuracy of the verticality and angle of the static drill rooted pile penetration.

[0018] 3. The present invention calculates the first corrected penetration velocity based on the comprehensive first corrected penetration pressure and penetration velocity. By flexibly correcting the penetration velocity, it can achieve precise control of the penetration process, ensuring that the pile body always maintains an ideal verticality and angle during the penetration process, thereby effectively improving the accuracy of the verticality and angle of the static drill rooted pile penetration. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic flow chart of an auxiliary method for verticality and angle of static drilling root pile penetration provided by an embodiment of the present invention; Figure 2 A schematic diagram of the offset angle of a statically drilled root pile provided in this embodiment; Figure 3A schematic diagram of the structure of an auxiliary system for verticality and angle of penetration of static drill rooted piles provided in an embodiment of the present invention.

[0020] In the figure: a, the first static drilled rooted pile; b, the first soil; c, the first ideal penetration direction; d, the offset angle of the first static drilled rooted pile. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Embodiment 1 In order to improve the accuracy of the verticality and angle of static drilling root pile penetration, an auxiliary method for the verticality and angle of static drilling root pile penetration was applied. Reference Figure 1 , which is a flow chart of an auxiliary method for verticality and angle of static drilling root pile penetration provided by an embodiment of the present invention, comprising: S10. Real-time measurement of the penetration process data and soil measurement data of the static drilling root pile, the penetration process data including the penetration speed, penetration pressure, contact area and static drilling root pile offset angle; the soil measurement data including soil shear stress, soil hardness, soil density and soil moisture content; Furthermore, the penetration speed is obtained by a speed sensor; the penetration pressure is obtained by a pressure sensor; the static drill root pile offset angle is obtained by a laser rangefinder; the soil shear stress is obtained by a stress sensor; the soil hardness is obtained by a hardness sensor; the contact area represents the actual contact area between the static drill root pile and the soil; the soil density is measured by a densitometer; the soil water content is measured by a soil moisture sensor; S20. Obtaining a first verticality error according to the penetration process data; Further, Figure 2 A schematic diagram of an offset angle of a static drill rooted pile provided in this embodiment; the first static drill rooted pile a represents the static drill rooted pile in this embodiment; the first soil b represents the soil into which the static drill rooted pile penetrates; the first ideal penetration direction c represents the ideal penetration direction of the static drill rooted pile; the first static drill rooted pile offset angle d represents the offset angle of the static drill rooted pile; Furthermore, the first verticality error is obtained by the offset angle of the statically drilled root pile; the first verticality error is: ; in, Indicates the first verticality error; Indicates the offset angle of static drilled root pile; represents the sine function; This embodiment uses multiple sensors to measure the penetration process data and soil measurement data of the static drill rooted piles in real time, which reflects the comprehensiveness of the data measurement, and obtains the first verticality error according to the offset angle of the static drill rooted piles, providing a data basis for the subsequent correction and adjustment of the penetration pressure and penetration speed, thereby further improving the accuracy of the verticality and angle of the static drill rooted pile penetration.

[0023] S30. According to the soil measurement data, a first soil friction coefficient is obtained; according to the first soil friction coefficient, the contact area and the penetration pressure, a first soil friction force is obtained; a linear regression model is constructed to analyze the soil cohesion to obtain a first soil cohesion force; according to the first soil friction force, the first soil cohesion force, the penetration pressure and the first verticality error, a first corrected penetration pressure is obtained; the first corrected penetration pressure is: ; in, represents the first modified penetration pressure; Indicates penetration pressure; represents the first verticality influencing factor; Indicates the first verticality error; Indicates the preset first verticality error; represents the first soil friction influencing factor; represents the first soil friction; represents the first soil cohesion influencing factor; It indicates the first soil cohesion; Furthermore, the first soil friction coefficient is: ; in, represents the first soil friction coefficient; represents the reference soil friction coefficient; represents the soil shear stress influencing factor; represents soil shear stress; represents the reference soil shear stress; represents the soil hardness influencing factor; Indicates soil hardness; Indicates the reference soil hardness; represents the soil density influencing factor; Indicates soil density; represents the reference soil density; represents the influencing factor of soil moisture content; Indicates soil moisture content; Indicates the reference soil moisture content.

[0024] Furthermore, the first soil friction force is obtained by multiplying the first soil friction coefficient, the contact area and the penetration pressure. The first soil friction force is specifically expressed as: ; in, represents the first soil friction force; represents the first soil friction coefficient; represents the contact area; Indicates penetration pressure.

[0025] Furthermore, the first soil cohesion is: ; in, represents the first soil cohesion; represents soil shear stress; Indicates soil density; Indicates soil moisture content; Indicates soil hardness; , , , and Represents the regression coefficient; each regression coefficient represents the influence of different soil measurement data on soil cohesion.

[0026] S40. Obtaining a first corrected penetration speed according to the penetration speed and the first corrected penetration pressure, so that the static drill rooted pile maintains an ideal verticality and angle during the penetration process; This embodiment obtains the first soil friction coefficient of the soil by comprehensively analyzing the soil measurement data; and obtains the first soil friction force according to the first soil friction coefficient, the contact area and the penetration pressure; on this basis, a linear regression model is constructed to analyze the soil cohesion to obtain the first soil cohesion, and the first corrected penetration pressure is obtained by comprehensively considering the first soil friction force, the first soil cohesion, the penetration pressure, the first verticality error and other factors; and comprehensively analyzes the friction and cohesion of the soil, and flexibly corrects the penetration pressure, thereby effectively improving the accuracy and reliability of the static drill rooted pile penetration process, ensuring that the pile body always maintains an ideal verticality and angle during the penetration process, thereby effectively improving the accuracy of the verticality and angle of the static drill rooted pile penetration.

[0027] Furthermore, the first corrected penetration velocity is: ; in, represents the first corrected penetration velocity; Indicates penetration velocity; represents the first modified penetration pressure influence factor; Indicates the first corrected penetration pressure.

[0028] This embodiment calculates the first corrected penetration speed based on the comprehensive first corrected penetration pressure and penetration speed. Through the flexible correction of the penetration speed, it can achieve precise control of the penetration process, ensuring that the pile body always maintains the ideal verticality and angle during the penetration process, thereby effectively improving the accuracy of the verticality and angle of the static drill rooted pile penetration.

[0029] In order to verify the effectiveness of the auxiliary method for the verticality and angle of the static drilling rooted pile penetration provided by the present embodiment, the present embodiment conducts comparative experiments through multiple comparative experiments, respectively through method 1, method 2 and method 3. Method 1 is an auxiliary method for the verticality and angle of the static drilling rooted pile penetration provided by the present embodiment; method 2 is based on method 1 without considering the correction of the penetration pressure; method 2 is based on method 1 without considering the correction of the penetration speed; the average values ​​of the verticality and angle accuracy of the static drilling rooted pile penetrating the soil in multiple experiments are compared, and the specific comparison results are shown in Table 1; Table 1 Comparison of verticality and angle accuracy of penetration by different methods

[0030] It can be seen from Table 1 that the auxiliary method for the verticality and angle of static drilling rooted pile penetration proposed in this embodiment is better than Method 2 and Method 3 in terms of verticality and angle accuracy, which shows that the auxiliary method for the verticality and angle of static drilling rooted pile penetration proposed in this embodiment has certain effectiveness.

[0031] This embodiment measures the penetration process data and soil measurement data in real time, calculates the first verticality error, calculates the first soil friction coefficient based on the soil measurement data, and calculates the first soil friction force based on the first soil friction coefficient, the contact area and the penetration pressure; uses a linear regression model to analyze and obtain the first soil cohesion, obtains the first corrected penetration pressure based on the first soil friction force, the first soil cohesion and the first verticality error; and calculates the first corrected penetration speed based on the first corrected penetration pressure and the penetration speed. The present invention can effectively improve the accuracy of the verticality and angle of the static drill root pile penetration.

[0032] Embodiment 2 In order to improve the accuracy of the verticality and angle of the static drilling root pile, an auxiliary system for the verticality and angle of the static drilling root pile was applied. Reference Figure 3 , which is a schematic diagram of the structure of an auxiliary system for verticality and angle of static drilling root pile penetration provided by an embodiment of the present invention, comprising: A data measurement module is used to measure the penetration process data and soil measurement data of the static drill rooted pile in real time. The penetration process data includes the penetration speed, penetration pressure, contact area and the deviation angle of the static drill rooted pile; the soil measurement data includes soil shear stress, soil hardness, soil density and soil water content; Furthermore, the penetration speed is obtained by a speed sensor; the penetration pressure is obtained by a pressure sensor; the static drill root pile offset angle is obtained by a laser rangefinder; the soil shear stress is obtained by a stress sensor; the soil hardness is obtained by a hardness sensor; the contact area represents the actual contact area between the static drill root pile and the soil; the soil density is measured by a densitometer; the soil water content is measured by a soil moisture sensor; An error analysis module, used for obtaining a first verticality error according to the penetration process data; Further, Figure 2 A schematic diagram of an offset angle of a static drill rooted pile provided in this embodiment; the first static drill rooted pile a represents the static drill rooted pile in this embodiment; the first soil b represents the soil into which the static drill rooted pile penetrates; the first ideal penetration direction c represents the ideal penetration direction of the static drill rooted pile; the first static drill rooted pile offset angle d represents the offset angle of the static drill rooted pile; Furthermore, the first verticality error is obtained by the offset angle of the statically drilled root pile; the first verticality error is: ; in, Indicates the first verticality error; Indicates the offset angle of static drilled root pile; represents the sine function; This embodiment uses multiple sensors to measure the penetration process data and soil measurement data of the static drill rooted piles in real time, which reflects the comprehensiveness of the data measurement, and obtains the first verticality error according to the offset angle of the static drill rooted piles, providing a data basis for the subsequent correction and adjustment of the penetration pressure and penetration speed, thereby further improving the accuracy of the verticality and angle of the static drill rooted pile penetration.

[0033] A pressure correction module is used to obtain a first soil friction coefficient according to the soil measurement data; obtain a first soil friction force according to the first soil friction coefficient, the contact area and the penetration pressure; construct a linear regression model to analyze the soil cohesion to obtain a first soil cohesion; obtain a first corrected penetration pressure according to the first soil friction force, the first soil cohesion, the penetration pressure and the first verticality error; the first corrected penetration pressure is: ; in, represents the first modified penetration pressure; Indicates penetration pressure; represents the first verticality influencing factor; Indicates the first verticality error; Indicates the preset first verticality error; represents the first soil friction influencing factor; represents the first soil friction; represents the first soil cohesion influencing factor; It indicates the first soil cohesion; Furthermore, the first soil friction coefficient is: ; in, represents the first soil friction coefficient; represents the reference soil friction coefficient; represents the soil shear stress influencing factor; represents soil shear stress; represents the reference soil shear stress; represents the soil hardness influencing factor; Indicates soil hardness; Indicates the reference soil hardness; represents the soil density influencing factor; Indicates soil density; represents the reference soil density; represents the influencing factor of soil moisture content; Indicates soil moisture content; Indicates the reference soil moisture content.

[0034] Furthermore, the first soil friction force is obtained by multiplying the first soil friction coefficient, the contact area and the penetration pressure. The first soil friction force is specifically expressed as: ; in, represents the first soil friction force; represents the first soil friction coefficient; represents the contact area; Indicates penetration pressure.

[0035] Furthermore, the first soil cohesion is: ; in, represents the first soil cohesion; represents soil shear stress; Indicates soil density; Indicates soil moisture content; Indicates soil hardness; , , , and Represents the regression coefficient; each regression coefficient represents the influence of different soil measurement data on soil cohesion.

[0036] This embodiment obtains the first soil friction coefficient of the soil by comprehensively analyzing the soil measurement data; and obtains the first soil friction force according to the first soil friction coefficient, the contact area and the penetration pressure; on this basis, a linear regression model is constructed to analyze the soil cohesion to obtain the first soil cohesion, and the first corrected penetration pressure is obtained by comprehensively considering the first soil friction force, the first soil cohesion, the penetration pressure, the first verticality error and other factors; and comprehensively analyzes the friction and cohesion of the soil, and flexibly corrects the penetration pressure, thereby effectively improving the accuracy and reliability of the static drill rooted pile penetration process, ensuring that the pile body always maintains an ideal verticality and angle during the penetration process, thereby effectively improving the accuracy of the verticality and angle of the static drill rooted pile penetration.

[0037] The speed correction module is used to obtain a first corrected penetration speed according to the penetration speed and the first corrected penetration pressure, so that the static drill root pile maintains an ideal verticality and angle during the penetration process.

[0038] Furthermore, the first corrected penetration velocity is: ; in, represents the first corrected penetration velocity; Indicates penetration velocity; represents the first modified penetration pressure influence factor; Indicates the first corrected penetration pressure.

[0039] This embodiment calculates the first corrected penetration speed based on the comprehensive first corrected penetration pressure and penetration speed. Through the flexible correction of the penetration speed, it can achieve precise control of the penetration process, ensuring that the pile body always maintains the ideal verticality and angle during the penetration process, thereby effectively improving the accuracy of the verticality and angle of the static drill rooted pile penetration.

[0040] Table 2 Comparison of verticality and angle accuracy of penetration of different systems

[0041] In order to verify the effectiveness of the auxiliary system for the verticality and angle of static drill rooted pile penetration provided by the present embodiment, the present embodiment conducts comparative experiments through multiple comparative experiments, respectively through system 1, system 2 and system 3. System 1 is an auxiliary system for the verticality and angle of static drill rooted pile penetration provided by the present embodiment; system 2 is based on system 1 without considering the correction of penetration pressure; system 2 is based on system 1 without considering the correction of penetration speed; the mean values ​​of the verticality and angle accuracy of static drill rooted pile penetration into the soil in multiple experiments are compared, and the specific comparison results are shown in Table 2; It can be seen from Table 2 that the auxiliary system for verticality and angle of static drilling rooted pile penetration proposed in this embodiment is better than system 2 and system 3 in verticality and angle accuracy, which shows that the auxiliary system for verticality and angle of static drilling rooted pile penetration proposed in this embodiment has certain effectiveness.

[0042] This embodiment measures the penetration process data and soil measurement data in real time, calculates the first verticality error, calculates the first soil friction coefficient based on the soil measurement data, and calculates the first soil friction force based on the first soil friction coefficient, the contact area and the penetration pressure; uses a linear regression model to analyze and obtain the first soil cohesion, obtains the first corrected penetration pressure based on the first soil friction force, the first soil cohesion and the first verticality error; and calculates the first corrected penetration speed based on the first corrected penetration pressure and the penetration speed. The present invention can effectively improve the accuracy of the verticality and angle of the static drill root pile penetration.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An auxiliary method for penetrating verticality and angle of static drill root piles, characterized in that: include: S10. Real-time measurement of the penetration process data and soil measurement data of the static drilling root pile, the penetration process data including the penetration speed, penetration pressure, contact area and static drilling root pile offset angle; the soil measurement data including soil shear stress, soil hardness, soil density and soil moisture content; S20. Obtaining a first verticality error according to the penetration process data; S30. According to the soil measurement data, a first soil friction coefficient is obtained; according to the first soil friction coefficient, the contact area and the penetration pressure, a first soil friction force is obtained; a linear regression model is constructed to analyze the soil cohesion to obtain a first soil cohesion force; according to the first soil friction force, the first soil cohesion force, the penetration pressure and the first verticality error, a first corrected penetration pressure is obtained; the first corrected penetration pressure is: ； in, represents the first modified penetration pressure; Indicates penetration pressure; represents the first verticality influencing factor; Indicates the first verticality error; Indicates the preset first verticality error; represents the first soil friction influencing factor; represents the first soil friction; represents the first soil cohesion influencing factor; It indicates the first soil cohesion; S40. Obtain a first corrected penetration speed according to the penetration speed and the first corrected penetration pressure, so that the static drill rooted pile maintains an ideal verticality and angle during the penetration process.

2. The auxiliary method for verticality and angle of static drilling root pile penetration according to claim 1, characterized in that: The penetration speed is obtained by a speed sensor; the penetration pressure is obtained by a pressure sensor; the static drilling root pile offset angle is obtained by a laser rangefinder; the soil shear stress is obtained by a stress sensor; the soil hardness is obtained by a hardness sensor; the soil density is measured by a densitometer; and the soil moisture content is measured by a soil moisture sensor.

3. The auxiliary method for verticality and angle of static drilling root pile penetration according to claim 1, characterized in that: The first soil friction coefficient is: ； in, represents the first soil friction coefficient; represents the reference soil friction coefficient; represents the soil shear stress influencing factor; represents soil shear stress; represents the reference soil shear stress; represents the soil hardness influencing factor; Indicates soil hardness; Indicates the reference soil hardness; represents the soil density influencing factor; Indicates soil density; represents the reference soil density; represents the influencing factor of soil moisture content; Indicates soil moisture content; Indicates the reference soil moisture content.

4. The auxiliary method for verticality and angle of static drilling root pile penetration according to claim 1, characterized in that: The first soil friction force is obtained by multiplying the first soil friction coefficient, the contact area and the penetration pressure. The first soil friction force is specifically expressed as: ； in, represents the first soil friction force; represents the first soil friction coefficient; represents the contact area; Indicates penetration pressure.

5. The auxiliary method for verticality and angle of static drilling root pile penetration according to claim 1, characterized in that: The first soil cohesion: ； in, represents the first soil cohesion; represents soil shear stress; Indicates soil density; Indicates soil moisture content; Indicates soil hardness; , , , and represents the regression coefficient.

6. The auxiliary method for penetrating verticality and angle of static drilling root pile according to claim 1, characterized in that: The first corrected penetration velocity is: ； in, represents the first corrected penetration velocity; Indicates penetration velocity; represents the first modified penetration pressure influence factor; Indicates the first corrected penetration pressure.

7. An auxiliary system for the verticality and angle of static drilling root pile penetration, characterized by: The auxiliary system for the verticality and angle of static drilling root pile penetration comprises: A data measurement module is used to measure the penetration process data and soil measurement data of the static drill rooted pile in real time. The penetration process data includes the penetration speed, penetration pressure, contact area and the deviation angle of the static drill rooted pile; the soil measurement data includes soil shear stress, soil hardness, soil density and soil water content; An error analysis module, used for obtaining a first verticality error according to the penetration process data; A pressure correction module is used to obtain a first soil friction coefficient according to the soil measurement data; obtain a first soil friction force according to the first soil friction coefficient, the contact area and the penetration pressure; construct a linear regression model to analyze the soil cohesion to obtain a first soil cohesion; obtain a first corrected penetration pressure according to the first soil friction force, the first soil cohesion, the penetration pressure and the first verticality error; the first corrected penetration pressure is: ； in, represents the first modified penetration pressure; Indicates penetration pressure; represents the first verticality influencing factor; Indicates the first verticality error; Indicates the preset first verticality error; represents the first soil friction influencing factor; represents the first soil friction; represents the first soil cohesion influencing factor; It indicates the first soil cohesion; The speed correction module is used to obtain a first corrected penetration speed according to the penetration speed and the first corrected penetration pressure, so that the static drill root pile maintains an ideal verticality and angle during the penetration process.

8. The auxiliary system for verticality and angle of static drilling root pile penetration according to claim 7, characterized in that: The penetration speed is obtained by a speed sensor; the penetration pressure is obtained by a pressure sensor; the static drilling root pile offset angle is obtained by a laser rangefinder; the soil shear stress is obtained by a stress sensor; the soil hardness is obtained by a hardness sensor; the soil density is measured by a densitometer; and the soil moisture content is measured by a soil moisture sensor.

9. The auxiliary system for verticality and angle of static drilling root pile penetration according to claim 7, characterized in that: The first soil friction coefficient is: ； in, represents the first soil friction coefficient; represents the reference soil friction coefficient; represents the soil shear stress influencing factor; represents soil shear stress; represents the reference soil shear stress; represents the soil hardness influencing factor; Indicates soil hardness; Indicates the reference soil hardness; represents the soil density influencing factor; Indicates soil density; represents the reference soil density; represents the influencing factor of soil moisture content; Indicates soil moisture content; Indicates the reference soil moisture content.

10. The auxiliary system for verticality and angle of static drilling root pile penetration according to claim 7, characterized in that: The first corrected penetration velocity is: ； in, represents the first corrected penetration velocity; Indicates penetration velocity; represents the first modified penetration pressure influence factor; Indicates the first corrected penetration pressure.

Images