A control method for a drilling and coring device for bridge pile foundation detection

Abstract

The present application relates to the field of material sampling and testing, and specifically to a control method for a drilling and coring device for bridge pile foundation detection, including a sampling tube and a base; an infrared rangefinder is installed on the vertical rod of a slider on an annular guide rail on the base; the sampling tube passes through a sleeve, the bottom end of the sleeve is connected to the base, the hydraulic cylinder of the hydraulic equipment is hinged on the base, a baffle hinged to the top of the piston rod of the hydraulic equipment is pressed against the top of the sleeve, an annular groove is provided on the outer wall of the top of the sleeve, and a pressure sensor is installed between the baffle and the annular groove; a processor is installed in a box on the base; during the drilling and coring process, the slider moves along the annular guide rail, the processor collects data output by the infrared rangefinder and the pressure sensor and obtains the offset direction and offset angle of the sampling tube, and adjusts the pressure of the hydraulic equipment according to the offset direction and offset angle. The present application solves the problem that the sampling tube cannot automatically correct the deviation in real time when sampling and drilling and cutting the solid material to be analyzed.

Description

Technical Field

[0001] The present application relates to the field of material sampling and testing, and in particular to a control method for a coring device for bridge pile foundation testing. Background Art

[0002] When analyzing the physical properties of some materials, sampling devices are often used to drill holes in the materials and take cores. For example, a sampling device is used to drill holes and extract the cores of concrete materials such as foundation piles or rock materials. By performing strength tests on the cores, the physical properties of concrete materials such as foundation piles or rock materials can be obtained, which is convenient for bridge construction.

[0003] When using a sampling device to drill a long rock core, it is necessary to ensure that the sampling tube in the drilling device cannot tilt or deviate at all times to avoid damaging the sampling device. CN110487589A discloses a pile foundation coring detection method, in which the sampling device used in the method measures the distance of the sampling tube by an infrared rangefinder to correct the deviation of the sampling tube, but the device needs to correct the deviation once every long period of time with human assistance during use, which may result in the inability to perform timely and automatic correction at some times, resulting in the sampling device being unable to work normally or being damaged. Summary of the invention

[0004] In order to solve the problem that the sampling tube cannot automatically correct its deviation in real time when sampling, drilling and cutting the solid material to be analyzed, the present application provides a control method for a drilling and coring device for bridge pile foundation inspection.

[0005] The present application provides a control method for a drilling and coring device, which uses a drilling and coring device for bridge pile foundation detection, including: a sampling tube, a base, the sampling tube has an external thread, a support frame for fixing the sampling tube is installed on the base, the sampling tube is used to cut core sampling, an annular guide rail is installed on the base, a movable slider is installed on the annular guide rail, and more than two infrared rangefinders are installed on the vertical rod of the slider; the support frame includes more than three hydraulic devices and a sleeve, the sampling tube passes through the sleeve, the bottom end of the sleeve is connected to the base, the hydraulic cylinder of the hydraulic device is hinged to the base, and a baffle hinged to the top of the piston rod of the hydraulic device is pressed against the top of the sleeve, and the outer An annular groove is provided on the wall, and a pressure sensor is installed between the baffle and the annular groove; a processor is installed in a box on the base; during the drilling and coring process, the slide moves along the annular guide rail, and the processor is used to adjust the pressure of the hydraulic equipment according to the data output by the infrared rangefinder and the pressure sensor; the pressure sensor is an optical fiber pressure sensor, and the optical fiber part of the optical fiber pressure sensor is wound inside the annular groove, and the optical fiber part fills the annular groove when winding, so that the baffle is in contact with the optical fiber part; when the bottom end of the sleeve is connected to the base, a plurality of pull rods are used for connection, and one end of each pull rod is hinged to the bottom end of the sleeve, and the other end is hinged to the base; the method comprises:

[0006] Collecting data output by the infrared rangefinder and the pressure sensor, the data output by the infrared rangefinder indicates the distance between the infrared rangefinder and the sampling tube;

[0007] S1: Calculate the difference between the output data of each infrared rangefinder at each moment and the standard data, and record it as the offset value of each infrared rangefinder at each moment;

[0008] S2: at a certain time, according to the offset value of the maximum distribution difference of all infrared rangefinders and the distribution of the data output by the pressure sensor, the offset direction and the offset angle of the sampling tube are obtained;

[0009] The several moments are all the moments in the process of the slider sliding one circle, and the data collected by the pressure sensor at each moment includes the pressure values ​​of all positions;

[0010] S21: Screening out noise interference moments according to the offset value of each infrared rangefinder at all times and the pressure values ​​at all positions, specifically including:

[0011] Clustering the offset values ​​of all infrared rangefinders to obtain several categories; obtaining N categories with the largest differences, where N represents the number of infrared rangefinders; the offset values ​​in the N categories represent the offset values ​​with the largest distribution difference;

[0012] Obtain all offset values ​​belonging to the same infrared rangefinder in N categories, record them as reference offset values ​​of each infrared rangefinder, and record the time when data corresponding to the reference offset value is collected as the offset time set s of each infrared rangefinder;

[0013] For each moment in the offset moment set s of all infrared rangefinders, the noise interference moment is screened out according to the distribution of the pressure values ​​of all positions at each moment;

[0014] S22: for all moments after the noise interference moment is screened out, re-execute the method included in S21 until there is no noise interference moment;

[0015] S23: Calculating the offset direction and offset angle of the sampling tube according to the offset values ​​of the infrared rangefinder at all times when there is no noise interference;

[0016] S3: Adjust the pressure of the hydraulic equipment according to the offset direction and offset angle.

[0017] Preferably, for each moment in the offset moment set s of all infrared rangefinders, filtering out the noise interference moment according to the distribution of the pressure values ​​of all positions at each moment includes the following specific steps:

[0018] S21-1: taking out N moments from the offset moment set s of N infrared rangefinders respectively;

[0019] S21-2: Calculate the distribution of pressure values ​​output by the pressure sensor at all positions at each moment in the N moments, record the pressure distribution at each moment, obtain the difference of the pressure distribution at the N moments, and determine whether there is a noise interference moment in the N moments according to the difference of the pressure distribution. If there is a noise interference moment, remove the noise interference moment from all the moments.

[0020] When there is no noise interference moment, N moments are taken out from the offset moment set s of the N infrared rangefinders respectively, and S21-2 is repeatedly executed until there is a noise interference moment among the N moments, and the noise interference moment is removed from all the moments.

[0021] Preferably, the distribution of the pressure values ​​output by the pressure sensor at all positions at each moment in the N moments is recorded as the pressure distribution at each moment, the difference in the pressure distribution at the N moments is obtained, and it is determined whether there is a noise interference moment in the N moments according to the difference in the pressure distribution. When there is a noise interference moment, the noise interference moment is removed from all the moments, and the specific steps included are as follows:

[0022] Cluster the pressure values ​​output by the pressure sensor at all positions at each moment to obtain a number of first categories, record the mean of all pressure values ​​in each first category as the distribution feature of each first category, and use the two-dimensional vector formed by the mean and variance of the distribution features of all first categories as the pressure distribution at each moment;

[0023] Calculate the mean of the Euclidean distances between the pressure distributions at N moments. When the mean of the Euclidean distances is less than a first preset threshold, there is no noise interference moment among the N moments. When the mean of the Euclidean distances is greater than or equal to the first preset threshold, there is a noise interference moment among the N moments. When there is a noise interference moment, among the pressure distributions at N moments, the pressure distribution with the largest average Euclidean distance from other pressure distributions is taken as an abnormal pressure distribution, and the moment corresponding to the abnormal pressure distribution is taken as the noise interference moment.

[0024] Preferably, the method included in S21 is re-executed until there is no noise interference, and the specific steps include the following:

[0025] When S21 - 2 is repeatedly executed, if there is no noise interference moment among any of the N moments selected, the execution of S21 - 2 and the method included in S21 is stopped.

[0026] Preferably, the method of calculating the offset direction and offset angle of the sampling tube according to the offset value of the infrared rangefinder at all times when there is no noise interference includes the following specific steps:

[0027] S22 re-executes the method included in S21 until there is no noise interference, and for the N categories with the largest differences, obtains the mean of the offset values ​​in each category to obtain N average offset values;

[0028] Obtain the difference between the largest average offset value and the smallest average offset value among the N average offset values, and record the ratio of the difference to the distance from the uppermost infrared rangefinder to the lowermost infrared rangefinder on the vertical pole as b, and the arc tangent angle corresponding to b as the offset angle;

[0029] For N average offset values, in the category corresponding to the maximum average offset value, obtain a moment corresponding to an offset value closest to the maximum average offset value, obtain the position of the slider on the annular guide rail at this moment, and record it as position P. When the output data of the infrared rangefinder at the top of the vertical rod is less than the output data of the infrared rangefinder at the bottom, the offset direction is the direction in which the center of the annular guide rail points to position P; when the output data of the infrared rangefinder at the top of the vertical rod is greater than the output data of the infrared rangefinder at the bottom, the offset direction is the opposite direction in which the center of the annular guide rail points to position P.

[0030] Preferably, when the offset angle is greater than a preset angle threshold, the coring process is suspended.

[0031] Preferably, the standard data is data output by an infrared rangefinder before coring.

[0032] The beneficial effects of the technical solution of this application are:

[0033] The hydraulic equipment, sleeve and base of the present application form a stable support structure, providing a reliable bracket support foundation for subsequent automatic deviation correction.

[0034] The slider of the present application can move along the annular guide rail, and the outer wall of the top of the sleeve has an annular groove, and a pressure sensor is installed between the baffle and the annular groove, so as to ensure that the tilt and force of the sampling tube on the sampling device can be obtained in real time, providing a data basis for subsequent real-time automatic correction.

[0035] At certain moments, the offset direction and offset angle of the sampling tube are obtained according to the offset value of the maximum distribution difference of all infrared rangefinders and the distribution of the data output by the pressure sensor, and the pressure of the hydraulic equipment is adjusted according to the offset direction and offset angle. This process avoids the data noise interference problem caused by the cutting and drilling sampling process and ensures the accuracy of the correction.

[0036] Finally, the pressure of the hydraulic equipment is adjusted according to the offset direction and offset angle, which solves the problem that the sampling tube cannot automatically correct the deviation in real time when sampling, drilling and cutting the solid material to be analyzed. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a schematic diagram of the main structure of a drilling and coring device for bridge pile foundation inspection provided by one embodiment of the present application;

[0039] Figure 2 A schematic diagram of the structure of a slider and an annular guide rail of a coring device for bridge pile foundation inspection provided by one embodiment of the present application;

[0040] Figure 3 A schematic diagram of a support frame structure of a drilling and coring device for bridge pile foundation inspection provided by one embodiment of the present application;

[0041] Figure 4 An enlarged view of the annular groove area provided for one embodiment of the present application;

[0042] Figure 5 A schematic diagram of the driving structure of a sampling tube and a motor provided in one embodiment of the present application;

[0043] Figure 6 A three-dimensional diagram of a coring device for bridge pile foundation inspection provided by one embodiment of the present application;

[0044] Figure 7 A flowchart of the steps of a control method for a coring device provided in one embodiment of the present application.

[0045] In the figure: 1. sampling tube; 2. base; 3. annular guide rail; 4. slider; 5. wheel; 6. vertical rod; 7. infrared rangefinder; 8. sleeve; 9. pull rod; 10. hydraulic cylinder; 11. piston rod; 12. baffle; 13. annular groove; 14. pressure sensor; 15. box; 16. processor; 17. pile foundation to be sampled; 18. upper baffle; 19. motor; 20. screw rod. DETAILED DESCRIPTION

[0046] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following is a detailed description of the control method of a drilling coring device for bridge pile foundation detection proposed in the present application, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0047] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0048] The specific scheme of the control method of a coring device for bridge pile foundation inspection provided by the present application is described in detail below with reference to the accompanying drawings.

[0049] The present application provides a drilling and coring device for bridge pile foundation detection, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, the device comprises a sampling tube 1 and a base 2. The sampling tube 1 has an external thread and is used for cutting core samples.

[0050] The base 2 of the device is placed on the pile foundation 17 to be sampled during coring. Before coring, the base 2 needs to be manually adjusted to be level and fixed to the pile foundation 17 to be sampled. A feasible fixing method is: pre-drill a number of holes (for example, 8 holes) on the pile foundation 17 to be sampled, remove half of the screw rod (the lower half) into the hole and pour concrete to fix the screw rod and the pile foundation 17 to be sampled together, then insert the other half of the screw rod (the upper half) into the screw hole on the base 2, screw the screw nut on the screw rod, and then fix the base 2 on the pile foundation 17 to be sampled. In other embodiments, the screw rod and the screw nut can be fixed by pouring concrete again. In other embodiments, other methods can be used to fix the base 2 on the pile foundation 17 to be sampled. This embodiment does not limit the fixing method.

[0051] An annular guide rail 3 is also installed on the base 2, and a slider 4 that can move along the annular guide rail 3 is installed on the annular guide rail 3. In this embodiment, three infrared rangefinders 7 are installed on the vertical rod 6 (such as a metal prism) of the slider 4. In other embodiments, other numbers of infrared rangefinders 7 can be installed, but the number needs to be greater than or equal to 2.

[0052] In this embodiment, the slider 4 controls the rotation of the wheel 5 through a stepper motor to realize the slider 4 sliding on the annular guide rail 3. In other embodiments, a linear motor can be used to realize the slider 4 sliding on the annular guide rail 3. Figure 2 and Figure 6 As shown, Figure 2 That is Figure 6 Part of the enlarged view of the slider 4 shows that the slider 4 drives the vertical rod to move along the annular guide rail by rotating the wheel 5 on the annular guide rail 3 .

[0053] The sampling tube 1 is located on the vertical central axis of the annular guide rail 3. The infrared rangefinder 7 is always facing the sampling tube 1 during the sliding process of the slider 4. The infrared rangefinder 7 measures the distance between the infrared rangefinder 7 and the sampling tube 1 every 1 second. The infrared rangefinders 7 in this embodiment are evenly spaced on the vertical rod 6. In other embodiments, the intervals between the infrared rangefinders 7 can be set to other values ​​or other distribution methods. This embodiment does not limit the distribution of the infrared rangefinders 7 on the vertical rod 6.

[0054] A support frame for fixing the sampling tube 1 is installed on the base 2. In this embodiment, the support frame includes three hydraulic devices. In other embodiments, more than three hydraulic devices can be used. These hydraulic devices are evenly spaced around the sampling tube 1. At the same time, the support frame also includes a sleeve 8. The sampling tube 1 passes through the sleeve 8. The inner wall of the sleeve 8 has a thread that fits with the outer wall of the sampling tube 1.

[0055] The hydraulic cylinder 10 of the hydraulic equipment is hingedly connected to the base 2, and the baffle 12 hingedly connected to the top of the piston rod 11 of the hydraulic equipment is pressed against the top of the sleeve 8; the outer wall of the top of the sleeve 8 has an annular groove 13, and a pressure sensor 14 is installed between the baffle 12 and the annular groove 13, such as Figure 4 As shown in A in FIG. 1 , A is the magnified result of the local area after the pressure sensor 14 is installed.

[0056] The pressure sensor 14 used in this embodiment is a fiber optic pressure sensor. The optical fiber portion of the fiber optic pressure sensor is wound in the annular groove 13. It should be noted that the optical fiber needs to fill the annular groove 13 when winding to ensure that the baffle 12 is in contact with the optical fiber; when the baffle 12 is in contact with the optical fiber and applies pressure to the optical fiber, the pressure applied to the optical fiber can be obtained. Other embodiments can install a miniature spring pressure sensor between the baffle 12 and the annular groove 13, and some other embodiments can install a thin film sensor. In different embodiments, the annular groove 13 of different depths can be designed according to the different pressure sensors 14 installed. This embodiment does not limit the specific type of pressure sensor 14.

[0057] It should also be noted that when the baffle 12 is pressed against the sleeve 8, the friction between the baffle 12 and the sleeve 8 is relied upon to prevent the sleeve 8 from moving up and down. In other embodiments, the baffle 12 and the sleeve 8 can be fixedly connected by bolts. In other embodiments, the baffle 12 can be directly welded to the sleeve 8 to further fix the sleeve 8.

[0058] In addition, the bottom end of the sleeve 8 is connected to the base 2. The purpose is: considering that all hydraulic equipment exerts an upward combined force on the sleeve 8, this combined force will inhibit or prevent the sampling tube 1 from drilling and cutting downward. Therefore, connecting the bottom end of the sleeve 8 to the base 2 can further offset the combined force, so that the hydraulic equipment, the sleeve 8 and the base 2 form a stable support structure.

[0059] The connection method of this embodiment is: use three tie rods 9 (for example, metal tie rods of a triangular steel structure) for connection, these tie rods 9 are evenly spaced around the sleeve 8, one end of each tie rod 9 is hinged to the bottom end of the sleeve 8, and the other end is hinged to the base 2. In other embodiments, a metal cable chain can be used to connect the bottom end of the sleeve 8 to the base 2.

[0060] Furthermore, a metal box 15 is installed on the base 2, and a processor 16 (CPU) is installed in the box 15. The computer program in the processor 16 executes a control method for a drilling and coring device when it is running. The control method is used to process the data output by the infrared rangefinder 7 and the pressure sensor 14, wherein the infrared rangefinder 7 transmits the output data (that is, the distance between the infrared rangefinder 7 and the sampling tube 1) to the processor 16 via a Bluetooth device, and the pressure sensor 14 transmits the output data (that is, the pressure value) to the processor 16 via a data line. At the same time, the processor 16 is connected to the hydraulic equipment via the data line, thereby controlling the pressure output by each hydraulic equipment.

[0061] The working principle of the sampling device of this embodiment when drilling, cutting and coring is:

[0062] Before drilling, fix the base 2 on the pile foundation 17 to be sampled and adjust the level, then adjust the output pressure of each hydraulic device so that the sleeve 8 and the sampling tube 1 are in a vertical direction, and at the same time correct the infrared rangefinder 7 so that the infrared rangefinder 7 faces the central axis of the sampling tube 1.

[0063] Then, the stepper motor driving the slider 4 is turned on, so that the slider 4 moves at a constant speed on the annular guide rail 3, for example, at a speed of one meter per second. Other moving speeds may be set to other speeds in other embodiments, which are not specifically limited in this embodiment. While the slider 4 is sliding, the sampling barrel 1 cuts downward to drill and coring. During the cutting and drilling and coring process, the processor 16 processes the data output by the infrared rangefinder 7 and the pressure sensor 14, and controls the output pressure of different hydraulic devices to correct the sleeve 8 and the sampling barrel 1, so as to prevent the sampling barrel 1 from being offset or tilted during the drilling process.

[0064] like Figure 7 As shown, the present embodiment provides a control method for a drilling and coring device, which is used to control the pressure output by each hydraulic device in a drilling and coring device for bridge pile foundation detection, and specifically to correct the deviation of the sleeve 8 and the sampling tube 1 by controlling the output pressure of different hydraulic devices. The method comprises: calculating the difference between the output data of each infrared rangefinder 7 and the standard data at each moment, and recording it as the offset value of each infrared rangefinder 7 at each moment; at several moments, according to the offset value of the maximum distribution difference of all infrared rangefinders 7 and the distribution of the data output by the pressure sensor 14, the offset direction and offset angle of the sampling tube 1 are obtained, and the output pressure of the piston rod 11 is adjusted according to the offset direction and the offset angle (that is, the hydraulic device is controlled).

[0065] Specifically include:

[0066] Step S1, calculating the difference between the output data of each infrared rangefinder at each moment and the standard data, and recording it as the offset value of each infrared rangefinder at each moment.

[0067] This embodiment takes into account that the sampling tube 1 may be tilted during the cutting and drilling process. When the length of the drilled core is long, such as 1 to 10 meters, a slight tilt offset will have a greater impact on the drilling process. Therefore, it is necessary to monitor the possible slight tilt of the sampling tube 1 in real time, and then adjust the hydraulic equipment in real time based on the tilt to correct the tilt. This embodiment uses an offset value to describe the tilt.

[0068] As an example, calculating the difference between the output data of each infrared rangefinder 7 at each moment and the preset standard data, which is recorded as the offset value of each infrared rangefinder 7 at each moment, includes the following steps:

[0069] Before drilling, the distance between each infrared rangefinder 7 and the sampling tube 1 is obtained by using the infrared rangefinder 7, which is recorded as standard data. The absolute value of the difference between the output data of each infrared rangefinder 7 and the standard data at each moment is calculated and recorded as the offset value of each infrared rangefinder 7 at each moment.

[0070] In this embodiment, every second is a moment.

[0071] Step S2: at a certain time, according to the offset value of the maximum distribution difference of all infrared rangefinders and the distribution of the data output by the pressure sensor, the offset direction and the offset angle of the sampling tube are obtained.

[0072] Further consideration is given to the unavoidable vibration in this embodiment, and the vertical rod 6 cannot be stably fixed because it moves along the annular guide rail 3, which causes the infrared rangefinder 7 on the vertical rod 6 to shake, resulting in non-negligible noise in the data output by the infrared rangefinder 7. In addition, the outer surface of the sampling tube 1 is threaded, resulting in different results measured by different infrared rangefinders 7. At the same time, the pressure sensor 14 is directly installed on the sleeve 8, and the sleeve 8 is in direct contact with the sampling tube 1. Therefore, under the influence of vibration, the data output by the pressure sensor 14 also has unavoidable noise. Therefore, it is impossible to directly use the data output by the infrared rangefinder 7 and the pressure sensor 14 to control the hydraulic equipment for deviation correction.

[0073] This embodiment obtains the offset direction and offset angle of the sampling tube 1 according to the offset value of the maximum distribution difference of all infrared rangefinders 7 and the distribution of the data output by the pressure sensor 14. In this process, on the one hand, it is considered that the vibration conditions at different positions on the same vertical rod 6 have certain similarities or similarities, so multiple infrared rangefinders 7 are installed on the vertical rod 6 at the same time, and the noise interference is offset as much as possible by the multiple infrared rangefinders 7. On the other hand, the inclination of the sampling tube 1 can be described by the output data of the infrared rangefinder 7 (that is, the distance between the infrared rangefinder 7 and the sampling tube 1), and can also be described by the pressure value output by the pressure sensor 14. Even if there is noise in both, the influence of the noise can be further offset by fusing the data output by the two.

[0074] The offset value of the maximum distribution difference of all the infrared rangefinders 7 describes the maximum difference in output data between the infrared rangefinders 7 on the same vertical rod 6, wherein the influence of vibration or external thread is the same to a certain extent. When the sampling tube 1 is tilted, the data measured by the infrared rangefinders 7 at different positions are different. Therefore, the maximum difference in output data between the above-mentioned infrared rangefinders 7 includes the data measured by the infrared rangefinders 7 at different positions without noise interference.

[0075] Therefore, the above process can avoid the interference of noise when obtaining the offset direction and offset angle.

[0076] As an optional example, at several moments, the offset direction and offset angle of the sampling tube 1 are obtained according to the offset values ​​of the maximum distribution differences of all infrared rangefinders 7 and the distribution of the data output by the pressure sensor 14, including the following method:

[0077] At each moment, the offset value of each infrared rangefinder 7 is obtained. A number of moments are obtained (for example, all moments during each sliding cycle of the slider 4; other embodiments may also set other numbers of moments, for example, every 10 moments). At these moments, one offset value is selected from the offset values ​​of all infrared rangefinders 7. For example, if there are N infrared rangefinders 7, N offset values ​​are selected so that the sum of the absolute values ​​of the differences between the N offset values ​​is the largest. At this time, the N offset values ​​are the offset values ​​with the maximum distribution difference of all infrared rangefinders 7. N represents the number of infrared rangefinders 7.

[0078] The difference between the largest offset value and the smallest offset value among the N offset values ​​is obtained, and the ratio of the difference to the distance from the top infrared rangefinder 7 to the bottom infrared rangefinder 7 (the distance between the centers of the photosensitive elements of the infrared rangefinder 7) is recorded as a, and the arc tangent angle corresponding to a (that is, acrtan (a), acrtan represents the arc tangent function) is taken as the offset angle (or the tilt direction).

[0079] The time corresponding to the largest offset value among the N offset values ​​is obtained, and the position P of the slider 4 on the annular guide rail 3 at that time is obtained. When the distance of the uppermost infrared rangefinder 7 is smaller than the distance of the lowermost infrared rangefinder 7, it indicates that the sampling tube 1 is deviated to the position P of the slider 4, and the offset direction at this time is the direction in which the center of the annular guide rail 3 points to the position P. When the distance of the uppermost infrared rangefinder 7 is larger than the distance of the lowermost infrared rangefinder 7, the offset direction is the opposite direction of the direction in which the center of the annular guide rail 3 points to the position P.

[0080] In addition, at each moment, the data output by the pressure sensor 14 is obtained, and the data output by the pressure sensor 14 includes the pressure value at each position. For example, when an optical fiber pressure sensor is used, the pressure value at each position on the sleeve 8 is obtained, and when a spring pressure sensor is used, the pressure value at each position where the baffle 12 contacts the pressure sensor 14 is obtained.

[0081] At the above-mentioned several moments, the average of the pressure values ​​at each position at these moments is obtained, and recorded as the average pressure value of each position. If the sum of the average pressure values ​​of all positions on a horizontal line passing through the center of the sleeve 8 is the largest, it means that the horizontal line is the tilt direction of the sampling tube 1. In this embodiment, the direction of the bisector of the angle between the above-mentioned offset direction and the horizontal line is taken as the final offset direction.

[0082] At this point, the deviation direction and deviation angle of the sampling tube 1 are obtained.

[0083] It should be noted that when the difference between the largest offset value and the smallest offset value among the above N offset values ​​is less than a certain value (for example, less than 1 degree), it means that the sampling tube 1 has no tilt offset. At this time, there is no need to calculate the offset direction and offset angle, and no need to perform correction.

[0084] As a preferred example, at several moments, according to the offset values ​​of the maximum distribution differences of all infrared rangefinders 7 and the distribution of the data output by the pressure sensor 14, the offset direction and the offset angle of the sampling tube 1 are obtained, including the following method:

[0085] S21: performing K-means clustering on the offset values ​​of all infrared rangefinders 7 at a number of moments to obtain 5 categories. In other embodiments, other numbers of categories may be obtained, as long as the number of obtained categories is greater than the number of infrared rangefinders 7. The purpose is to perform an overall analysis on all offset values ​​in each category to avoid noise interference when processing a single offset value.

[0086] Get the mean of the offset value of each category, get the means of any N categories from all categories, and determine whether the sum of the means of these N categories is the largest. When the sum of the means of the N categories is the largest, these N categories are the N categories with the largest differences, and the offset values ​​in these N categories are also the offset values ​​with the maximum distribution differences of all infrared rangefinders 7.

[0087] For the N categories with the largest differences, all offset values ​​belonging to the same infrared rangefinder 7 in the N categories are obtained and recorded as the reference offset value of each infrared rangefinder 7. The time when the data corresponding to the reference offset value is collected is recorded as the offset time set s of each infrared rangefinder 7.

[0088] The above considerations indicate that the impact of vibration on the same vertical rod 6 is the same to a certain extent, and when the sampling tube 1 is tilted, the data measured by the infrared rangefinder 7 at different positions are different, and the reference offset values ​​obtained under the offset time set s have large differences. Therefore, the reference offset values ​​obtained under the offset time set s are compared with the offset values ​​at other times. To a certain extent, they can better describe the distribution of the data measured by the infrared rangefinder 7 without noise interference.

[0089] Next, the noise interference moments are screened out according to the distribution of the pressure values ​​of all positions at each moment in the offset moment set s of all infrared rangefinders 7 .

[0090] This process further screens and verifies the offset time set s according to the distribution of pressure values ​​at all positions under the offset time set s, so as to further filter out the noisy offset values ​​that may be contained in the offset time set s, so that the reference offset value obtained under the offset time set s can further describe the distribution of the data measured by the infrared rangefinder 7 without actual noise interference.

[0091] S22: For all moments after the noise interference moment is screened out, the method included in S21 is re-executed, that is, K-means clustering is performed again on the offset values ​​of all infrared rangefinders 7 at several moments after the screening, and N categories with the largest differences are obtained again, and the noise interference moment is screened out again, and so on, until there is no noise interference moment.

[0092] S23: Calculate the deviation direction and deviation angle of the sampling tube 1 according to the deviation value of the infrared rangefinder 7 at all times when there is no noise interference.

[0093] The biggest difference between the above preferred example and the above optional example is that the preferred example avoids the problem of interference by obvious noise by filtering out some offset values ​​at the moment of obvious noise interference. At the same time, the above method combines the pressure values ​​of all positions of the pressure sensor 14 at each moment with the offset of the infrared rangefinder 7 to filter out noise, and further combines the infrared rangefinder 7 with the pressure sensor 14, so that the obtained offset direction and offset angle are more accurate and reliable.

[0094] As an optional example, the noise interference moment is screened out according to the distribution of the pressure values ​​of all positions at each moment in the offset moment set s of all infrared range finders 7, including the method of:

[0095] For all moments in the offset moment set s of all infrared rangefinders 7, the pressure values ​​of all positions at these moments are obtained and linear normalization is performed. When the variance of the pressure value after linear normalization is greater than the threshold value th, it means that the pressure value distribution under the offset moment set s is relatively discrete. However, when the sampling tube 1 is tilted and offset, the pressure values ​​at these moments should be concentratedly distributed, which means that the offset moment set s contains obvious noise interference. At this time, all moments in the offset moment set s are eliminated. In other embodiments, some moments in s can also be randomly eliminated. In some other embodiments, when the mean of the absolute value of the difference between the pressure value at a certain moment and the pressure value at other moments is the largest, the moment is eliminated from the offset moment set s. The deviation value at the moment eliminated by this process or the data output by the infrared rangefinder 7 has obvious noise (i.e., the noise interference moment). This embodiment is described by taking th=0.45 as an example, and other values ​​can be set in other embodiments.

[0096] As a preferred example, the noise interference moment is screened out according to the distribution of the pressure values ​​of all positions at each moment in the offset moment set s of all infrared rangefinders 7, including the method of:

[0097] S21-1: taking out N moments from the offset moment set s of the N infrared range finders 7 respectively;

[0098] S21-2: Obtain the distribution of pressure values ​​output by the pressure sensor 14 at all positions at each moment in N moments, record the pressure distribution at each moment, obtain the difference of the pressure distribution at N moments, and determine whether there is a noise interference moment in the N moments according to the difference of the pressure distribution. If there is a noise interference moment, remove the noise interference moment from all the moments;

[0099] When there is no noise interference moment, N moments are taken out from the offset moment set s of the N infrared rangefinders 7, and S21-2 is repeatedly executed until there is a noise interference moment among the N moments, and the noise interference moment is removed from all the moments.

[0100] As a preferred example, the distribution of pressure values ​​output by the pressure sensor 14 at all positions at each moment in N moments is obtained, recorded as the pressure distribution at each moment, the difference in the pressure distribution at N moments is obtained, and it is determined whether there is a noise interference moment in the N moments according to the difference in the pressure distribution. When there is a noise interference moment, the noise interference moment is removed from all the moments. The specific steps included are as follows:

[0101] The pressure values ​​output by the pressure sensor 14 at all positions at each moment are clustered using K-means to obtain a number of first categories (for example, 4 first categories; other numbers of first categories may be obtained in other embodiments, which are not specifically limited in this embodiment). The mean of all pressure values ​​in each first category is recorded as the distribution feature of each first category, and the two-dimensional vector formed by the mean and variance of the distribution features of all first categories is used as the pressure distribution at each moment. In this embodiment, the two-dimensional vectors are normalized into unit vectors.

[0102] The mean of the Euclidean distances between the pressure distributions at N moments is calculated. When the mean of the Euclidean distances is less than the first preset threshold value th1, there is no noise interference moment in the N moments. When the mean of the Euclidean distances is greater than or equal to the first preset threshold value, there is a noise interference moment in the N moments. When there is a noise interference moment, the pressure distribution with the largest average Euclidean distance from other pressure distributions in the pressure distributions at N moments is taken as an abnormal pressure distribution, and the moment corresponding to the abnormal pressure distribution is taken as the noise interference moment. This embodiment is described by taking th1=0.5 as an example, and other embodiments may be set to other values.

[0103] It should be noted that when S21-2 is repeatedly executed, if there is no noise interference moment in any of the N moments, it means that the obvious noise has been eliminated, and the execution of S21-2 and the method included in S21 is stopped. That is, the N categories with the largest differences obtained again can better describe the distribution of the data measured by the infrared rangefinder 7 without noise interference to a certain extent.

[0104] As a preferred example, the offset direction and offset angle of the sampling tube 1 are calculated according to the offset value of the infrared rangefinder 7 at all times when there is no noise interference, including the following method:

[0105] After the execution of S21-2 and the method included in S21 is stopped, for the N categories with the largest differences obtained again, the mean of the offset values ​​in each category is obtained to obtain N average offset values.

[0106] The difference between the largest average offset value and the smallest average offset value among the N average offset values ​​is obtained, and the ratio of the difference to the distance from the top infrared rangefinder 7 to the bottom infrared rangefinder 7 is recorded as b, and the arc tangent angle corresponding to b is used as the offset angle.

[0107] Obtain the N average offset values, and in the category corresponding to the largest average offset value, obtain a time corresponding to an offset value closest to the maximum average offset value, and obtain the position of the slider 4 on the annular guide rail 3 at that time. When the distance of the uppermost infrared rangefinder 7 is less than the distance of the lowermost infrared rangefinder 7, it indicates that the sampling tube 1 is tilted toward the position of the slider 4 on the annular guide rail 3, and the offset direction at this time is from the center of the annular guide rail 3 to the direction of the position of the slider 4. When the distance of the uppermost infrared rangefinder 7 is greater than the distance of the lowermost infrared rangefinder 7, the offset direction is from the center of the annular guide rail 3 to the opposite direction of the position of the slider 4.

[0108] So far, the deviation direction and deviation angle of the sampling tube 1 are obtained.

[0109] Step S3: adjusting the pressure of the hydraulic equipment according to the offset direction and the offset angle.

[0110] The specific method is: changing the output pressure of all hydraulic devices so that the direction of the resultant force of the output pressure in the horizontal direction is opposite to the offset direction, for example, adjusting the output pressure of all hydraulic devices to generate a resultant force in the horizontal direction of F, where F is equal to 85% of the maximum value of the pressure values ​​at all positions. Other adjustment methods may be used in other embodiments or resultant forces of other magnitudes may be generated.

[0111] When the offset angle is greater than a preset angle threshold (for example, 6 degrees, other embodiments may be set to other values, which are not specifically limited in this embodiment), the drilling and cutting action of the sampling tube 1 is stopped, and then the output pressure of all hydraulic equipment is changed so that the direction of the resultant force of the output pressure in the horizontal direction is opposite to the offset direction.

[0112] It should be noted that, the above-mentioned use of several moments (such as the moment when the slider 4 moves one circle) to obtain an offset direction and an offset angle does not mean that an offset direction and an offset angle can only be obtained every several moments, but that the offset direction and offset angle are obtained once at each moment, for example, the offset direction and offset angle are obtained once from the 1st moment to the 10th moment, and then the offset direction and offset angle are obtained again from the 2nd moment to the 11th moment, and the offset direction and offset angle are obtained again from the 3rd moment to the 12th moment, so the offset direction and offset angle are obtained once every subsequent moment, and at each moment, the offset of the sampling tube 1 is offset according to the offset direction and through the hydraulic equipment. In other embodiments, the offset of the sampling tube 1 can be offset according to the offset direction and through the hydraulic equipment after every 2 to 5 moments. This embodiment does not limit the specific adjustment method.

[0113] It should also be noted that in this embodiment, the sampling tube 1 can be corrected when it deviates at a small angle, thereby avoiding damage to the support frame due to excessive deviation (for example, avoiding damage to the pull rod 9 at the bottom end of the sleeve 8 due to severe deformation. In this embodiment, the pull rod 9 has a certain ductility, and slight deformation will not damage the pull rod 9).

[0114] The externally threaded sampling tube 1 in this embodiment is driven by the motor 19 to perform downward cutting, drilling and coring. Figure 5 As shown, the upper end of the sampling tube 1 is fixed on the upper baffle 18 through a bearing, and the two motors 19 on both sides of the upper baffle 18 respectively drive the screw rods 20 to rotate. The two screw rods 20 pass through the through holes with internal threads on the upper baffle 18 and are connected to the moving shaft of the motor 19. When the two motors 19 rotate synchronously, the upper baffle 18 is driven to move downward, and the sampling tube 1 also rotates and moves downward along with the upper baffle 18, so as to achieve the purpose of cutting and drilling the pile foundation 17 to be sampled. Since the device for realizing the downward cutting, drilling and coring of the sampling tube 1 is a public technology, for example, a pile foundation sampling device disclosed in CN220318488U can realize the cutting, drilling and coring process in the same way, and the specific structure of the device used in the process will not be repeated in this embodiment. In other embodiments, other methods and devices can be used to realize the downward cutting, drilling and coring of the sampling tube 1.

[0115] In other embodiments, one of the motors 19 may be replaced by a sprocket, which is connected to the motor 19 via a chain.

[0116] It should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

[0117] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A control method for a coring device for bridge pile foundation detection, characterized in that: The drilling coring device comprises a sampling tube (1) and a base (2). The sampling tube (1) has an external thread. A support frame for fixing the sampling tube (1) is installed on the base (2). The sampling tube (1) is used for cutting core sampling. An annular guide rail (3) is installed on the base (2). A movable slider (4) is installed on the annular guide rail (3). Two or more infrared rangefinders (7) are installed on the vertical rod (6) of the slider (4). The support frame comprises three or more hydraulic devices and a sleeve (8). The sampling tube (1) passes through the sleeve (8). The bottom end of the sleeve (8) is connected to the base (2). The hydraulic cylinder (10) of the hydraulic device is hingedly connected to the base (2). A baffle (12) hingedly connected to the top end of the piston rod (11) of the hydraulic device is pressed against the top end of the sleeve (8). The outer wall of the top end of the sleeve (8) has an annular groove (13). The baffle (12) is hingedly connected to the top end of the piston rod (11) of the hydraulic device. A pressure sensor (14) is installed between the plate (12) and the annular groove (13); a processor (16) is installed in a box (15) on the base (2); during the drilling and coring process, the slider (4) moves along the annular guide rail (3), and the processor (16) is used to adjust the pressure of the hydraulic equipment according to the data output by the infrared rangefinder (7) and the pressure sensor (14); the pressure sensor (14) is an optical fiber pressure sensor, and the optical fiber part of the optical fiber pressure sensor is wound inside the annular groove (13), and the optical fiber part fills the annular groove when winding, so that the baffle (12) contacts the optical fiber part; when the bottom end of the sleeve (8) is connected to the base (2), a plurality of pull rods (9) are used for connection, and one end of each pull rod (9) is hinged to the bottom end of the sleeve (8), and the other end is hinged to the base (2); the method comprises: Collecting data output by the infrared rangefinder (7) and the pressure sensor (14), wherein the data output by the infrared rangefinder (7) represents the distance between the infrared rangefinder (7) and the sampling tube (1); S1: Calculate the difference between the output data of each infrared rangefinder (7) and the standard data at each moment, and record it as the offset value of each infrared rangefinder (7) at each moment; S2: At a certain time, according to the offset values ​​of the maximum distribution differences of all infrared rangefinders (7) and the distribution of the data output by the pressure sensor (14), the offset direction and offset angle of the sampling tube (1) are obtained, including: The plurality of moments are all moments in the process of the slider (4) sliding one circle, and the data collected by the pressure sensor (14) at each moment includes the pressure values ​​at all positions; S21: filtering out noise interference moments according to the offset values ​​of each infrared rangefinder (7) at all times and the pressure values ​​at all positions, specifically including: Clustering the offset values ​​of all infrared rangefinders (7) to obtain a plurality of categories; obtaining N categories with the largest differences, where N represents the number of infrared rangefinders (7); the offset values ​​in the N categories represent the offset values ​​with the largest distribution differences; Obtaining all offset values ​​belonging to the same infrared rangefinder (7) in N categories, recording them as reference offset values ​​of each infrared rangefinder (7), and recording the time when data corresponding to the reference offset value is collected, recording them as an offset time set s of each infrared rangefinder (7); For each moment in the offset moment set s of all infrared range finders (7), filter out the noise interference moment according to the distribution of the pressure values ​​of all positions at each moment; S22: for all moments after the noise interference moment is screened out, re-execute the method included in S21 until there is no noise interference moment; S23: Calculating the offset direction and offset angle of the sampling tube (1) according to the offset values ​​of the infrared rangefinder (7) at all times when there is no noise interference; S3: Adjust the pressure of the hydraulic equipment according to the offset direction and offset angle.

2. The method for controlling a coring device for bridge pile foundation detection according to claim 1, characterized in that: For each moment in the offset moment set s of all infrared range finders (7), the noise interference moment is screened out according to the distribution of the pressure values ​​of all positions at each moment, and the specific steps include the following: S21-1: taking out N moments from the offset moment set s of the N infrared range finders (7); S21-2: at each of the N moments, the distribution of the pressure values ​​output by the pressure sensor (14) at all positions is recorded as the pressure distribution at each moment, the difference of the pressure distribution at the N moments is obtained, and according to the difference of the pressure distribution, it is determined whether there is a noise interference moment in the N moments, and when there is a noise interference moment, the noise interference moment is removed from all the moments; When there is no noise interference moment, N moments are respectively taken out from the offset moment set s of the N infrared range finders (7), and S21-2 is repeatedly executed until a noise interference moment exists among the N moments, and the noise interference moment is removed from all the moments.

3. The control method of a coring device for bridge pile foundation detection according to claim 2, characterized in that: The distribution of the pressure values ​​output by the pressure sensor (14) at all positions at each moment in the N moments is recorded as the pressure distribution at each moment, the difference of the pressure distribution at the N moments is obtained, and it is determined whether there is a noise interference moment in the N moments according to the difference of the pressure distribution. When there is a noise interference moment, the noise interference moment is removed from all the moments, including the following specific steps: Clustering the pressure values ​​output by the pressure sensor (14) at all positions at each moment to obtain a plurality of first categories, recording the mean of all pressure values ​​in each first category as a distribution feature of each first category, and using a two-dimensional vector formed by the mean and variance of the distribution features of all first categories as the pressure distribution at each moment; Calculate the mean of the Euclidean distances between the pressure distributions at N moments. When the mean of the Euclidean distances is less than a first preset threshold, there is no noise interference moment among the N moments. When the mean of the Euclidean distances is greater than or equal to the first preset threshold, there is a noise interference moment among the N moments. When there is a noise interference moment, among the pressure distributions at N moments, the pressure distribution with the largest average Euclidean distance from other pressure distributions is taken as an abnormal pressure distribution, and the moment corresponding to the abnormal pressure distribution is taken as the noise interference moment.

4. The method for controlling a coring device for bridge pile foundation detection according to claim 2, characterized in that: The method included in S21 is re-executed until there is no noise interference, and the specific steps include the following: When S21 - 2 is repeatedly executed, if there is no noise interference moment among any of the N moments selected, the execution of S21 - 2 and the method included in S21 is stopped.

5. The method for controlling a coring device for bridge pile foundation detection according to claim 1, characterized in that: The specific steps of calculating the offset direction and offset angle of the sampling tube (1) based on the offset values ​​of the infrared rangefinder (7) at all times when there is no noise interference are as follows: S22 re-executes the method included in S21 until there is no noise interference, and for the N categories with the largest differences, obtains the mean of the offset values ​​in each category to obtain N average offset values; Obtaining the difference between the largest average offset value and the smallest average offset value among the N average offset values, wherein the ratio of the difference to the distance from the uppermost infrared rangefinder (7) to the lowermost infrared rangefinder (7) on the vertical rod (6) is recorded as b, and the arc tangent angle corresponding to b is taken as the offset angle; For N average offset values, in the category corresponding to the maximum average offset value, a time corresponding to an offset value closest to the maximum average offset value is obtained, and the position of the slider (4) on the annular guide rail (3) at this time is obtained, which is recorded as position P. When the data output by the infrared rangefinder (7) at the top of the vertical rod (6) is less than the data output by the infrared rangefinder (7) at the bottom, the offset direction is the direction in which the center of the annular guide rail (3) points to position P; when the data output by the infrared rangefinder (7) at the top of the vertical rod (6) is greater than the data output by the infrared rangefinder (7) at the bottom, the offset direction is the direction opposite to the direction in which the center of the annular guide rail (3) points to position P.

6. The method for controlling a coring device for bridge pile foundation detection according to claim 1, characterized in that: When the offset angle is greater than a preset angle threshold, the coring process is suspended.

7. The method for controlling a coring device for bridge pile foundation inspection according to claim 1, characterized in that: The standard data is the data output by the infrared rangefinder (7) before core drilling.

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