Method and device for monitoring buried depth of precast pile and electronic equipment
By automatically monitoring the bearing motion and hydraulic rod pressure in the static pile press, and calculating the soil depth of the prefabricated pile, the problems of manual measurement accuracy deviation and safety hazards are solved, and higher measurement accuracy and real-timeness are achieved.
Patent Information
- Application Number
- CN202510116370.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-24
- Publication Date
- 2025-03-14
AI Technical Summary
In the prior art, the measurement of the depth of the prefabricated piles relies on manual measurement, and there are problems of large accuracy deviations, delays and safety hazards.
By obtaining the current movement data of the bearing moving part in the static pile press and the current pressure data of the hydraulic rod, it is determined whether the bearing moving part is in the effective pile pressing stage, and calculate the soil depth based on the movement data to achieve automatic measurement.
It improves the measurement accuracy and real-timeness of the depth of the prefabricated piles, reduces the safety risks of manual measurement, and ensures the real-time and accuracy of construction data.
Smart Images
Figure CN119615904A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of construction technology, and in particular to a method, a monitoring device and an electronic device for monitoring the depth of a precast pile into the ground. Background Art
[0002] Due to the foundation construction of high-rise buildings, ordinary and soft foundations cannot bear the strong load of the upper buildings. Therefore, using a static pile driver to drive cement precast piles into the ground for foundation reinforcement is an important guarantee for high-rise buildings. The static pile driver is the main construction machine for precast piles to reinforce the foundation in urban areas. The precast piles enter the construction site, and the static pile driver lifts the piles and presses them into the ground and performs load tests. Among them, the depth of penetration is an important value for the precast piles to enter the foundation, which can help construction personnel determine whether the precast piles have entered the corresponding bearing layer during foundation exploration.
[0003] However, in the prior art, the depth of burial is determined by construction workers measuring the height above the ground after the static pile driver drives the precast pile into the ground, and subtracting the height above the ground from the designed length of the precast pile. Therefore, the measurement accuracy of the burial depth depends on the accuracy of manual measurement, which is affected by the measurement environment, ground environment, etc., resulting in a large deviation between the measured burial depth and the actual burial depth, and measurement delays. In addition, there are safety hazards to construction workers. Summary of the invention
[0004] In view of this, the purpose of this application is to provide a monitoring method, monitoring device and electronic equipment for the depth of precast piles buried in the ground, so as to solve the problems of large deviation, delay and safety hazard in manual measurement of the depth of precast piles buried in the ground in the prior art, so as to achieve the purpose of automatically measuring the depth of precast piles buried in the ground and improve the measurement accuracy, real-time and safety.
[0005] The present application provides a method for monitoring the depth of a precast pile into the ground, the monitoring method comprising:
[0006] Acquire current motion data of a cap moving part in a static pile driver and current pressure data of a hydraulic rod in the static pile driver; wherein the cap moving part is used to drive the precast piles into the ground under the pressure of the hydraulic rod in the static pile driver;
[0007] Determine whether the movement part of the cap is in an effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data;
[0008] If it is determined that the pile is in the effective pile pressing stage, determining the movement distance of the cap movement part in the current movement cycle according to the current movement data and the historical movement data;
[0009] The burial depth of the precast pile is determined according to the movement distance of the foundation during the current movement cycle.
[0010] Further, determining whether the movement part of the cap is in an effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data includes:
[0011] Comparing the current motion data with the historical motion data to determine the motion direction of the platform motion part in the current motion cycle;
[0012] If the movement direction is consistent with the preset expected movement direction of the precast pile, determining whether the hydraulic rod in the static pile driver applies effective pressure in the current movement cycle according to the current pressure data;
[0013] If effective pressure is applied, it is determined that the moving part of the platform is in the effective pile pressing stage in the current movement cycle.
[0014] Further, when the current motion data includes a platform image of the platform motion part, comparing the current motion data with the historical motion data to determine the motion direction of the platform motion part in the current motion cycle includes:
[0015] Detecting the current position coordinates of the marker in the current platform image through the marker detection model; wherein the marker is attached to the moving part of the platform;
[0016] The current position coordinates are compared with the historical position coordinates of the marker in the historical platform image to determine the movement direction of the platform moving part in the current movement cycle.
[0017] Further, when the current pressure data includes a current instrument image of a pile driving pressure gauge, determining whether the hydraulic rod in the static pile driving machine applies effective pressure in the current movement cycle according to the current pressure data includes:
[0018] Detecting the current pointer coordinates and the current end point coordinates in the current instrument image by using a pressure gauge detection model;
[0019] Determining a current pointer distance between the current pointer coordinates and the current endpoint coordinates;
[0020] Compare the current pointer distance with the original pointer distance to determine whether the hydraulic rod applies effective pressure in the current motion cycle; wherein the original pointer distance is the distance between the pointer coordinates and the end point coordinates in the original instrument image of the pile driving pressure gauge when the static pile driver is not in operation.
[0021] Further, determining the platform movement distance of the platform movement part in the current movement cycle according to the current movement data and the historical movement data includes:
[0022] According to the current position coordinates and the historical position coordinates, a platform movement distance of the platform moving part with respect to image pixels in a current movement cycle is determined.
[0023] Furthermore, the burying depth of the precast pile is determined according to the movement distance of the cap in the current movement cycle, including:
[0024] According to the mapping relationship between the image pixels and the physical world distance, the movement distance of the support platform is converted into the movement stroke of the moving part of the support platform;
[0025] Storing the movement stroke of the platform motion part in the current movement cycle into a platform motion stroke set;
[0026] The various movement strokes included in the movement stroke set of the cap are accumulated to determine the total movement stroke of the movement part of the cap, and the total movement stroke is determined as the burial depth of the precast pile.
[0027] Furthermore, the monitoring method further includes calibrating the mapping relationship between image pixels and physical world distances in the following manner:
[0028] Obtain any one cap image, confirm the position of the ruler in the cap image, and determine the pixel length of the ruler in the cap image; wherein the ruler is vertically mounted on a fixed bracket of the static pile driver;
[0029] Determining the physical length of the ruler according to the scale on the ruler;
[0030] A mapping relationship between image pixels and physical world distances is determined according to the pixel length of the ruler in the platform image and the physical length of the ruler.
[0031] Furthermore, the monitoring method further includes calibrating the mapping relationship between image pixels and physical world distances in the following manner:
[0032] According to the image points in the current platform image and the corresponding space points in the real physical world, a computer vision algorithm is used to determine the mapping relationship between the image pixels in the current platform image and the distance in the physical world.
[0033] The present application also provides a monitoring device for the depth of a precast pile embedded in the soil, the monitoring device comprising:
[0034] An acquisition module is used to acquire current motion data of a cap moving part in a static pile driver and current pressure data of a hydraulic rod in the static pile driver; wherein the cap moving part is used to drive the precast piles to be pressed into the ground under the pressure of the hydraulic rod in the static pile driver;
[0035] A stage determination module, for determining whether the movement part of the cap is in an effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data;
[0036] A distance determination module, for determining the movement distance of the cap movement part in the current movement cycle according to the current movement data and the historical movement data if it is determined that the effective pile pressing stage is in progress;
[0037] The depth determination module is used to determine the burial depth of the precast pile according to the movement distance of the foundation in the current movement cycle.
[0038] An embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for monitoring the depth of precast piles buried in the ground as described above are performed.
[0039] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for monitoring the depth of precast piles buried in the ground are executed.
[0040] The embodiments of the present application provide a method, a device and an electronic device for monitoring the penetration depth of precast piles into the ground. The method can automatically measure the penetration depth of precast piles into the ground and improve the measurement accuracy, real-time nature and safety by identifying the movement distance of the moving part of the base in the static pile driver during the effective pile driving stage.
[0041] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0043] Figure 1A flow chart of a method for monitoring the depth of precast piles in the ground provided in an embodiment of the present application is shown;
[0044] Figure 2 A partial structural schematic diagram of a static pile driver provided in an embodiment of the present application is shown;
[0045] Figure 3 A schematic diagram showing the structure of a monitoring device for the depth of a precast pile buried in the ground provided in an embodiment of the present application is shown;
[0046] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION
[0047] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.
[0048] Research has found that due to the construction of high-rise building foundations, ordinary and soft foundations cannot withstand the strong load of the upper buildings. Therefore, using a static pile driver to drive cement precast piles into the ground for foundation reinforcement is an important guarantee for high-rise buildings. The static pile driver is the main construction machine for precast piles to reinforce the foundation in urban areas. The precast piles enter the construction site, and the static pile driver lifts the piles and presses them into the ground and performs load tests. Among them, the depth of penetration is an important value for the precast piles to enter the foundation, which can help construction personnel determine whether the precast piles have entered the corresponding bearing layer during foundation exploration.
[0049] However, in the prior art, the depth of burial is determined by construction workers measuring the height above the ground after the static pile driver drives the precast pile into the ground, and subtracting the height above the ground from the designed length of the precast pile. Therefore, the measurement accuracy of the burial depth depends on the accuracy of manual measurement, which is affected by the measurement environment, ground environment, etc., resulting in a large deviation between the measured burial depth and the actual burial depth, and measurement delays. In addition, there are safety hazards to construction workers.
[0050] Based on this, an embodiment of the present application provides a method for monitoring the depth of precast piles buried in the ground, so as to achieve the purpose of automatically measuring the depth of precast piles buried in the ground and improving the measurement accuracy, real-time performance and safety.
[0051] See also Figure 1 , Figure 1 A flow chart of a method for monitoring the penetration depth of precast piles provided in an embodiment of the present application. Figure 2 This is a partial structural diagram of a static pile driver provided in an embodiment of the present application. To facilitate understanding, the structure of the static pile driver is first introduced.
[0052] like Figure 2 As shown in the figure, the blue column structure 1 is the fixed support of the static pile driver; the white cylinder 2 is the precast pile being driven into the ground; the red box 3 represents the moving part of the cap in the static pile driver; the cylinder 2 is the extension of the hydraulic rod. The cap moving part is used to drive the precast pile to be driven into the ground under the pressure of the hydraulic rod in the static pile driver; that is, the hydraulic rod applies pressure to the cap moving part 3 through the cylinder 2, and the cap moving part 3 holds the precast pile 2 tightly, thereby driving the precast pile 2 to be driven into the ground.
[0053] Through research, the embodiments of the present application have found that the length of precast piles is generally long, up to 30 meters, so the accuracy of directly identifying the movement of precast piles is insufficient; in addition, according to the construction requirements, there are also situations in which the length of a single precast pile is insufficient and the pile needs to be replaced in actual operations, which also makes it difficult to directly identify the movement of precast piles. The travel range of the cap motion module is more fixed and limited, such as 1-2 meters; during the pile pressing operation, the cap motion module holds the precast pile tightly and moves downward under the action of pressure. When the limit of the travel range of the cap motion module is reached, the cap motion module will release the precast pile and move upward, reach the upper end of the precast pile and hold the precast pile again... The cap motion module reciprocates in this way, gradually driving the precast pile to be pressed into the ground. Therefore, the embodiments of the present application choose to monitor the depth of the precast pile into the ground through the movement of the cap motion module. Since the travel range of the cap motion module is limited, and the movement mode of the cap motion module will not change regardless of whether the pile is replaced, the monitoring of the depth of the precast pile into the ground is simpler and more accurate.
[0054] The following will specifically introduce the implementation process of the monitoring method provided in the embodiment of the present application. Figure 1 As shown in, the monitoring method comprises:
[0055] S101, obtaining current motion data of a moving part of a cap in a static pile driver and current pressure data of a hydraulic rod in the static pile driver.
[0056] Regarding the motion data, in a possible implementation, the motion data of the moving part of the support platform can be a captured image of the support platform; specifically, the image can be captured by an image acquisition device, such as a camera. Figure 2 The blue column structure 1 is in the same horizontal direction. When installing, adjust the screen and the camera position, fix the prefabricated pile 2 in the center of the screen, and the optical axis of the camera is perpendicular to the surface of the blue column structure 1. Optionally, the installation position can be selected on the top of the pile driving cab. The image acquisition device continuously acquires the image of the pedestal of the moving part of the pedestal at a certain acquisition frequency. For the convenience of subsequent explanation, the pedestal image acquired at the current moment is recorded as the current pedestal image, and the pedestal image acquired at the historical moment before the current moment is recorded as the historical pedestal image, and the time interval between the current moment and the previous historical moment is the current movement cycle.
[0057] In another possible implementation, the motion data of the platform moving part may also be data measured by a distance measuring sensor. For example, the current position of the platform moving part may be determined in real time by a distance measuring sensor such as a footage sensor and a laser rangefinder, and then the motion direction and distance of the platform moving part may be determined based on the difference between two adjacent positions.
[0058] For pressure data, in a possible implementation, the pressure data of the hydraulic rod can be the instrument image of the collected pile driving pressure gauge; specifically, it can be collected through an image acquisition device, such as a camera. A camera can be installed inside the pile driving cab; the camera can be hoisted directly above the pile driving pressure gauge, and the pile driving pressure gauge should be clearly displayed on the camera screen during installation; optionally, the pile driving pressure gauge occupies the center of the camera screen, and the dial of the pile driving pressure gauge occupies 2 / 3 of the screen; optionally, due to different manufacturers of static pile driving machines, the name and style of the pile driving pressure gauge are also different, such as the seismic pressure gauge installed on the static pile driving machine. Similarly, the instrument image acquired at the current moment is recorded as the current instrument image.
[0059] In another possible implementation, the pressure data of the hydraulic rod may also be a pressure value directly measured by an electronic pressure sensor.
[0060] S102: Determine whether the movement part of the foundation is in an effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data.
[0061] Here, the effective pile driving stage refers to the operation stage in which the moving part of the foundation moves downward under the pressure of the hydraulic rod and at the same time drives the precast piles to be pressed into the ground.
[0062] In a possible implementation, step S102 may include:
[0063] S1021. Compare the current motion data with the historical motion data to determine the motion direction of the platform motion part in the current motion cycle.
[0064] When the motion data includes a captured cap image of the moving portion of the cap, the motion direction of the moving portion of the cap in the current motion cycle can be determined by comparing the position of the moving portion of the cap in the current cap image with the position of the moving portion in the previous historical cap image. Figure 2 In one example, in order to ensure the accuracy of identification, the embodiment of the present application attaches a marker 5 to the movable part of the platform; optionally, the marker 5 can be a checkerboard because the checkerboard feature is obvious and easy to identify. Then step S1021 may include:
[0065] The current position coordinates of the marker in the current platform image are detected by the marker detection model; the movement direction of the platform moving part in the current movement cycle can be determined by comparing the current position coordinates with the historical position coordinates of the marker in the historical platform image.
[0066] Exemplarily, the position parameters of the marker are [x3, y3, w3, h3], where x is the horizontal coordinate of the center of the identification area, y is the vertical coordinate of the center of the identification area, w is the width of the identification area, and h is the height of the identification area, wherein x, y, w, h∈N+; that is, the current position coordinates of the marker are (x3, y3). By comparing the position coordinates of the marker determined by the current platform image with the position coordinates of the marker determined by the previous historical platform image, the movement direction of the platform moving part in the current movement cycle (i.e., from the previous historical platform image to the current platform image) can be determined.
[0067] Optionally, during the training phase, image resources of the platform movement are collected, and the marker information in the image is annotated to generate a deep learning sample set; a target detection model is trained according to the deep learning sample set as a marker detection model; illustratively, based on the operating environment, a target detection model yolov3-tiny with low computing power requirements and high real-time performance can be selected.
[0068] S1022: If the movement direction is consistent with the preset expected movement direction of the precast pile, determine whether the hydraulic rod in the static pile driver applies effective pressure in the current movement cycle according to the current pressure data.
[0069] Here, during the pile driving operation, the preset expected movement direction of the precast pile is generally vertical downward movement. Therefore, if the movement direction of the cap motion module is also vertical downward movement, it is determined to be consistent with the preset expected movement direction of the precast pile, and further determines whether the hydraulic rod applies effective pressure in the current movement cycle.
[0070] Here, various judgment means in the prior art can be adopted to determine whether an effective pressure is applied. For example, for an electronic pile pressing pressure gauge, the pressure reading in the gauge image can be directly recognized through an image recognition algorithm, and when the pressure reading exceeds a preset threshold, it is determined that the hydraulic rod applies an effective pressure in the current motion cycle; or, for the pressure value directly measured by an electronic pressure sensor, it can be directly determined that when the pressure value exceeds the preset threshold, the hydraulic rod applies an effective pressure in the current motion cycle.
[0071] When the current pressure data includes the current gauge image of the pile pressing pressure gauge, the following steps can also be used in S1022 to determine whether the hydraulic rod in the static pile driver applies an effective pressure in the current motion cycle:
[0072] Detect the current pointer coordinate and the current end coordinate in the current gauge image through a pressure gauge detection model; determine the current pointer distance between the current pointer coordinate and the current end coordinate; compare the current pointer distance with the original pointer distance to determine whether the hydraulic rod applies an effective pressure in the current motion cycle. Wherein, the original pointer distance is the distance between the pointer coordinate and the end coordinate in the original gauge image of the pile pressing pressure gauge when the static pile driver is in an unoperated state.
[0073] Similar to the marker detection model, in the training stage, the pressure gauge detection model generates a deep learning sample set by collecting image resources of the rotation of the pile pressing pressure gauge and annotating the identification information in the image; trains an object detection model according to the deep learning sample set as the pressure gauge detection model;示例性的, based on the operating environment, an object detection model yolov3-tiny with low computing power requirements and high real-time performance can be selected.
[0074] Correspondingly, when the static pile driver is in an unoperated state, the pressure gauge detection model identifies the original gauge image to determine the pointer coordinate (x1, y1) and the end coordinate (x2, y2); according to the pointer coordinate (x1, y1) and the end coordinate (x2, y2), determine the original pointer distance l1 between the pointer coordinate and the end coordinate.
[0075] For the current gauge image, the pressure gauge detection model identifies the current pointer coordinate (x4, y4) and the current end coordinate (x5, y5), and further determines the current pointer distance l2 between the current pointer coordinate and the current end coordinate.
[0076] After that, by comparing the current pointer distance with the original pointer distance, it can be determined whether the hydraulic rod applies an effective pressure in the current motion cycle. Specifically, if l1≥l2, the current pressure can be determined as an invalid pressure; if l1<l2, the current pressure is determined as an effective pressure.
[0077] S1023. If effective pressure is applied, it is determined that the moving part of the foundation is in the effective pile pressing stage in the current movement cycle.
[0078] Correspondingly, if the current pressure is an invalid pressure, it is determined that the cap movement part is not in the effective pile pressing stage, and the movement distance of the cap movement module is not recorded.
[0079] S103: If it is determined that the pile is in the effective pile driving stage, the movement distance of the foundation cap movement part in the current movement cycle is determined according to the current movement data and the historical movement data.
[0080] In this step, when the motion data includes a platform image of the platform moving part, the platform motion distance of the platform moving part with respect to the image pixel in the current motion cycle can be determined according to the current position coordinates and the historical position coordinates of the marker identified in S1021, for example, the platform motion distance of the platform moving part in the current motion cycle is obtained by subtracting the vertical coordinate of the historical position coordinate from the vertical coordinate of the current position coordinate, or calculating the Euclidean distance based on the coordinates of two points. When the motion data of the platform moving part is position data measured by a distance measuring sensor, the platform motion distance of the platform moving part in the current motion cycle can be determined directly by the difference in the position of the platform moving part.
[0081] It should be noted that the calculation here is the distance calculation about pixels on the image, not the length calculation in the real physical world.
[0082] S104: Determine the burial depth of the precast pile according to the movement distance of the foundation in the current movement cycle.
[0083] In this step, according to the movement distance of the platform in the current movement cycle, the depth of the precast pile in the current movement cycle can be converted through the mapping relationship between image pixels and physical world distance. The cumulative depth of the precast pile in the ground can also be determined in real time in the following way.
[0084] In a possible implementation, step S104 may include:
[0085] According to the mapping relationship between image pixels and physical world distance, the movement distance of the foundation is converted into the movement stroke of the foundation moving part; the movement stroke of the foundation moving part in the current movement cycle is stored in a foundation movement stroke set; each movement stroke included in the foundation movement stroke set is accumulated to determine the total movement stroke of the foundation moving part, and the total movement stroke is determined as the buried depth of the precast pile.
[0086] In this way, from the beginning of the pile driving operation, according to the mapping relationship between the image pixels and the physical world distance, the movement distance of the cap determined by the cap image at each effective pile driving stage is converted into a movement stroke, and stored in the cap movement stroke set S1, and an effective physical distance set can be obtained. By continuously accumulating the movement strokes of each cap included in S1, the total movement stroke s3 of the cap movement part at each moment can be determined in real time, that is, the burial depth s4 of the precast pile. Therefore, at any moment of the pile driving operation, the burial depth of the precast pile can be determined in time, thereby improving the real-time performance of the measurement.
[0087] The mapping relationship between image pixels and physical world distance can be calibrated in the following way:
[0088] Acquire any platform image, confirm the position of the ruler in the platform image, and determine the pixel length of the ruler in the platform image; determine the physical length of the ruler according to the scale on the ruler; determine the mapping relationship between image pixels and physical world distance according to the pixel length of the ruler in the platform image and the physical length of the ruler.
[0089] Return to Reference Figure 2 , the scale is vertically mounted on the fixed bracket of the static pile driver, that is, Figure 2 On the blue column structure 1 in the image. Optionally, a ruler is pasted on the left part of the blue column structure 1. The ruler is marked with scales, and the fixed bracket remains stationary during the pile driving operation. Therefore, the physical length a1 of the ruler can be determined according to the scales on the ruler; by identifying the ruler in any one of the cap images, the pixel length a2 of the ruler in this image can be determined; and then the mapping relationship between the image pixel and the physical world distance is obtained: rl = a1 / a2.
[0090] It should be noted that when the mapping relationship between image pixels and physical world distances is calibrated through method one, step S104 may also include: storing the foundation movement distance within the current movement cycle into a foundation movement distance set; accumulating the foundation movement distances included in the foundation movement distance set to determine the total movement pixel distance of the foundation movement part; according to the mapping relationship between image pixels and physical world distances, converting the total movement pixel distance into the total movement stroke of the foundation movement part, and determining the total movement stroke as the burial depth of the precast pile.
[0091] That is, from the beginning of the pile driving operation, the cap movement distance determined by the cap image at each effective pile driving stage is stored in the cap movement distance set, and the effective pixel distance set can be obtained. By continuously calculating the cap movement distances included in the effective pixel distance set, the total movement pixel distance of the cap movement part at each moment can be determined in real time, and then the total movement stroke of the cap movement part at each moment can be converted using the mapping relationship determined by the first method, that is, the burial depth s4 of the precast pile.
[0092] Alternatively, the mapping relationship between image pixels and physical world distances can be calibrated in the following way:
[0093] According to the image points in the current platform image and the corresponding space points in the real physical world, a computer vision algorithm is used to determine the mapping relationship between the image pixels in the current platform image and the distance in the physical world.
[0094] Here, for each current platform image obtained, according to the image coordinates of the image points in the current platform image and the spatial coordinates of the corresponding spatial points in the real physical world, computer vision algorithms, such as PnP, P3P, etc., combined with the camera parameter matrix, can be used to determine the mapping relationship between the image pixels in the current platform image and the physical world distance.
[0095] In this way, each time a current platform image is obtained, the mapping relationship applicable to this image can be determined, and then the platform movement distance in this image can be converted into the movement stroke of the platform movement part, and then the total movement stroke can be accumulated. In this way, the accuracy of the calculation results can be improved.
[0096] A method for monitoring the penetration depth of precast piles in the ground provided in an embodiment of the present application obtains current motion data of a cap moving part in a static pile driver and current pressure data of a hydraulic rod in the static pile driver; wherein the cap moving part is used to drive the precast piles into the ground under the pressure of the hydraulic rod in the static pile driver; based on the current motion data, historical motion data and current pressure data, it is determined whether the cap moving part is in an effective pile pressing stage within the current motion cycle; if it is determined to be in the effective pile pressing stage, the cap movement distance of the cap moving part within the current motion cycle is determined based on the current motion data and the historical motion data; and the penetration depth of the precast piles in the ground is determined based on the cap movement distance within the current motion cycle.
[0097] In this way, by identifying the movement distance of the moving part of the base in the static pile driver during the effective pile driving stage and determining the depth of the precast pile into the ground, it is possible to reduce measurement errors caused by manual measurement, increase the real-time nature of construction data, assist supervision in ensuring construction safety, reduce safety hazards caused by manual measurement, and achieve the purpose of automatically measuring the depth of the precast pile into the ground and improving measurement accuracy, real-time nature and safety.
[0098] See also Figure 3 , Figure 3 A schematic diagram of the structure of a monitoring device for the depth of precast piles in the ground provided in an embodiment of the present application. Figure 3 As shown in , the monitoring device 300 includes:
[0099] The acquisition module 310 is used to acquire the current motion data of the cap moving part in the static pile driver and the current pressure data of the hydraulic rod in the static pile driver; wherein the cap moving part is used to drive the precast pile to be pressed into the ground under the pressure of the hydraulic rod in the static pile driver;
[0100] A stage determination module 320 is used to determine whether the movement part of the cap is in an effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data;
[0101] A distance determination module 330 is used to determine the movement distance of the cap movement part in the current movement cycle according to the current movement data and the historical movement data if it is determined that the effective pile pressing stage is in progress;
[0102] The depth determination module 340 is used to determine the burial depth of the precast pile according to the movement distance of the foundation in the current movement cycle.
[0103] Further, when the stage determination module 320 is used to determine whether the movement part of the platform is in the effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data, the stage determination module 320 is used to:
[0104] Comparing the current motion data with the historical motion data to determine the motion direction of the platform motion part in the current motion cycle;
[0105] If the movement direction is consistent with the preset expected movement direction of the precast pile, determining whether the hydraulic rod in the static pile driver applies effective pressure in the current movement cycle according to the current pressure data;
[0106] If effective pressure is applied, it is determined that the moving part of the platform is in the effective pile pressing stage in the current movement cycle.
[0107] Further, when the current motion data includes a platform image of the platform motion part, the stage determination module 320, when used to compare the current motion data with the historical motion data to determine the motion direction of the platform motion part in the current motion cycle, is used to:
[0108] Detecting the current position coordinates of the marker in the current platform image through the marker detection model; wherein the marker is attached to the moving part of the platform;
[0109] The current position coordinates are compared with the historical position coordinates of the marker in the historical platform image to determine the movement direction of the platform moving part in the current movement cycle.
[0110] Further, when the current pressure data includes a current instrument image of a pile driving pressure gauge, the stage determination module 320 is used to determine whether the hydraulic rod in the static pile driver applies effective pressure in the current movement cycle according to the current pressure data, and the stage determination module 320 is used to:
[0111] Detecting the current pointer coordinates and the current end point coordinates in the current instrument image by using a pressure gauge detection model;
[0112] Determining a current pointer distance between the current pointer coordinates and the current endpoint coordinates;
[0113] Compare the current pointer distance with the original pointer distance to determine whether the hydraulic rod applies effective pressure in the current motion cycle; wherein the original pointer distance is the distance between the pointer coordinates and the end point coordinates in the original instrument image of the pile driving pressure gauge when the static pile driver is not in operation.
[0114] Further, when the distance determination module 330 is used to determine the platform movement distance of the platform movement part in the current movement cycle according to the current movement data and the historical movement data, the distance determination module 330 is used to:
[0115] According to the current position coordinates and the historical position coordinates, a platform movement distance of the platform moving part with respect to image pixels in a current movement cycle is determined.
[0116] Furthermore, when the depth determination module 340 is used to determine the burying depth of the precast pile according to the movement distance of the cap in the current movement cycle, the depth determination module 340 is used to:
[0117] According to the mapping relationship between the image pixels and the physical world distance, the movement distance of the support platform is converted into the movement stroke of the moving part of the support platform;
[0118] Storing the movement stroke of the platform motion part in the current movement cycle into a platform motion stroke set;
[0119] The various movement strokes included in the movement stroke set of the cap are accumulated to determine the total movement stroke of the movement part of the cap, and the total movement stroke is determined as the burial depth of the precast pile.
[0120] Furthermore, the monitoring device 300 further includes: a calibration module; the calibration module is used to calibrate the mapping relationship between image pixels and physical world distances in the following manner:
[0121] Obtain any one cap image, confirm the position of the ruler in the cap image, and determine the pixel length of the ruler in the cap image; wherein the ruler is vertically mounted on a fixed bracket of the static pile driver;
[0122] Determining the physical length of the ruler according to the scale on the ruler;
[0123] A mapping relationship between image pixels and physical world distances is determined according to the pixel length of the ruler in the platform image and the physical length of the ruler.
[0124] Furthermore, the calibration module is also used to calibrate the mapping relationship between image pixels and physical world distances in the following manner:
[0125] According to the image points in the current platform image and the corresponding space points in the real physical world, a computer vision algorithm is used to determine the mapping relationship between the image pixels in the current platform image and the distance in the physical world.
[0126] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .
[0127] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the method for monitoring the depth of precast piles embedded in the ground in the method embodiment shown in the embodiment and the specific implementation thereof can be referred to the method embodiment, which will not be described in detail here.
[0128] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the method for monitoring the depth of precast piles embedded in the ground in the method embodiment shown in the embodiment and the specific implementation thereof can be referred to the method embodiment, which will not be described in detail here.
[0129] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.
[0130] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.
[0131] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0132] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0133] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0134] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A method for monitoring the depth of precast piles into the ground, characterized in that: The monitoring method comprises: Acquire current motion data of a cap moving part in a static pile driver and current pressure data of a hydraulic rod in the static pile driver; wherein the cap moving part is used to drive the precast piles into the ground under the pressure of the hydraulic rod in the static pile driver; Determine whether the movement part of the cap is in an effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data; If it is determined that the pile is in the effective pile pressing stage, determining the movement distance of the cap movement part in the current movement cycle according to the current movement data and the historical movement data; The burial depth of the precast pile is determined according to the movement distance of the foundation during the current movement cycle.
2. The monitoring method according to claim 1, characterized in that: Determining whether the movement part of the cap is in an effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data includes: Comparing the current motion data with the historical motion data to determine the motion direction of the platform motion part in the current motion cycle; If the movement direction is consistent with the preset expected movement direction of the precast pile, determining whether the hydraulic rod in the static pile driver applies effective pressure in the current movement cycle according to the current pressure data; If effective pressure is applied, it is determined that the moving part of the foundation is in the effective pile pressing stage in the current movement cycle.
3. The monitoring method according to claim 2, characterized in that: When the current motion data includes a platform image of the platform motion part, comparing the current motion data with the historical motion data to determine the motion direction of the platform motion part in the current motion cycle includes: Detecting the current position coordinates of the marker in the current platform image through the marker detection model; wherein the marker is attached to the moving part of the platform; The current position coordinates are compared with the historical position coordinates of the marker in the historical platform image to determine the movement direction of the platform moving part in the current movement cycle.
4. The monitoring method according to claim 2, characterized in that: When the current pressure data includes a current instrument image of a pile driving pressure gauge, determining whether the hydraulic rod in the static pile driving machine applies effective pressure in the current movement cycle according to the current pressure data includes: Detecting the current pointer coordinates and the current end point coordinates in the current instrument image by using a pressure gauge detection model; Determining a current pointer distance between the current pointer coordinates and the current endpoint coordinates; Compare the current pointer distance with the original pointer distance to determine whether the hydraulic rod applies effective pressure in the current motion cycle; wherein the original pointer distance is the distance between the pointer coordinates and the end point coordinates in the original instrument image of the pile driving pressure gauge when the static pile driver is not in operation.
5. The monitoring method according to claim 3, characterized in that: Determining the platform movement distance of the platform movement part in the current movement cycle according to the current movement data and the historical movement data includes: According to the current position coordinates and the historical position coordinates, a platform movement distance of the platform moving part with respect to image pixels in a current movement cycle is determined.
6. The monitoring method according to claim 1, characterized in that: Determining the burial depth of the precast pile according to the movement distance of the cap in the current movement cycle includes: According to the mapping relationship between the image pixels and the physical world distance, the movement distance of the support platform is converted into the movement stroke of the moving part of the support platform; Storing the movement stroke of the platform motion part in the current movement cycle into a platform motion stroke set; The various movement strokes included in the movement stroke set of the cap are accumulated to determine the total movement stroke of the movement part of the cap, and the total movement stroke is determined as the burial depth of the precast pile.
7. The monitoring method according to claim 6, characterized in that: The monitoring method further includes calibrating the mapping relationship between image pixels and physical world distances in the following manner: Obtain any one cap image, confirm the position of the ruler in the cap image, and determine the pixel length of the ruler in the cap image; wherein the ruler is vertically mounted on a fixed bracket of the static pile driver; Determining the physical length of the ruler according to the scale on the ruler; A mapping relationship between image pixels and physical world distances is determined according to the pixel length of the ruler in the platform image and the physical length of the ruler.
8. The monitoring method according to claim 6, characterized in that: The monitoring method further includes calibrating the mapping relationship between image pixels and physical world distances in the following manner: According to the image points in the current platform image and the corresponding space points in the real physical world, a computer vision algorithm is used to determine the mapping relationship between the image pixels in the current platform image and the distance in the physical world.
9. A monitoring device for the depth of precast piles embedded in the soil, characterized in that: The monitoring device comprises: An acquisition module is used to acquire current motion data of a cap moving part in a static pile driver and current pressure data of a hydraulic rod in the static pile driver; wherein the cap moving part is used to drive the precast piles to be pressed into the ground under the pressure of the hydraulic rod in the static pile driver; A stage determination module, for determining whether the movement part of the cap is in an effective pile pressing stage in the current movement cycle according to the current movement data, the historical movement data and the current pressure data; A distance determination module, for determining the movement distance of the cap movement part in the current movement cycle according to the current movement data and the historical movement data if it is determined that the effective pile pressing stage is in progress; The depth determination module is used to determine the burial depth of the precast pile according to the movement distance of the foundation in the current movement cycle.
10. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for monitoring the depth of precast piles in the ground as described in any one of claims 1 to 8.