Cast-in-situ bored pile positioning method and system, storage medium and intelligent terminal

Abstract

The invention relates to a cast-in-situ bored pile positioning method and system, a storage medium and an intelligent terminal, and relates to the field of cast-in-situ bored pile construction technology.The cast-in-situ bored pile positioning method comprises the steps that a shot image is obtained, and the shot image is an image that a drill rod of a drilling machine vertically faces a shot positioner; determining a positioning coordinate and a fixed end coordinate based on the shot image, a preset positioning coordinate feature and a fixed end feature; outputting a positioning completion signal when the positioning coordinates do not exist; determining a moving scheme based on the positioning coordinates and the fixed end coordinates when the positioning coordinates exist; the drill rod is controlled to enter the guide cylinder and execute the moving scheme; and after the moving scheme is executed, the shot image is obtained again until no positioning coordinates exist, and the drilling machine has the advantages that by arranging the guide cylinder, the drilling machine can conduct drilling in the length direction of the guide cylinder in the drilling process, deviation is not likely to be generated in the drilling process, and the drilling stability is improved.

Description

Technical Field

[0001] The present application relates to the field of bored cast-in-place pile construction technology, and in particular to a bored cast-in-place pile positioning method, system, storage medium and intelligent terminal. Background Art

[0002] Long spiral bored piles are a commonly used foundation treatment method, especially when building high-rise buildings or heavy-loaded structures on soft soil foundations. Compared with traditional impact piling, long spiral bored piles produce less noise and vibration during construction, and have relatively less impact on surrounding buildings and residents.

[0003] Long spiral cast-in-place piles are drilled to a predetermined depth using a special long spiral drilling machine, and superfluid concrete is continuously pumped into the hole through the drill valve to the top of the pile. A steel cage is then inserted to form a pile body. It is suitable for fill layers, silt layers, sandy soil layers and pebble layers, as well as all types of soil layers with groundwater. It can be piled under adverse geological conditions such as soft soil layers and quicksand layers, so it is currently widely used.

[0004] The following problems exist in the prior art: when the drilling machine is drilling, it is easy to offset, resulting in pile position deviation, changing the axial compression to eccentric compression, reducing the normal stress and increasing the shear stress, which greatly reduces the bearing capacity of the building foundation structure and affects the service life of the project. There is still room for improvement. Summary of the invention

[0005] In order to improve the problem that the drilling machine is prone to offset when drilling, resulting in pile position deviation, changing axial compression to eccentric compression, reducing normal stress, increasing shear stress, and greatly reducing the bearing capacity of the building foundation structure, the application provides a bored cast-in-place pile positioning method, system, storage medium and intelligent terminal.

[0006] In the first aspect, the present application provides a bored pile positioning method, which adopts the following technical solution: A bored pile positioning method, comprising: Acquire a captured image, wherein the captured image is an image of a locator captured with the drill rod of the drilling machine vertically facing the drill rod, wherein the locator comprises a guide cylinder for the drill rod to pass through and inserted into the soil layer, and a plurality of fixing rods, one end of each of the fixing rods being fixed to a side wall of the guide cylinder along a circumferential direction of the guide cylinder, and an end of each of the fixing rods being away from the guide cylinder extending in a vertical downward direction and inserted into the soil layer; Determine the positioning coordinates and the fixed end coordinates based on the captured image, the preset positioning coordinate features and the fixed end features; Output positioning completion signal when there is no positioning coordinate; When the positioning coordinates exist, a movement plan is determined based on the positioning coordinates and the fixed end coordinates; Control the drill pipe to enter the guide tube and execute the movement plan; After executing the movement plan, the captured image is reacquired until there are no positioning coordinates.

[0007] By adopting the above technical scheme, on the one hand, by setting a guide cylinder, the drill can drill along the length direction of the guide cylinder during the drilling process, and the drilling process is not prone to deviation, thereby improving the stability of drilling; on the other hand, the position of the guide cylinder is determined by acquiring the captured image, so that the position of the guide cylinder is accurate, and there is no need for people to go to the corresponding drilling position in person to place it, thereby improving the efficiency and intelligence of the guide cylinder positioning.

[0008] Optionally, the method for determining the mobile solution includes: Determine the positioning coordinates based on the captured image, the positioning coordinate features and the fixed end features, and simultaneously determine the positioning number and the fixed end number; Determine the relative movement vector based on the one-to-one correspondence between the positioning coordinates corresponding to the positioning number and the fixed end coordinates corresponding to the fixed end number; A movement plan is determined based on the relative movement vector.

[0009] By adopting the above technical solution, since three points that are not on a straight line can determine the position of the entire guide cylinder, all points are aligned by moving the three points, thereby improving the accuracy of the guide cylinder in place.

[0010] Optionally, the method for determining a movement scheme based on a relative movement vector includes: Decomposing based on the relative movement vector to obtain the movement distance and movement direction; When the moving directions are consistent, a moving plan is determined based on the moving distance and the moving direction; When the moving directions are inconsistent, a relative moving vector with the shortest moving distance is selected based on the moving distance, and the relative moving vector is defined as the shortest relative moving vector; The shortest fixed end number of the fixed rod as the rotation axis is determined based on the shortest movement vector and the captured image, and a driving cylinder for driving the fixed rod to move downward and insert into the soil is fixedly connected to the circumferential side wall of the guide cylinder, and the piston rod of the driving cylinder is fixedly connected to the fixed rod; Calculating based on the shortest relative motion vector and the remaining relative motion vectors to obtain a rotation vector; The movement scheme is determined based on the shortest relative movement vector, the shortest fixed end number and the rotation vector.

[0011] By adopting the above technical solution, when the moving directions of all points are consistent, they can move directly. If the moving directions of all points deviate, they can first move to one point and then rotate at the position of this point, which improves the flexibility of determining the moving plan.

[0012] Optionally, another method for determining a rotation vector when the moving directions are inconsistent includes: Get the vertical coordinates of the positioning; When the positioning vertical sub-coordinates corresponding to the positioning coordinates are consistent, a rotation vector is calculated based on the shortest relative movement vector and the remaining relative movement vectors to obtain the rotation vector; When the positioning vertical sub-coordinates corresponding to the positioning coordinates are inconsistent, a relative movement vector with the highest positioning vertical sub-coordinate is selected based on the positioning vertical sub-coordinates, and the relative movement vector is defined as the highest relative movement vector; A calculation is performed based on the highest relative motion vector and the remaining relative motion vectors to obtain a rotation vector.

[0013] By adopting the above technical solution, if there is a slope at the place where the guide cylinder is placed, it will rotate at the highest slope to reduce the resistance to rotation and improve the smoothness of the execution of the rotation vector.

[0014] Alternatively, another method of determining a mobile solution includes: Determine the positioning center based on the positioning coordinates; Determine the center of the guide cylinder based on the fixed end coordinates; Determine the center movement vector based on the guide cylinder center and the positioning center; A movement plan is determined based on the central movement vector.

[0015] By adopting the above technical solution, since the guide cylinder itself is a cylinder, only the middle point needs to be aligned, and it can also guide the drilling, so there is no need to align other points, reducing the complexity of the movement plan.

[0016] Optionally, the method of controlling the drill pipe to enter the guide tube and execute the movement plan includes: The level area image is determined based on the captured image and the preset level frame image, and a plurality of levels for detecting the horizontal placement degree of the guide cylinder are provided on the outer circumferential side wall of the guide cylinder; determining a bubble area image based on the level area image and a preset bubble image; determining a bubble offset distance based on the bubble area image and the level area image; Determine the center position of the level based on the fixed end coordinates and the preset guide cylinder size; The tilt direction and tilt angle are calculated based on the center position of the level, the bubble offset distance and the preset level size; Determine a tilt correction scheme based on the tilt direction and tilt angle; Control the drill pipe to enter the guide tube and update the movement plan after executing the deflection correction plan; Execute the updated mobile plan.

[0017] By adopting the above technical solution, the entire guide cylinder is corrected before executing the movement plan to prevent the angle of the guide cylinder itself from being inaccurate and affecting the accuracy of the captured image, thereby affecting the entire plan, thereby improving the accuracy of the movement plan.

[0018] Optionally, a specific method for determining a tilt correction scheme based on the tilt direction and tilt angle includes: Get the foundation surface; Perform placement simulation based on the foundation surface, fixed end coordinates, tilt direction, tilt angle and preset guide tube model to obtain interference coordinates; A rotation simulation is performed based on the interference coordinates, the tilt direction, the tilt angle and the guide cylinder model to obtain the secondary interference coordinates, and the tilt angle at this time is defined as the secondary tilt angle; After updating the secondary interference coordinates to the interference coordinates and the secondary tilt angle to the tilt angle, continue the simulation until the tilt angle is 0; A mapping relationship is formed based on all interference coordinates, tilt directions and tilt angles; A skew correction scheme is formed based on the mapping relationship and output.

[0019] By adopting the above technical solution, the correction scheme is gradually corrected according to the actual foundation scheme, so that the actual correction process will not interfere with the ground, thereby improving the correction efficiency.

[0020] In the second aspect, the present application provides a bored pile positioning system, which adopts the following technical solution: A bored pile positioning system, comprising: An acquisition module is used to acquire the captured image, locate the vertical coordinates and the foundation surface; A memory for storing a program of a control method for any of the above-mentioned bored pile positioning methods; The program in the processor memory can be loaded and executed by the processor to implement the control method of any of the above-mentioned bored pile positioning methods.

[0021] By adopting the above technical scheme, on the one hand, by setting a guide cylinder, the drill can drill along the length direction of the guide cylinder during the drilling process, and the drilling process is not prone to deviation, thereby improving the stability of drilling; on the other hand, the position of the guide cylinder is determined by acquiring the captured image, so that the position of the guide cylinder is accurate, and there is no need for people to go to the corresponding drilling position in person to place it, thereby improving the efficiency and intelligence of the guide cylinder positioning.

[0022] In the third aspect, the present application provides a smart terminal, which adopts the following technical solution: The intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned bored pile positioning methods.

[0023] By adopting the above technical scheme, on the one hand, by setting a guide cylinder, the drill can drill along the length direction of the guide cylinder during the drilling process, and the drilling process is not prone to deviation, thereby improving the stability of drilling; on the other hand, the position of the guide cylinder is determined by acquiring the captured image, so that the position of the guide cylinder is accurate, and there is no need for people to go to the corresponding drilling position in person to place it, thereby improving the efficiency and intelligence of the guide cylinder positioning.

[0024] Fourthly, the present application provides a computer storage medium that can store corresponding programs and has the characteristics of fast interaction with memory big data.

[0025] Computer readable storage medium, using the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any one of the above-mentioned bored pile positioning methods.

[0026] By adopting the above technical scheme, on the one hand, by setting a guide cylinder, the drill can drill along the length direction of the guide cylinder during the drilling process, and the drilling process is not prone to deviation, thereby improving the stability of drilling; on the other hand, the position of the guide cylinder is determined by acquiring the captured image, so that the position of the guide cylinder is accurate, and there is no need for people to go to the corresponding drilling position in person to place it, thereby improving the efficiency and intelligence of the guide cylinder positioning.

[0027] In summary, the present application includes at least the following beneficial technical effects: By setting a guide cylinder, the drilling machine can drill along the length direction of the guide cylinder during the drilling process, and the drilling process is not prone to deviation, thereby improving the stability of the drilling; The position of the guide cylinder is determined by acquiring the captured image, so that the position of the guide cylinder is accurate, and there is no need for people to go to the corresponding drilling position to place it, which improves the efficiency and intelligence of the guide cylinder positioning; First, the entire guide tube is corrected to prevent the angle of the guide tube itself from being inaccurate and affecting the accuracy of the captured image, thereby affecting the entire plan, thereby improving the accuracy of the movement plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a flow chart of a bored pile positioning method in an embodiment of the present application.

[0029] Figure 2 It is a schematic diagram of the guide in an embodiment of the present application.

[0030] Figure 3 It is a schematic diagram of the captured image in the embodiment of the present application.

[0031] Figure 4 It is a flowchart of a method for determining a mobile solution in an embodiment of the present application.

[0032] Figure 5 is a flowchart of a method for determining a movement scheme based on a relative movement vector in an embodiment of the present application, Figure 6 It is a flowchart of another method for determining a rotation vector when the moving directions are inconsistent in an embodiment of the present application.

[0033] Figure 7 It is a flowchart of another method for determining a mobile solution in an embodiment of the present application.

[0034] Figure 8 It is a flow chart of a method for controlling a drill rod to enter a guide cylinder and execute a movement plan in an embodiment of the present application.

[0035] Fig. 9 yes Figure 3 Enlarged schematic diagram of part D in the middle.

[0036] Fig.10 It is a flowchart of a specific method for determining a tilt correction scheme based on a tilt direction and a tilt angle in an embodiment of the present application.

[0037] Fig.11 It is a system module diagram of a bored cast-in-place pile positioning method in an embodiment of the present application.

[0038] Explanation of the accompanying reference numerals: 1. guide cylinder; 2. fixing rod; 3. driving cylinder; 4. level. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 11 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The present application embodiment discloses a bored pile positioning method. Figure 1 A bored pile positioning method comprises: Step 100: Acquire a captured image.

[0041] The captured image is an image of the locator captured with the drill rod of the drilling machine facing vertically.

[0042] like Figure 2As shown, the locator includes a guide cylinder 1 for the drill rod to pass through and inserted into the soil layer, and a plurality of fixed rods 2. One end of the fixed rod 2 is fixed on the side wall of the guide cylinder 1 along the circumference of the guide cylinder 1. The end of the fixed rod 2 away from the guide cylinder 1 extends in a vertical downward direction and is inserted into the soil layer. In order to allow the end of the fixed rod 2 to be inserted into the soil and to be moved out of the soil, a driving cylinder 3 is also fixedly connected to the circumferential side wall of the guide cylinder 1, and the piston rod of the driving cylinder 3 is vertically downwardly arranged, and the piston rod of the driving cylinder 3 is fixedly connected to the fixed rod 2. In order to detect whether the guide cylinder 1 remains vertical, a plurality of level gauges 4 are installed on the outer circumferential side wall of the guide cylinder 1. Here, the number of the level gauges 4 is taken as three for example, and the three level gauges 4 are evenly arranged to detect the actual tilt direction and tilt angle.

[0043] Step 101: Determine positioning coordinates and fixed end coordinates based on the captured image, preset positioning coordinate features and fixed end features.

[0044] like Figure 3 As shown, the captured image is the corresponding image.

[0045] The positioning coordinate feature is a feature of the coordinates at the positioning position, which can be various shapes here, such as triangles, circles and squares; it can also be the numbers "1", "2" and "3". The positioning coordinates are the coordinates of the positioning coordinate features on the captured image. The determination method here is to move the positioning coordinate features according to the coordinates on the image and match them with the image. If the positioning coordinate features and the features on the image coincide, the corresponding coordinates can be output as positioning coordinates. The fixed end feature is the feature of the end of the fixed rod 2, and like the features of the positioning coordinate features, both can be numbers. Here, in order to distinguish between the positioning coordinate features and the fixed end features, different colors and the same patterns can be used. The fixed end coordinates are the coordinates of the end of the fixed rod 2. The determination method is the same as the positioning coordinates, so it will not be repeated here.

[0046] Step 102: Output a positioning completion signal when the positioning coordinates do not exist.

[0047] The positioning completion signal is a signal that positioning has been completed. This can be a light display method, such as a green light. When there is no positioning coordinate, it means that the fixed end has covered the positioning coordinate feature, so the positioning has been completed, so the positioning completion signal can be output.

[0048] It should be noted that the positioning coordinate feature here can make the feature as large as the end of the fixed end. In this way, once the fixed end is offset, the corresponding feature color will inevitably be exposed, thereby existing positioning coordinates.

[0049] Step 103: When the positioning coordinates exist, a movement plan is determined based on the positioning coordinates and the fixed end coordinates.

[0050] The moving scheme is a scheme for controlling the movement of the guide cylinder 1 to align the positioning position. The determination method is introduced in the subsequent steps and will not be repeated here.

[0051] When the positioning coordinates exist, it means that the guide tube 1 has some deviation at this time, so the drill rod can be controlled to move, and the content of the movement is the movement plan.

[0052] Step 104: Control the drill rod to enter the guide tube 1 and execute the movement plan.

[0053] Step 105: Reacquire the captured image after executing the movement plan until there is no positioning coordinate.

[0054] Reference Figure 4 , methods for determining the mobile solution include: Step 200: Determine the positioning coordinates based on the captured image, the positioning coordinate features and the fixed end features, and simultaneously determine the positioning number and the fixed end number.

[0055] The positioning number is the number of the positioning feature. The fixed end number is the number of the fixed end. Here, it can be determined by a database. That is, the database stores the mapping relationship between the positioning coordinate feature and the positioning number, and also stores the mapping relationship between the fixed end feature and the fixed end number, which is set by the staff in this field. When the system receives the corresponding positioning coordinate feature, it automatically finds the corresponding positioning number from the database. When the corresponding fixed end feature is received, it automatically finds the corresponding fixed end number from the database.

[0056] The purpose of determining the number here is to make the two correspond one to one to facilitate movement.

[0057] Step 201: Determine a relative movement vector based on the one-to-one correspondence between the positioning coordinates corresponding to the positioning number and the fixed end coordinates corresponding to the fixed end number.

[0058] The relative movement vector is the movement vector from the fixed end coordinate to the positioning coordinate. The determination method is to determine the corresponding positioning coordinate according to the corresponding positioning number, then determine the corresponding fixed end number according to the positioning number, then determine the corresponding fixed end coordinate, and then determine the two according to the vector to obtain the relative movement vector.

[0059] Step 202: Determine a movement plan based on the relative movement vector.

[0060] The movement plan is to move according to the relative movement vector.

[0061] Reference Figure 5 , the method for determining the movement scheme based on the relative movement vector includes: Step 300: Decompose based on the relative movement vector to obtain the movement distance and movement direction.

[0062] The moving distance is the value of the relative moving vector. The moving direction is the direction of the relative moving vector. The decomposition method here is to decompose directly by vector.

[0063] Step 301: When the moving directions are consistent, a moving plan is determined based on the moving distance and the moving direction.

[0064] When the moving directions are consistent, it means that the object can be moved directly in the moving direction. Since the object of the guide cylinder 1 is fixed and the directions are consistent, the moving distance at this time is also the same. Therefore, the moving plan is obtained by directly adding the moving distance to the moving direction.

[0065] Step 302: When the moving directions are inconsistent, a relative moving vector with the shortest moving distance is selected based on the moving distance, and the relative moving vector is defined as the shortest relative moving vector.

[0066] The filtering method is to filter according to the value of the moving distance.

[0067] When the moving directions are inconsistent, it means that if only moving in the moving direction is performed, it cannot be moved to the correct position, so other measures need to be taken.

[0068] Step 303: Determine the shortest fixed end number of the fixed rod 2 serving as the rotation axis based on the shortest motion vector and the captured image.

[0069] The shortest fixed end number is the number of the end of the fixed rod 2 corresponding to the shortest movement vector. The determination method here is to first determine which end of the fixed rod 2 this is based on the shortest movement vector, and then according to step 304: calculate based on the shortest relative movement vector and the remaining relative movement vectors to obtain the rotation vector.

[0070] The rotation vector is a vector that can be eliminated by rotation after the relative movement vector is moved according to the shortest relative movement vector. The calculation method is a vector subtraction method of subtracting the shortest relative movement vector from the relative movement vector.

[0071] Although the rotation vector here is still a linear vector, it serves to guide the guide cylinder 1 to complete the purpose of rotating the vector in an arc manner.

[0072] Step 305: Determine a movement plan based on the shortest relative movement vector, the shortest fixed end number and the rotation vector.

[0073] The moving scheme here is to first move according to the shortest relative moving vector, then number around the shortest fixed end, and rotate according to the distance between the two fixed ends as the radius until the arc corresponding to the rotation vector is completed.

[0074] Reference Figure 6 , another method for determining the rotation vector when the moving directions are inconsistent, the method comprising: Step 400: Obtain the vertical coordinates of the positioning.

[0075] The vertical sub-coordinates of the positioning are the coordinates in the vertical direction. The acquisition method can be a manual input method. Since each positioning number is fixed, the corresponding vertical sub-coordinates can be obtained by manual measurement.

[0076] Step 401: When the positioning vertical sub-coordinates corresponding to the positioning coordinates are consistent, a rotation vector is calculated based on the shortest relative movement vector and the remaining relative movement vectors to obtain the rotation vector.

[0077] The consistency of the positioning vertical sub-coordinates corresponding to the positioning coordinates indicates that the placement position of the guide cylinder 1 is on the same plane at this time, and can be directly obtained.

[0078] Step 402: When the positioning vertical sub-coordinates corresponding to the positioning coordinates are inconsistent, a relative movement vector with the highest positioning vertical sub-coordinate is selected based on the positioning vertical sub-coordinates, and the relative movement vector is defined as the highest relative movement vector.

[0079] When the positioning coordinates and the corresponding vertical sub-coordinates are inconsistent, it means that the position where the guide cylinder 1 needs to be positioned is not a plane. Therefore, if the rotation vector is performed at a low point, the cylinder may rotate and move the soil. The moving process is more difficult and can easily cause the moving cylinder to get stuck or deformed.

[0080] Step 403: Calculate based on the highest relative motion vector and the remaining relative motion vectors to obtain a rotation vector.

[0081] The purpose of calculating the rotation vector through the highest relative movement vector is to perform rotation at the positioning coordinate corresponding to the highest relative movement vector so as to improve the efficiency of positioning without being disturbed by the nearby soil.

[0082] Reference Figure 7 , another method to determine the mobility plan includes: Step 500: Determine the positioning center based on the positioning coordinates.

[0083] The positioning center is the center of the three positioning coordinates. The calculation method is to connect the three positioning coordinates to form an equilateral triangle, and then calculate the center of the equilateral triangle.

[0084] Step 501: Determine the center of the guide cylinder based on the fixed end coordinates.

[0085] The center of the guide cylinder is the center of the numbers of the ends of the three fixing rods 2, that is, the center of the guide cylinder 1. Here, like the positioning center, it is a coordinate on the horizontal plane, not a three-dimensional coordinate.

[0086] Step 502: Determine the center movement vector based on the guide cylinder center and the positioning center.

[0087] The center movement vector is the vector moving from the center of the guide cylinder to the positioning center. The determination method is similar to the relative movement vector, so it will not be repeated here.

[0088] Step 503: Determine a movement plan based on the central movement vector.

[0089] The content of the moving plan is to move according to the center moving vector. Here, since the guide cylinder 1 is cylindrical, the outer fixed rod 2 is fixed at any angle. It only needs to move the center point to align, and no other point needs to be aligned.

[0090] Reference Figure 8 The method of controlling the drill rod to enter the guide tube 1 and executing the movement plan includes: Step 600: Determine a level area image based on the captured image and a preset level frame image.

[0091] The level frame image is an image of the frame of the level 4. It is obtained by manually photographing the frame of the level 4. The level area image is an image of the area where the level 4 is located. The determination method is to place the level frame image in the photographed image and move it, and then when matching, the corresponding position and area are obtained according to the angle of movement and rotation.

[0092] Step 601: Determine a bubble area image based on the level area image and a preset bubble image.

[0093] The bubble image is an image of the bubble on the level 4. The bubble area image is an image of the area of ​​the bubble on the level area image, such as Fig. 9 Here, in order to clearly identify the bubbles, the liquid in the level 4 can be given a color that is clearly different from the color of the bubbles.

[0094] Step 602: Determine the bubble offset distance based on the bubble area image and the level area image.

[0095] The bubble offset distance is the distance of the bubble offset center, which is determined by first determining the center position of the level 4 according to the range of the level area image, then determining the center position of the bubble according to the range of the bubble area, and then subtracting the two to obtain the center position.

[0096] Step 603: Determine the center position of the level based on the fixed end coordinates and the preset guide cylinder size.

[0097] The guide cylinder size is the size of the guide cylinder 1. The level center position is the position of the center of the level 4. The determination method is to determine the position of the circumferential side wall according to the guide cylinder size, and then determine it according to the fixed end coordinates.

[0098] Step 604: Calculate the tilt direction and tilt angle based on the center position of the level, the bubble offset distance and the preset level size.

[0099] The size of the level is the size of the level 4. The tilting direction is the tilting direction of the guide cylinder, that is, due to the particularity of the cylinder, it is tilted on a certain vertical plane. The tilting angle is the tilting angle of the guide cylinder in the tilting direction.

[0100] The overall inclination angle of the cylinder and the angle of the tilt direction It can be calculated by the following formula: Tilt Angle : .

[0101] Tilt direction : .

[0102] in, , , , , , ; A, B and C represent three directions, and L is a known length, representing the level detection range or effective length in the level size. A ,d B and d C Represents the bubble offset distance for each level. , and is the tilt angle in the direction of each level.

[0103] Step 605: Determine a tilt correction scheme based on the tilt direction and tilt angle.

[0104] The deflection correction scheme is to correct the tilt angle in the tilt direction so that the guide tube 1 is placed vertically. The method of determining the tilt angle in the opposite direction of the tilt direction.

[0105] Step 606: Control the drill pipe to enter the guide tube 1 and update the movement plan after executing the deflection correction plan.

[0106] After the deflection correction scheme is implemented, the guide tube 1 is placed vertically, and the image taken at this time is the correct offset image.

[0107] Step 607: Execute the updated movement plan.

[0108] Reference Fig.10 , the specific method for determining the tilt correction scheme based on the tilt direction and tilt angle includes: Step 700: Acquire the foundation surface.

[0109] The foundation surface is the surface of the foundation at the positioning coordinates, and is obtained by manually setting it on a three-dimensional software, such as SolidWorks.

[0110] Step 701: Perform placement simulation based on the foundation surface, fixed end coordinates, tilt direction, tilt angle and a preset guide tube model to obtain interference coordinates.

[0111] The guide cylinder model is a model artificially created on a 3D software. The interference coordinates are a scheme for moving the guide cylinder model downward. The scheme simulated here is to place the guide cylinder model according to the tilt direction and tilt angle, and then move the guide cylinder 1 downward from the position corresponding to the fixed end coordinate. At this time, the position of the guide cylinder 1 in the tilted state is the fixed end coordinate. When the guide cylinder model interferes with the foundation surface, the interference coordinates are obtained, indicating that it cannot continue to move downward and can start to rotate.

[0112] Step 702: Perform a rotation simulation based on the interference coordinates, the tilt direction, the tilt angle and the guide tube model to obtain the secondary interference coordinates, and define the tilt angle at this time as the secondary tilt angle.

[0113] The secondary interference coordinates are the coordinates where the guide cylinder 1 and the foundation surface interfere when the rotation starts. The base point of the rotation simulation here is the interference coordinates, and the direction of rotation is the opposite direction of the tilt direction. Then the rotation starts. If the rotation angle reaches the tilt angle at this time, the tilt stops, indicating that the measured tilt angle of the guide cylinder 1 is 0 at this time. If it is not 0, it needs to continue rotating.

[0114] Step 703: After updating the secondary interference coordinates to the interference coordinates and the secondary tilt angle to the tilt angle, continue the simulation until the tilt angle is zero.

[0115] Here, since the direction of rotation of the quadratic interference coordinates is the same, they will only move further and further away from the interference coordinates and become more and more horizontal. Therefore, the quadratic interference coordinates can be used as the base point for rotation.

[0116] Step 704: forming a mapping relationship based on all interference coordinates, tilt directions and tilt angles.

[0117] The mapping relationship is a mapping relationship of each interference coordinate required to correct the tilt direction and tilt angle. That is, when all the interference coordinates are known, rotation is performed at each interference coordinate, and finally the tilt angle is equal to 0.

[0118] Step 705: A skew correction scheme is generated based on the mapping relationship and outputted.

[0119] Based on the same inventive concept, an embodiment of the present invention provides a bored pile positioning system.

[0120] Reference Fig.11 , a bored pile positioning system, comprising: An acquisition module is used to acquire the captured image, locate the vertical coordinates and the foundation surface; A memory for storing a program of a control method for positioning a bored pile; The program in the memory can be loaded and executed by the processor to realize a control method for positioning a bored pile.

[0121] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0122] An embodiment of the present invention provides a computer-readable storage medium storing a computer program capable of being loaded and executed by a processor for positioning a bored pile.

[0123] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0124] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed by a bored pile positioning method.

[0125] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A bored pile positioning method, characterized in that: include: Acquire a captured image, the captured image being an image of a locator captured with the drill rod of the drilling machine vertically facing the drill rod, the locator comprising a guide cylinder (1) for the drill rod to pass through and inserted into the soil layer, and a plurality of fixing rods (2), one end of the plurality of fixing rods (2) being fixed to the side wall of the guide cylinder (1) along the circumference of the guide cylinder (1), and the end of the fixing rod (2) away from the guide cylinder (1) extending in a vertical downward direction and inserted into the soil layer; Determine the positioning coordinates and the fixed end coordinates based on the captured image, the preset positioning coordinate features and the fixed end features; Output positioning completion signal when there is no positioning coordinate; When the positioning coordinates exist, a movement plan is determined based on the positioning coordinates and the fixed end coordinates; Controlling the drill rod to enter the guide tube (1) and executing the movement plan; After executing the movement plan, the captured image is reacquired until there are no positioning coordinates.

2. A bored pile positioning method according to claim 1, characterized in that: Methods for determining mobile solutions include: Determine the positioning coordinates based on the captured image, the positioning coordinate features and the fixed end features, and simultaneously determine the positioning number and the fixed end number; Determine the relative movement vector based on the one-to-one correspondence between the positioning coordinates corresponding to the positioning number and the fixed end coordinates corresponding to the fixed end number; A movement plan is determined based on the relative movement vector.

3. A bored pile positioning method according to claim 2, characterized in that: The method for determining a movement scheme based on a relative movement vector includes: Decomposing based on the relative movement vector to obtain the movement distance and movement direction; When the moving directions are consistent, a moving plan is determined based on the moving distance and the moving direction; When the moving directions are inconsistent, a relative moving vector with the shortest moving distance is selected based on the moving distance, and the relative moving vector is defined as the shortest relative moving vector; The shortest fixed end number of the fixed rod (2) serving as the rotation axis is determined based on the shortest movement vector and the captured image, and a driving cylinder (3) for driving the fixed rod (2) to move downward and insert into the soil is fixedly connected to the circumferential side wall of the guide cylinder (1), and the piston rod of the driving cylinder (3) is fixedly connected to the fixed rod (2); Calculating based on the shortest relative motion vector and the remaining relative motion vectors to obtain a rotation vector; The movement scheme is determined based on the shortest relative movement vector, the shortest fixed end number and the rotation vector.

4. A bored pile positioning method according to claim 3, characterized in that: Another method for determining the rotation vector when the moving directions are inconsistent includes: Get the vertical coordinates of the positioning; When the positioning vertical sub-coordinates corresponding to the positioning coordinates are consistent, a rotation vector is calculated based on the shortest relative movement vector and the remaining relative movement vectors to obtain the rotation vector; When the positioning vertical sub-coordinates corresponding to the positioning coordinates are inconsistent, a relative movement vector with the highest positioning vertical sub-coordinate is selected based on the positioning vertical sub-coordinates, and the relative movement vector is defined as the highest relative movement vector; A calculation is performed based on the highest relative motion vector and the remaining relative motion vectors to obtain a rotation vector.

5. A bored pile positioning method according to claim 1, characterized in that: Another way to determine the mobility scenario includes: Determine the positioning center based on the positioning coordinates; Determine the center of the guide cylinder based on the fixed end coordinates; Determine the center movement vector based on the guide cylinder center and the positioning center; A movement plan is determined based on the central movement vector.

6. A bored pile positioning method according to claim 4, characterized in that: The method for controlling the drill rod to enter the guide tube (1) and executing the movement plan comprises: A level area image is determined based on the captured image and a preset level frame image, and a plurality of level gauges (4) for detecting the horizontal placement degree of the guide cylinder (1) are provided on the outer peripheral side wall of the guide cylinder (1); determining a bubble area image based on the level area image and a preset bubble image; determining a bubble offset distance based on the bubble area image and the level area image; Determine the center position of the level based on the fixed end coordinates and the preset guide cylinder size; The tilt direction and tilt angle are calculated based on the center position of the level, the bubble offset distance and the preset level size; Determine a tilt correction scheme based on the tilt direction and tilt angle; Controlling the drill rod to enter the guide tube (1) and updating the movement plan after executing the deflection correction plan; Execute the updated mobile plan.

7. A bored pile positioning method according to claim 6, characterized in that: The specific methods for determining the tilt correction scheme based on the tilt direction and tilt angle include: Get the foundation surface; Perform placement simulation based on the foundation surface, fixed end coordinates, tilt direction, tilt angle and preset guide tube model to obtain interference coordinates; A rotation simulation is performed based on the interference coordinates, the tilt direction, the tilt angle and the guide cylinder model to obtain the secondary interference coordinates, and the tilt angle at this time is defined as the secondary tilt angle; After updating the secondary interference coordinates to the interference coordinates and the secondary tilt angle to the tilt angle, continue the simulation until the tilt angle is 0; A mapping relationship is formed based on all interference coordinates, tilt directions and tilt angles; A skew correction scheme is formed based on the mapping relationship and output.

8. A bored pile positioning system, characterized in that: include: An acquisition module is used to acquire the captured image, locate the vertical coordinates and the foundation surface; A memory for storing a program of a method for controlling a bored pile positioning method according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement a control method for positioning a bored pile as described in any one of claims 1 to 7.

9. Intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a bored pile positioning method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored which can be loaded by a processor and execute a bored pile positioning method as claimed in any one of claims 1 to 7.

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