Pile driver guide device for road construction facing the foundation structure

Abstract

The present invention relates to the technical field of pile drivers, and in particular to a pile driver guide device for road construction facing a foundation structure, the device comprising a pile driver body and a hydraulic guide mechanism, the hydraulic guide mechanism comprising an acquisition module, an integrated data processing module and a hydraulic rod control module; the acquisition module is used to collect data and transmit it to the integrated data processing module; the integrated data processing module is used to determine the adjustment time according to the displacement of the pile body and the stability of the hydraulic pressure before the adjustment time; after the threshold is judged based on the area and the size of the displacement in the pile body image, combined with the pressure side parameters and the displacement change and the pile body length, the corrected required length is obtained and transmitted to the hydraulic rod control module to control the hydraulic rod. The present invention determines the situation of guiding based on the stability of the hydraulic pressure and the displacement in the time sequence, and adjusts the guiding demand considering the dynamic situation of the displacement change in the time sequence, thereby improving the accuracy of the displacement analysis and making the guiding adjustment of the pile body more reliable.

Description

Technical Field

[0001] The invention relates to the technical field of pile drivers, and in particular to a pile driver guide device for road construction facing a foundation structure. Background Art

[0002] In road construction facing the foundation structure, pile driver guidance is a key step to ensure accurate and efficient installation of pile foundations. This process involves a precise guidance and positioning system to ensure that the pile driver can accurately drive the pile into the predetermined position and meet the design specifications. This includes not only the horizontal and vertical alignment of the pile driver, but also the fine control of the positioning of the pile and the driving depth of the pile.

[0003] When the pile driver is driving the pile into the predetermined position, the uneven density distribution of the geological layer means that the hardness of the soil or rock in different layers varies greatly. When the pile driver drives the pile, if it encounters a hard layer with a higher density (such as a rock or hard soil layer), the pile will be subject to greater resistance, resulting in an offset in the direction of the pile driving, which needs to be corrected. In places where the density of a certain layer of soil is high, the pile may not be able to be driven vertically into the ground in the predetermined direction, and the offset correction at this time cannot meet the needs. In addition, during the piling process, the force applied by the pile driver is uniform, while the different densities of the geological layers will cause the external force on the pile to change dynamically. This dynamic change will cause the inclination angle of the pile to fluctuate, resulting in errors in the measurement of the degree of offset, and the errors will accumulate with the piling process, resulting in inaccurate analysis of the pile offset, which in turn leads to unreliable guidance correction results of the pile driver. Summary of the invention

[0004] In order to solve the technical problem in the prior art that errors accumulate during the piling process, the offset analysis of the pile body is inaccurate, and the guidance correction result of the pile driver is unreliable, the purpose of the present invention is to provide a pile driver guide device for road construction facing the foundation structure, and the technical solution adopted is as follows:

[0005] The present invention provides a pile driver guide device for road construction facing a foundation structure, the device comprises a pile driver body and a hydraulic guide mechanism, the hydraulic guide mechanism comprises a collection module, an integrated data processing module and a hydraulic rod control module;

[0006] The signal output end of the acquisition module is connected to the signal input end of the integrated data processing module, and the signal output end of the integrated data processing module is connected to the signal input end of the hydraulic rod control module; the hydraulic rod control module is used to control the hydraulic rod to correct the offset;

[0007] The acquisition module is used to collect the image of the pile body after piling through a camera, and collect the hydraulic pressure and the compression side parameters of the pile body after piling through a sensor; the pile body image, hydraulic pressure and compression side parameters of each piling are transmitted to the integrated data processing module;

[0008] The integrated data processing module is used to obtain the sinking displacement value and the offset of each pile driving based on the movement change of the pile body between the pile body images before and after each pile driving; and determine the adjustment time based on the offset of continuous pile driving;

[0009] According to the change stability of the displacement value of the continuous pile driving and the hydraulic pressure before the adjustment time, the density shift possibility index is obtained;

[0010] When the density offset possibility index at the adjustment time is greater than the preset adjustment threshold, the adjustment intervention evaluation value at the adjustment time is determined by the variation deviation degree of the offset degree in the time sequence before the adjustment time and the stability degree of the compression side parameters; the correction deviation degree at the adjustment time is obtained by combining the pile body area and the offset degree in the continuous pile body images before the adjustment time;

[0011] According to the correction deviation at the adjustment time, the adjustment intervention evaluation value and the pile length, the correction required length at the adjustment time is obtained;

[0012] The required correction length at the adjustment time is transmitted to the hydraulic rod control module to control the hydraulic rod for correction.

[0013] Furthermore, the method for obtaining the density shift possibility indicator includes:

[0014] The extreme differences of the sinking displacement values ​​of all piles before the adjustment time are negatively correlated to obtain the sinking stability at the adjustment time;

[0015] The hydraulic stability at the adjustment time is obtained according to the degree of deviation between the hydraulic pressure of each pile driving and the hydraulic pressure of the first pile driving before the adjustment time, and the degree of deviation between the hydraulic pressure of each pile driving and the average hydraulic pressure of the pile driving;

[0016] The density shift possibility index at the time of adjustment is obtained by combining the sag stability and the hydraulic stability at the time of adjustment.

[0017] Furthermore, the method for obtaining the hydraulic stability includes:

[0018] The sum of squares of the difference between the hydraulic pressure of each pile driving before the adjustment time and the hydraulic pressure of the first pile driving is taken as the initial deviation degree at the adjustment time;

[0019] Calculate the mean hydraulic pressure of all pile driving before the adjustment time as the hydraulic mean at the adjustment time; take the sum of squares of the difference between the hydraulic pressure of each pile driving before the adjustment time and the hydraulic mean as the mean deviation at the adjustment time;

[0020] The difference between the initial deviation and the mean deviation is normalized to obtain the hydraulic stability at the adjustment time.

[0021] Furthermore, the method for obtaining the adjustment intervention evaluation value includes:

[0022] The ratio of the compression side parameter at the adjustment time to the average of all compression side parameters before the adjustment time is used as the blocking influence weight at the adjustment time;

[0023] According to the unevenness of the difference between the continuous offsets before the adjustment time, the offset fluctuation at the adjustment time is obtained;

[0024] The product of the blocking influence weight and the offset volatility at the adjustment time is taken as the adjustment intervention evaluation value at the adjustment time.

[0025] Furthermore, the method for obtaining the offset fluctuation includes:

[0026] Arrange the offsets before the adjustment time in order from the last time to the first time to obtain the offset sequence of the adjustment time; obtain the first-order difference sequence of the offset sequence;

[0027] The items with the same consecutive signs in the first-order difference sequence are grouped into an offset change group; the coefficient of variation of all items in each offset change group is used as the fluctuation anomaly indicator of each offset change group;

[0028] The product of the accumulated value of the fluctuation anomaly index of all the offset change groups and the total number of the offset change groups is taken as the offset fluctuation degree at the adjustment moment.

[0029] Furthermore, the method for obtaining the corrected deviation includes:

[0030] Obtaining the pile area in each pile image before the adjustment moment;

[0031] The ratio of the pile area of ​​each pile driving to the sum of the pile areas of all pile driving before the adjustment time is used as the area weight of each pile driving;

[0032] The deviation of each pile driving is weighted and summed based on the area weight to obtain the corrected deviation at the adjustment time.

[0033] Furthermore, the method for obtaining the modified required length includes:

[0034] Obtaining the pile body length in the pile body image at the adjustment time; taking the difference between the total length of the pile body and the pile body length at the adjustment time as the adjustment length at the adjustment time;

[0035] Calculate the product of the cosine value of the corrected deviation at the adjustment time and the adjustment length to obtain the initial required length at the adjustment time;

[0036] The initial demand degree at the adjustment time is multiplied by the normalized value of the adjustment intervention evaluation value to obtain the revised demand value at the adjustment time; the sum of the revised demand value at the adjustment time and the initial demand length is used as the revised demand length at the adjustment time.

[0037] Furthermore, the method for obtaining the adjustment time includes:

[0038] During the piling process, the accumulated value of the offset of all pilings before the current moment is used as the offset correction of the current moment; if the offset correction of the current moment is greater than the preset correction threshold, the current moment is used as the adjustment moment.

[0039] Furthermore, the method for obtaining the sinking displacement value includes:

[0040] The difference in the length of the pile body in the vertical direction between the images of the pile body before and after each piling is taken as the sinking displacement value of each piling.

[0041] Furthermore, the method for obtaining the offset degree includes:

[0042] Taking the lower left corner of each pile image as the origin, obtain the central vector from the origin to the center point of the pile in each pile image; the angle between the central vectors of the pile images before and after each piling is taken as the offset of each piling.

[0043] The present invention has the following beneficial effects:

[0044] The present invention takes into account the different correction requirements required for the offset situation. After determining the adjustment time by the offset degree, the density offset possibility index at the adjustment time is first analyzed from the pile body subsidence and the stability of the hydraulic pressure, reflecting the possible degree of offset caused by the uneven distribution of the stratum density at the adjustment time, so that the subsequent adjustment analysis is based on the offset caused by the adjustable density unevenness, reducing the invalid adjustment situation. Then, the density offset possibility index is threshold screened. When it is greater than the threshold, the stability of the pile body pressure side parameters and the offset degree changes in the time series is further combined, and the adjustment intervention evaluation value is obtained from the dynamic force fluctuation degree that the pile body may be subjected to, so as to improve the adjustment demand under the condition of large fluctuation degree and reduce the dynamic error accumulation effect. At the same time, the offset degree is corrected based on the area of ​​the pile driving process to obtain the corrected offset degree, and the degree of pile driving is reflected by the area, so that the offset accumulation acquisition is more reliable. Finally, the offset degree and the pile body length are comprehensively corrected, and the adjustment intervention evaluation value is comprehensively obtained to obtain the correction requirement length, characterize the telescopic situation of the hydraulic rod for correction, and control the hydraulic rod. The present invention determines the guiding situation based on the stability of hydraulic pressure and offset in time sequence, and adjusts the guiding demand in consideration of the dynamic situation of offset change in time sequence, thereby improving the accuracy of offset analysis and making the guiding adjustment of the pile body more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A flow chart of a pile offset correction analysis method provided by one embodiment of the present invention;

[0047] Figure 2 A schematic diagram of the overall first-axis structure of a pile driver guide device for road construction facing a foundation structure provided by one embodiment of the present invention;

[0048] Figure 3 A schematic diagram of the overall second-axis structure of a pile driver guide device for road construction facing a foundation structure provided by one embodiment of the present invention;

[0049] Figure 4 A schematic diagram of an offset correction between a hydraulic rod and a pile body provided by an embodiment of the present invention;

[0050] In conjunction with the accompanying drawings, the following reference numerals are marked on the drawings: 1-cab; 2-operating console; 3-chassis system; 4-navigation; 5-hydraulic hammer; 6-pile frame lifting and lowering mechanism; 7-pile frame body; 8-engine; 9-pile frame lateral movement mechanism; 10-hydraulic guide mechanism. DETAILED DESCRIPTION

[0051] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation method, structure, features and effects of a pile driver guide device for road construction facing the foundation structure proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0052] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0053] The following is a detailed description of a specific scheme of a pile driver guide device for road construction facing a foundation structure provided by the present invention in conjunction with the accompanying drawings. Figure 2 and Figure 3 According to the analysis, the device includes: cab 1; operating platform 2; chassis system 3; navigation 4; hydraulic hammer 5; pile frame lifting and lowering mechanism 6; pile frame body 7; engine 8; pile frame transverse movement mechanism 9; hydraulic guide mechanism 10. Before piling, the personnel in cab 1 control the pile frame lifting and lowering mechanism 6 through the operating platform 2 to raise the pile body to a suitable height, and use the pile frame transverse movement mechanism 9 to align the pile driving point with the positioning. During the piling process, the pile body is gradually driven into the foundation through the high-frequency vibration of the hydraulic hammer 5, and monitoring is implemented, and the displacement of the pile body is corrected through the hydraulic guide mechanism 10.

[0054] During road construction facing the foundation structure, when the pile is driven into the predetermined position using a hydraulic pile driver, there may be large hard objects in the geology that affect the positioning of the pile. Since the hard object is too hard, when the pile is driven into the surface of the hard object, the sinking displacement of the pile will not change immediately. In the subsequent process of the pile driver hitting the pile, the sinking displacement of the pile will change, and the pile will deviate at a certain angle. When there are no abnormal objects in the geology, based on the normal geological layer, the sinking displacement of the pile will continue to change when the pile is driven into the predetermined position using a hydraulic pile driver, but the density of each area in the geological layer is different, and the pile will also deviate at a certain angle.

[0055] Therefore, the deviation is adjusted by real-time monitoring of the pile body during the piling process. For the pile body deviation caused by hard objects, it is necessary to find the pile point again for piling, and the pile body deviation caused by dense geology is corrected by the guide device. The guide device in this embodiment is also hydraulic, that is, it is corrected by the hydraulic guide mechanism 10. The hydraulic guide mechanism 10 includes a collection module, an integrated data processing module and a hydraulic rod control module.

[0056] The acquisition module is used to collect the data required for offset monitoring. Before the hydraulic pile driver starts piling and after each piling, a pile image is taken at the front position of the pile using a camera, and the hydraulic pressure of the hydraulic pile driver and the compression side parameters of the pile after each piling are recorded through a pressure sensor. The signal output end of the acquisition module is connected to the signal input end of the integrated data processing module, and the pile image, hydraulic pressure and compression side parameters of each piling after the start of piling are transmitted to the integrated data processing module.

[0057] The integrated data processing module is used for data processing. The chip type is FPGA. It receives the signal from the acquisition module to analyze the pile body offset, obtains the correction requirements, transmits the analysis results to the hydraulic rod control module, and controls the hydraulic rod to correct the pile body offset.

[0058] For the analysis of the correction requirements of the pile body offset by the integrated data processing module, please refer to Figure 1 , which shows a flow chart of a pile offset correction analysis method provided by an embodiment of the present invention, the method comprising the following steps:

[0059] S1: Based on the movement change of the pile body between the pile body images before and after each piling, the sinking displacement value and the offset degree of each piling are obtained; and the adjustment time is determined based on the offset degree of continuous piling.

[0060] The pile body will encounter different resistances when advancing in different strata. This uneven resistance will cause the pile body to tilt, resulting in an angle deviation. This deviation not only affects the verticality of the pile body, but may also cause the pile body to deviate from the vertical direction. Especially when encountering strata with varying density, the pile body may be subjected to asymmetric pressure, resulting in angle changes.

[0061] When the accumulated displacement of the pile body exceeds a certain degree, adjustment and correction are required. Therefore, the movement change of the pile body caused by the pile driving needs to be obtained after each pile driving. In the embodiment of the present invention, the sinking displacement value and the degree of displacement of each pile driving are obtained based on the movement change of the pile body between the pile body images before and after each pile driving, including:

[0062] The difference in the length of the pile in the vertical direction between the images of the pile before and after each piling is taken as the displacement value of each piling. Since the camera position remains unchanged, the pile will continue to sink and move during piling, and the exposed length of the pile in two adjacent images will change. The change in length in the vertical direction reflects the sinking degree of the pile during the piling process, which is used for subsequent continuous sinking analysis.

[0063] Taking the lower left corner of each pile image as the origin, the central vector from the origin to the center point of the pile in each pile image is obtained. The spatial position of the center point is reflected by the center point vector of the pile part in the image. Then the angle between the center vectors of the pile images before and after each piling is used as the offset of each piling. The degree of spatial offset is reflected by the vector angle for subsequent offset analysis.

[0064] In strata with uneven density distribution, the direction of pile advancement may change gradually or suddenly. For example, when the pile enters a stratum with higher density, the pile will encounter greater resistance, causing the pile advancement speed to slow down or deviate. When the pile enters a stratum with lower density, the pile will encounter less resistance and the pile advancement speed may be faster, causing the direction of the pile to change or deviate. This deviation often has dynamic changes and low predictability. Therefore, during the continuous piling process, each pile may have different angle deviations due to different geological conditions.

[0065] The cumulative deviation of continuous piling is initially analyzed. When the cumulative deviation of piling is high, it indicates that intervention adjustment of the guide device may be required, and further analysis of the adjustment is required. In an embodiment of the present invention, the adjustment time is determined based on the deviation of continuous piling, including:

[0066] During the piling process, the accumulated value of the offset of each piling before the current moment is used as the offset correction at the current moment, reflecting the degree of continuous offset up to the current moment. If the offset correction at the current moment is greater than the preset correction threshold, it means that the offset situation affects the driving of the pile body, and the current moment is used as the adjustment moment, and subsequent correction analysis is required. In the embodiment of the present invention, the preset correction threshold is set to 2°. When the offset correction does not exceed the preset correction threshold, piling can continue to perform the offset cumulative analysis. The specific numerical setting implementer can adjust according to the specific implementation scenario, and no limitation is made here.

[0067] S2: Obtain density shift possibility index based on the sinking displacement value between consecutive pile driving and the stability of hydraulic pressure changes before the adjustment moment.

[0068] During the pile driving process, due to the different distribution of geological layer density and the presence of hard objects in the geology, the pile will deviate at a certain angle in both cases. For the pile deviation caused by hard objects, the correction and adjustment effect may not be ideal. The pile is difficult to reach the required depth at a higher density. At this time, it is necessary to find a new pile point for piling. On the contrary, the deviation caused by uneven density can stabilize the pile driving route under the guidance correction. Therefore, it is necessary to analyze the determined adjustment time to distinguish between uneven density and hard objects.

[0069] When a hydraulic pile driver is used to drive a pile into a predetermined position, a fixed hydraulic pressure is applied to the pile driver at the beginning, and the pile gradually sinks underground. When the pile contacts the surface of a hard object, the pile stops sinking due to its extreme hardness, and the sinking displacement of the pile does not change immediately. The adjustable pressure valve of the hydraulic pile driver is adjusted to apply a striking force to the pile. While increasing the hydraulic pressure, the pile may deviate at a certain angle at the edge of the hard object. This deviation causes the pile to pass over the edge of the hard object, resulting in a change in the sinking displacement. Therefore, under geological conditions where hard objects exist, the sinking displacement of the pile is discontinuous, and the hydraulic pressure will also change accordingly.

[0070] When there are no hard objects in the geology, the pile driver's driving process into the pile body is only related to the density of the geological layer. Due to the uneven density distribution of the geological layer, the pile body will also deviate at a certain angle during the driving process, but the pile body's driving process usually shows a relatively stable sinking behavior. In this case, the pile body will move downward in a relatively stable manner under the continuous action of the hydraulic pile driver. Since there are no hard obstacles in the geological environment, the sinking displacement of the pile body will show a coherent feature. At the same time, the hydraulic pressure of the hydraulic pile driver will also remain stable. Since there are no hard objects to hinder the progress of the pile body, the pressure required by the hydraulic system will not fluctuate significantly. This stable hydraulic pressure ensures that the sinking process of the pile body can be carried out continuously and evenly.

[0071] Therefore, the density shift possibility index is obtained by analyzing the sinking displacement value and the change stability of the hydraulic pressure between the continuous pile driving before the adjustment time, reflecting the possibility of the shift at the adjustment time caused by the uneven density. In the embodiment of the present invention, the method for obtaining the density shift possibility index includes:

[0072] First, the extreme difference of the sinking displacement values ​​of all piles before the adjustment time is negatively correlated to obtain the sinking stability at the adjustment time. The difference between the maximum sinking displacement value and the minimum sinking displacement value reflects the stability of the displacement. When the extreme difference is smaller, it means that the sinking is stable and uniform, and the offset at this time is more likely to be caused by uneven density. It should be noted that negative correlation mapping is a technical means well known to those skilled in the art, such as inverse proportion or negative exponential power form, etc., which will not be limited or elaborated here.

[0073] Further analysis from the hydraulic pressure aspect shows that due to the initial grounding stage of the piling process, the hydraulic pressure will fluctuate to a certain extent, and as the piling process goes deeper, the hydraulic pressure changes will tend to be smooth and stable, and the degree of the stable trend is reflected by the deviation changes from the initial pressure and the average pressure. In the embodiment of the present invention, the hydraulic stability at the adjustment time is obtained according to the degree of deviation between the hydraulic pressure of each piling before the adjustment time and the hydraulic pressure of the first piling, and the degree of deviation between the hydraulic pressure of each piling and the average hydraulic pressure of the piling. The method for obtaining the hydraulic stability includes:

[0074] First, the sum of the squares of the difference between the hydraulic pressure of each pile driving before the adjustment and the hydraulic pressure of the first pile driving is taken as the initial deviation at the adjustment time. The initial deviation reflects the fluctuation of the hydraulic pressure in the hydraulic system relative to the initial pressure, that is, the fluctuation of the hydraulic pressure relative to the first pile driving. If the initial deviation is large, it means that the hydraulic pressure has changed more during the adjustment process than the unstable first hydraulic pressure, reflecting the degree of deviation from the initial.

[0075] Secondly, calculate the mean hydraulic pressure of all pile driving before the adjustment time as the hydraulic mean at the adjustment time, and take the sum of the squares of the difference between the hydraulic pressure of each pile driving before the adjustment time and the hydraulic mean as the mean deviation at the adjustment time. The mean deviation reflects the fluctuation of the hydraulic pressure relative to the average pressure of the entire pile driving process. If the mean deviation is large, it means that the hydraulic pressure fluctuates more greatly during the adjustment process compared with the overall average value, and there are more unstable deviations.

[0076] Finally, the difference between the initial deviation and the mean deviation is normalized to obtain the hydraulic stability at the adjustment moment. The deviation is amplified and analyzed in the form of square difference to highlight the unstable situation. Considering the stable characteristics of the piling process, the mean deviation should be smaller than the initial deviation. However, if there is a sudden change in pressurization, the mean deviation will be close to the most unstable initial situation. Therefore, the larger the difference, the higher the stability of the hydraulic pressure.

[0077] Finally, the product of the sinking stability and hydraulic stability at the adjustment time is normalized to obtain the density shift possibility index at the adjustment time. When the sinking stability and hydraulic stability are greater, it means that the sinking displacement and hydraulic changes are more stable, and the adjustment time is more likely to be caused by uneven density distribution, and the density shift possibility index is greater. As an example, the expression of the density shift possibility index is:

[0078] ; In the formula, It is expressed as the density shift possibility index at the adjustment time, Expressed as Hydraulic pressure of pile driving, It is expressed as the total number of pile driving times before the adjustment time. Expressed as the hydraulic pressure of the first pile driving, Expressed as the hydraulic mean at the adjustment time, It is expressed as the range of all sink displacement values ​​before the adjustment moment. is expressed as a hyperbolic tangent function, Expressed as an exponential function with a natural constant as base, It is expressed as a normalization function. It should be noted that normalization is a technical means well known to those skilled in the art. The normalization function can be linear normalization or standard normalization, etc. The specific normalization method is not limited here.

[0079] in, Expressed as the sag stability at the time of adjustment, Expressed as the initial deviation at the adjustment time, It is expressed as the mean deviation degree at the adjustment time, Expressed as hydraulic stability at the time of adjustment.

[0080] S3: When the density offset possibility index at the adjustment moment is greater than the preset adjustment threshold, the adjustment intervention evaluation value at the adjustment moment is determined by the degree of deviation of the offset change in the time series before the adjustment moment and the stability of the compression side parameters; the corrected deviation at the adjustment moment is obtained by combining the pile area and the offset size in the continuous pile images before the adjustment moment.

[0081] A threshold is used to judge the possibility that the pile body displacement is caused by the density of the geological layer. When it is greater than the preset adjustment threshold, it means that the displacement is caused by the density, and further analysis of the degree of deviation is required for guidance correction. On the contrary, if it is less than or equal to the preset adjustment threshold, it means that the displacement is caused by a hard object, and the positioning point needs to be replanned. In the embodiment of the present invention, the preset adjustment threshold is set to 0.75, and the specific value can be adjusted by the implementer according to the specific implementation scenario.

[0082] During the piling process, the hydraulic hammer force applied by the pile driver is uniform, but due to the uneven influence of geological density, the external force on the pile body is dynamically changing, and the pushing resistance of the pile body will change unevenly. The change of geological layers not only affects the pushing resistance of the pile body, but also affects the size of the lateral force and vertical force on the pile body. Soil layers with different densities have different support forces on the pile body, which means that the stability of the pile body will also change accordingly. For example, harder soil layers may cause the pile body to be subjected to greater lateral forces, while softer soil layers may cause the pile body to be subjected to smaller lateral forces. This dynamic change will cause the inclination angle of the pile body to fluctuate, further affecting the accuracy of the offset.

[0083] Therefore, the necessary degree of correction of the guided intervention is analyzed by the change of the continuous pile body compression side parameters and the change of the deviation. The more complex the fluctuation change is, the more serious the uneven change is. At this time, the error degree may be higher, and the degree of intervention correction is also higher. In the embodiment of the present invention, the adjustment intervention evaluation value at the adjustment moment is determined by the change deviation degree of the offset degree in the time sequence before the adjustment moment and the stability of the compression side parameters, including:

[0084] The compression side parameter of the pile body reflects the bearing capacity of the pile body under pressure. The axial resistance degree of the pile body is collected by the pressure sensor on the side of the pile body. The larger the compression side parameter, the greater the contact resistance of the soil layer on the pile body. Therefore, the ratio of the compression side parameter at the adjustment time to the average of all compression side parameters before the adjustment time is first used as the blocking influence weight at the adjustment time. The degree of deviation between the blocking condition of the pile body at the adjustment time and the previous average blocking reflects the influence degree of the current resistance impact. The larger the resistance impact at the adjustment time, the more serious the extension stability impact of the next pile driving is, and the greater the necessity of correction is.

[0085] Further, according to the unevenness of the difference between the continuous offsets before the adjustment moment, the offset fluctuation at the adjustment moment is obtained. When the offset change before the adjustment moment is more abnormal and the fluctuation degree is higher, it reflects that the unevenness of the deviation change is higher and the angle measurement is more disturbed. In an embodiment of the present invention, the method for obtaining the offset fluctuation includes:

[0086] First, the offsets before the adjustment time are arranged in order from the back to the front, and the offset sequence at the adjustment time is obtained, and the change of the offset is analyzed from the adjustment time forward. The first-order difference sequence of the offset sequence is obtained. The difference sequence is a sequence formed by differentiating the data in the original sequence, which reflects the degree of continuous change of the data in the original sequence.

[0087] After the difference, each item has a positive or negative sign. The positive sign indicates that the difference change of the item is increasing, and the negative sign indicates that the difference change of the item is decreasing. Therefore, the items with the same consecutive signs in the first-order difference sequence are further combined into an offset change group, and classified analysis is performed based on the continuous sign situation.

[0088] Then, the coefficient of variation of all items in each offset change group is used as the fluctuation anomaly index of each offset change group. The coefficient of variation can reflect the relative fluctuation degree of a set of data. The larger the coefficient of variation, that is, the larger the fluctuation anomaly index, the higher the fluctuation degree of the data. It should be noted that the coefficient of variation is a well-known technology well known to those skilled in the art. The coefficient of variation is the ratio of the standard deviation of the data to the mean, and will not be further described here.

[0089] Finally, the product of the accumulated value of the fluctuation anomaly index of all offset change groups and the total number of offset change groups is taken as the offset fluctuation at the adjustment moment. The larger the accumulation of fluctuation anomaly indexes on the continuous change of the offset, the higher the instability of the change in each direction. The larger the total number of offset change groups, the more times the change direction changes. Therefore, the more significant the unevenness of the offset, the greater the mobile fluctuation. As an example, the expression of offset fluctuation is:

[0090] ; In the formula, It is expressed as the deviation fluctuation at the adjustment time. is the total number of offset change groups at the adjustment moment, Represents the adjustment time The volatility anomaly index of the offset change group.

[0091] Finally, the product of the blocking influence weight and the offset fluctuation at the adjustment moment is taken as the adjustment intervention evaluation value at the adjustment moment. The larger the blocking influence weight and the offset fluctuation, the more significant the abnormal degree of uneven fluctuation of the offset change before the adjustment moment, and the higher the necessity of intervention correction.

[0092] Due to the uneven density distribution of geological layers, there is a certain error in the measurement of the pile body under slight displacement, and as the pile body sinks deeper, the possible accumulated error measurement is higher. Therefore, when the exposed area of ​​the pile body in the pile body image is larger, it means that the displacement of the pile body sinks smaller, and the pile body has not been hit frequently to produce a large deviation. The deviation analysis at this time is more accurate. Therefore, the deviation degree is further adjusted as a whole by the size of the area to obtain the corrected deviation degree at the adjustment time, which more accurately reflects the displacement situation. In an embodiment of the present invention, the method for obtaining the corrected deviation degree includes:

[0093] The pile area in each pile image before the adjustment moment is obtained. In an embodiment of the present invention, the pile area in the pile image can be obtained by region of interest (ROI) identification. It should be noted that ROI identification is a well-known technical means well known to those skilled in the art and will not be described in detail here.

[0094] The ratio of the pile area of ​​each pile driving before the adjustment moment to the sum of the pile areas of all pile driving is further used as the area weight of each pile driving. The sum of the pile areas is normalized to determine the weight. The larger the area, the more reliable the deviation.

[0095] Then, based on the area weight, the offset of each pile driving is weighted and summed to obtain the corrected deviation at the adjustment time. Through area weighting, the offset of each pile driving is corrected according to the area size, and the corrected offset at the adjustment time is accumulated to reflect the overall offset after weighted correction at the adjustment time.

[0096] S4: Obtaining the correction required length at the adjustment time according to the correction deviation at the adjustment time, the adjustment intervention evaluation value and the pile body length.

[0097] The required telescopic length of the hydraulic rod is obtained by adjusting the overall deviation obtained at the time of adjustment. At the same time, the adjustment intervention evaluation value is combined to further correct the adjustment degree through continuous instability to improve the accuracy of correction. Since the adjustment time is during the piling process, the control of the hydraulic rod guidance is only performed on the ground, and the offset adjustment length needs to be based on the driven length, it is also necessary to combine the pile body length to obtain the required degree of the hydraulic rod by correcting the deviation.

[0098] In an embodiment of the present invention, a method for obtaining a modified required length includes:

[0099] Firstly, the pile body length in the pile body image at the adjustment time is obtained, and the difference between the total length of the pile body and the pile body length at the adjustment time is taken as the adjustment length at the adjustment time to obtain the length of the pile body that has been driven into the formation.

[0100] Further calculate the product of the cosine value of the corrected deviation at the time of adjustment and the adjusted length to obtain the initial required length at the time of adjustment. The corrected deviation reflects the degree to which the pile deviates from the vertical state. Please refer to Figure 4 , which shows a schematic diagram of offset correction of a hydraulic rod and a pile body provided by an embodiment of the present invention. As an example, a method for obtaining the initial required length includes:

[0101] ; In the formula, is expressed as the initial required length at the adjustment time, Expressed as the total length of the pile, It is expressed as the length of the pile at the time of adjustment, Expressed as the corrected deviation at the adjustment time, It is expressed as the cosine value of the corrected deviation at the adjustment time, The adjustment length is expressed as the adjustment moment.

[0102] The initial demand degree at the adjustment time is further multiplied by the normalized value of the adjustment intervention evaluation value to obtain the corrected demand value at the adjustment time, and the required length is further corrected by the adjustment intervention evaluation value. The sum of the corrected demand value at the adjustment time and the initial demand length is taken as the corrected demand length at the adjustment time, and the corrected demand length is the telescopic length required by the hydraulic rod.

[0103] The required correction length at the adjustment moment is transmitted to the hydraulic rod control module, and the hydraulic rod control module controls the hydraulic rod to correct the pile body. In the embodiment of the present invention, the hydraulic rod is parallel to the ground and fits the pile body. By controlling the extension and retraction of the hydraulic rod in the hydraulic guide device, the pile body can be accurately pushed. The extension and retraction action of the hydraulic rod will apply the necessary force to the pile body to control the correction deviation of the pile body. After the correction, by comparing the deviation angles before and after the correction, it can be judged whether the correction has achieved the expected effect, and ensure that the pile body can be maintained within the design requirements in the adjusted state to ensure the stability and safety of the structure. If the measurement results show that the deviation angle still does not meet the requirements, it can be further adjusted and corrected until the pile body reaches the specified position and angle. Finally, it is confirmed that the pile body can stably maintain the piling process in the adjusted state, thereby ensuring the construction quality and engineering safety.

[0104] In summary, the present invention takes into account the different correction requirements required for the offset situation. After determining the adjustment time by the offset degree, the density offset possibility index at the adjustment time is first analyzed from the pile body subsidence and the stability of the hydraulic pressure, reflecting the possible degree of offset caused by the uneven distribution of the stratum density at the adjustment time, so that the subsequent adjustment analysis is based on the offset caused by the adjustable density unevenness, reducing the invalid adjustment situation. Then, the density offset possibility index is threshold screened. When it is greater than the threshold, it is further combined with the stability of the pile body pressure side parameters and the offset degree changes in the time series, and the adjustment intervention evaluation value is obtained from the dynamic force fluctuation degree that the pile body may be subjected to, so as to improve the adjustment requirements under the condition of large fluctuation degree and reduce the dynamic error accumulation effect. At the same time, the offset degree is corrected based on the area of ​​the pile driving process to obtain the corrected offset degree, and the degree of pile driving is reflected by the area, so that the offset accumulation acquisition is more reliable. Finally, the offset degree and the pile body length are comprehensively corrected, and the adjustment intervention evaluation value is comprehensively obtained to obtain the correction requirement length, characterize the telescopic situation of the hydraulic rod for correction, and control the hydraulic rod. The present invention determines the guiding situation based on the stability of hydraulic pressure and offset in time sequence, and adjusts the guiding demand in consideration of the dynamic situation of offset change in time sequence, thereby improving the accuracy of offset analysis and making the guiding adjustment of the pile body more reliable.

[0105] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0106] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A pile driver guide device for road construction facing a foundation structure, the device comprising a pile driver body and a hydraulic guide mechanism, characterized in that: The hydraulic guide mechanism includes an acquisition module, an integrated data processing module and a hydraulic rod control module; The signal output end of the acquisition module is connected to the signal input end of the integrated data processing module, and the signal output end of the integrated data processing module is connected to the signal input end of the hydraulic rod control module; the hydraulic rod control module is used to control the hydraulic rod to correct the offset; The acquisition module is used to collect images of the pile body after piling through a camera, and to collect the hydraulic pressure after piling and the compression side parameters of the pile body through a sensor; The pile body image, hydraulic pressure and compression side parameters of each pile driving are transmitted to the integrated data processing module; The integrated data processing module is used to obtain the sinking displacement value and the offset of each pile driving based on the movement change of the pile body between the pile body images before and after each pile driving; and determine the adjustment time based on the offset of continuous pile driving; According to the displacement value of the sinking between the continuous pile driving and the stability of the hydraulic pressure change before the adjustment time, the density shift possibility index is obtained; When the density offset possibility index at the adjustment time is greater than the preset adjustment threshold, the adjustment intervention evaluation value at the adjustment time is determined by the variation deviation degree of the offset degree in the time sequence before the adjustment time and the stability degree of the compression side parameters; the correction deviation degree at the adjustment time is obtained by combining the pile body area and the offset degree in the continuous pile body images before the adjustment time; According to the correction deviation at the adjustment time, the adjustment intervention evaluation value and the pile length, the correction required length at the adjustment time is obtained; The required correction length at the adjustment time is transmitted to the hydraulic rod control module to control the hydraulic rod to make corrections; The method for obtaining the adjustment intervention evaluation value includes: The ratio of the compression side parameter at the adjustment time to the average of all compression side parameters before the adjustment time is used as the blocking influence weight at the adjustment time; According to the unevenness of the difference between the continuous offsets before the adjustment time, the offset fluctuation at the adjustment time is obtained; The product of the blocking influence weight and the offset volatility at the adjustment time is used as the adjustment intervention evaluation value at the adjustment time; The method for obtaining the offset fluctuation includes: Arrange the offsets before the adjustment time in order from the last time to the first time to obtain the offset sequence of the adjustment time; obtain the first-order difference sequence of the offset sequence; The items with the same consecutive signs in the first-order difference sequence are grouped into an offset change group; the coefficient of variation of all items in each offset change group is used as the fluctuation anomaly indicator of each offset change group; The product of the accumulated value of the fluctuation anomaly index of all the offset change groups and the total number of the offset change groups is taken as the offset fluctuation degree at the adjustment time; The method for obtaining the corrected deviation comprises: Obtaining the pile area in each pile image before the adjustment moment; The ratio of the pile area of ​​each pile driving to the sum of the pile areas of all pile driving before the adjustment time is used as the area weight of each pile driving; The deviation of each pile driving is weighted and summed based on the area weight to obtain the corrected deviation at the adjustment time; The method for obtaining the modified required length includes: Obtaining the pile body length in the pile body image at the adjustment time; taking the difference between the total length of the pile body and the pile body length at the adjustment time as the adjustment length at the adjustment time; Calculate the product of the cosine value of the corrected deviation at the adjustment time and the adjustment length to obtain the initial required length at the adjustment time; The initial demand length at the adjustment time is multiplied by the normalized value of the adjustment intervention evaluation value to obtain the revised demand value at the adjustment time; the sum of the revised demand value at the adjustment time and the initial demand length is used as the revised demand length at the adjustment time.

2. A pile driver guide device for road construction facing the foundation structure according to claim 1, characterized in that: The method for obtaining the density shift possibility index includes: The extreme differences of the sinking displacement values ​​of all piles before the adjustment time are negatively correlated to obtain the sinking stability at the adjustment time; The hydraulic stability at the adjustment time is obtained according to the degree of deviation between the hydraulic pressure of each pile driving and the hydraulic pressure of the first pile driving before the adjustment time, and the degree of deviation between the hydraulic pressure of each pile driving and the average hydraulic pressure of the pile driving; The sinking stability and hydraulic stability at the time of adjustment are combined to obtain a density shift possibility index at the time of adjustment.

3. A pile driver guide device for road construction facing the foundation structure according to claim 2, characterized in that: The method for obtaining the hydraulic stability includes: The sum of squares of the difference between the hydraulic pressure of each pile driving before the adjustment time and the hydraulic pressure of the first pile driving is taken as the initial deviation degree at the adjustment time; Calculate the mean hydraulic pressure of all pile driving before the adjustment time as the hydraulic mean at the adjustment time; take the sum of squares of the difference between the hydraulic pressure of each pile driving before the adjustment time and the hydraulic mean as the mean deviation at the adjustment time; The difference between the initial deviation and the mean deviation is normalized to obtain the hydraulic stability at the adjustment time.

4. A pile driver guide device for road construction facing the foundation structure according to claim 1, characterized in that: The method for obtaining the adjustment time includes: During the piling process, the accumulated value of the offset of all pilings before the current moment is used as the offset correction of the current moment; if the offset correction of the current moment is greater than the preset correction threshold, the current moment is used as the adjustment moment.

5. A pile driver guide device for road construction facing the foundation structure according to claim 1, characterized in that: The method for obtaining the sinking displacement value comprises: The difference in the length of the pile body in the vertical direction between the images of the pile body before and after each piling is taken as the sinking displacement value of each piling.

6. A pile driver guide device for road construction facing the foundation structure according to claim 1, characterized in that: The method for obtaining the offset degree includes: Taking the lower left corner of each pile image as the origin, obtain the central vector from the origin to the center point of the pile in each pile image; the angle between the central vectors of the pile images before and after each piling is taken as the offset of each piling.

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