Pile foundation coring drilling machine monitoring control system and control method thereof

Abstract

The monitoring control system comprises a high-definition image acquisition module, a measurement-while-drilling module, a coring drilling machine working parameter acquisition module, a data receiving and processing module, a control operation module, a man-machine interaction display module, a central algorithm module and a cloud platform module. The invention further discloses a control method of the pile foundation coring drilling machine monitoring control system. The measurement-while-drilling module collects the rotating torque and the azimuth angle in the drilling process of a coring drill barrel in real time and provides comprehensive data support, the data receiving and processing module and the central algorithm module conduct real-time processing and analysis on collected data, automatic marking and feature recognition are conducted on each section of core sample, and therefore the core sampling accuracy is improved. And the coring drilling is controlled through the control operation module, so that the integrity of a core sample, the accuracy of coring detection and the authenticity of the core sample are improved through collection and automatic control of working data, and reliable data support is provided for subsequent pile body quality evaluation.

Description

Technical Field

[0001] The invention belongs to the technical field of monitoring and controlling pile foundation mechanical equipment, and in particular relates to a monitoring and control system for a pile foundation coring drill and a control method thereof. Background Art

[0002] The core drilling method is one of the commonly used methods for pile foundation testing such as cement soil mixing piles, high-pressure rotary jet piles, and bored cast-in-place piles. The core drilling method drills through the entire length of a pile that has been formed and has been used for a certain curing age. It is a direct destructive method that can detect the pile length, pile body strength, pile body integrity, and determine or identify the rock and soil properties of the end bearing layer during pile foundation construction. After the core sample is taken out, the unconfined compressive strength test is used to test the strength and pile performance. The results are intuitive and reliable, and can accurately judge the strength and continuity of the pile body quality. It has the characteristics of being scientific, intuitive, and practical.

[0003] In the coring test of pile foundation, the assessment of pile body quality mainly focuses on three aspects: pile body strength, uniformity of pile body curing material and pile body length. Among them, the assessment of pile body integrity is particularly critical, and the size of the coring rate directly reflects the integrity and continuity of the core sample. The higher the coring rate, the better the columnar shape of the core sample is maintained during the drilling process, which can more truly reflect the actual state of the pile body, indicating that the pile body has high uniformity and excellent quality; while a low coring rate may mean that the core sample is broken or separated during the sampling process, which may be related to uneven pile body, insufficient strength or construction defects. By conducting strength testing, uniformity analysis and appearance observation on the extracted core samples, the overall quality of the pile body can be comprehensively assessed, providing a scientific basis for the safety and reliability of engineering structures.

[0004] However, in actual coring operations, insufficient attention is often paid to monitoring during the coring process and the operation and control of the coring drill, which may affect the accuracy of the test results and the assessment of the project quality. In existing coring operations, the verticality of the coring equipment is often difficult to fully monitor and control. If the drilling process deviates from the predetermined vertical direction, the core sample taken out may not be from the target position of the pile body, thereby affecting the accurate assessment of the pile body length and pile quality. In addition, improper operation during the coring process will also cause many problems in the coring process. For example, too fast a drilling speed will produce greater friction and impact force, resulting in damage to the core sample structure. Too slow a speed may increase the contact time between the drill bit and the core sample, generate too much heat, and cause brittle cracks or local damage to the core sample surface. Excessive downward pressure during drilling will cause the core sample to be over-extruded, resulting in an imbalance of stress in the core sample, thereby causing breakage or cracks. Insufficient flushing fluid may cause the drill bit to overheat, increase the risk of thermal cracking on the core sample surface, and excessive flushing fluid pressure may also directly damage the core sample surface.

[0005] In some cases, in order to ensure that the pile driver project meets the acceptance standards, the core samples may be replaced secretly, for example, a core sample with better quality is used as the core sample for the previous inspection to cover up the actual defects or quality problems of the pile body. This behavior of passing off the fake as the real not only undermines the authenticity of the inspection, but may also have serious consequences for the subsequent quality assessment and project safety. Summary of the invention

[0006] The purpose of the present invention is to provide a monitoring and control system for a pile foundation coring drill to solve the problems raised in the above background technology. The monitoring and control system for a pile foundation coring drill provided by the present invention has the characteristics of ensuring the integrity of the core sample, the accuracy of the coring detection and the authenticity of the core sample, and providing reliable data support for the subsequent pile body quality assessment.

[0007] Another object of the present invention is to provide a control method for a monitoring and control system of a pile foundation coring drilling rig.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a monitoring and control system for a pile foundation coring drill rig, comprising a high-definition image acquisition module, a measurement while drilling module, a coring drill rig working parameter acquisition module, a data receiving and processing module, a control operation module, a human-computer interaction display module, a central algorithm module and a cloud platform module, wherein the high-definition image acquisition module is used for real-time acquisition of working images of the coring drill rig and high-definition images of core samples taken out during operation; the measurement while drilling module is used for real-time acquisition of the rotational torque and azimuth of the coring drill barrel during drilling; the coring drill rig working parameter acquisition module is used for acquisition of drilling positioning data information, drill rod feed force data information, drill rod speed data information, drill rod end inclination data information, drill rod depth data information, drill rod drilling speed data information, and coring drill rig working parameters data information during operation of the coring drill rig Current data information, flushing fluid flow data and flushing fluid pressure data information; the data receiving and processing module is used to receive data from the high-definition image acquisition module, the downhole measurement module and the coring drill rig working parameter acquisition module for data processing, and feed back the processed data information to the central algorithm module. The central algorithm module controls the drilling of the pile foundation coring drill rig through the control operation module according to the preset control algorithm model, and performs mark recognition calculations on each section of the core sample taken out according to the preset image recognition algorithm model, and displays the working parameters and core sample image information on the human-computer interaction display module; the cloud platform module is used to receive the data processed by the data receiving and processing module uploaded through the 5G communication module, as well as the information generated by the control algorithm model and the image recognition algorithm model, and store and present the data and iteratively train the model.

[0009] Further in the present invention, the coring drill rig working parameter acquisition module includes a drill drive current sensor, a drill feed force sensor (pressure sensor), a drill depth sensor (pull rope encoder), a drill speed sensor, a drill pipe end inclination sensor, a drill center point coordinate data sensor (GNSS positioning sensor), a flushing fluid flow sensor and a flushing fluid pressure sensor. All collected data are transmitted to the data receiving and processing module via wired means, and transmitted to the central algorithm module after processing.

[0010] Further in the present invention, the control operation module includes a leveling control unit and a drilling control unit, wherein the leveling control unit transmits the drilling coordinates to the control operation module through the central algorithm module, controls and adjusts the hole position deviation according to the drilling positioning data information, so that the center of the coring drill barrel coincides with the target center, and the drilling control unit is used to control the drilling speed, rotation speed, flushing fluid flow and pressure of the coring drill barrel in real time, dynamically adjusts the current control parameters by obtaining the drill feed force information and the drill working current information, and calculates and provides the benchmark drilling speed, rotation speed, flushing fluid flow and pressure for the next coring operation according to the preset algorithm based on the torque value and azimuth information of the coring drill barrel end fed back by the measuring short section.

[0011] Furthermore, in the present invention, the control operation module is based on the PID control algorithm, and the operation action control is implemented on the respective actuators through the leveling control unit and the drilling control unit. The actuators include a hydraulic support leg controller, a drill rod feed force actuator, a drill rod rotation actuator and a flushing fluid centrifugal pump. The engineering implementation of the control algorithm includes five key links: target value, determining the control target value; processing of controlled parameters, collecting system feedback signals through sensors and preprocessing; deviation processing, calculating the difference between the target value and the feedback value; control algorithm, using the PID algorithm based on the deviation to generate the control quantity; control quantity processing, converting the calculation result into an actual execution signal to drive the actuator.

[0012] Further in the present invention, the measurement while drilling module is a measuring short section, which is connected to the end of the coring drill barrel by a thread, and the internal structure is a hollow tubular structure. The hollow tube is a water channel, and has a built-in azimuth sensor, battery, torque sensor, control circuit, data storage unit and wireless data transmission unit, which are used to collect torque and azimuth information during the coring drill barrel drilling process and store it in the data storage unit; the data receiving unit paired with the wireless data transmission unit is installed in the data receiving and processing module, and when the measurement while drilling module is close to the data receiving and processing module, the working data saved by the data storage unit will be automatically transmitted to the data receiving and processing module.

[0013] Further in the present invention, a control method of a monitoring and control system of a pile foundation coring drilling rig comprises the following steps:

[0014] S1: Install the high-definition image acquisition module, the measurement while drilling module, and the coring drill rig working parameter acquisition module on the coring drill rig, and complete the initialization settings of the data receiving and processing module, the central algorithm module, and the human-computer interaction screen display module. According to the coordinate data of the drilling tool center point displayed in the human-computer interaction screen display module, guide the coring drill rig to move to the target position, so that the coring drill barrel is near the center of the hole to be drilled, and is ready to enter the working state;

[0015] S2: Through the coring drill working parameter acquisition module, the drilling positioning data, drill pipe feed force data, drill pipe speed data, drill pipe depth data, drill pipe drilling speed data, coring drill working current data, and flushing fluid flow and pressure data are obtained in real time to provide the system with comprehensive dynamic working status information;

[0016] S3: The data receiving and processing module receives and processes the data collected by the coring rig working parameter acquisition module and the measurement while drilling module and feeds it back to the central algorithm module. The central algorithm module dynamically controls the control operation module according to the preset control algorithm model, and uses the preset image recognition algorithm model to automatically mark and identify the features of each core sample, providing accurate support for subsequent core sample analysis and anti-counterfeiting;

[0017] S4: The real-time data collected by the high-definition image acquisition module, the measurement while drilling module and the coring rig working parameter acquisition module, as well as the data processed by the data receiving and processing module, are combined with the information generated by the central algorithm module and the image recognition algorithm model, and uploaded to the cloud platform through the 5G communication module for centralized storage, data visualization and model iterative training.

[0018] In the present invention, in step S3, the method for dynamically controlling the control operation module by the central algorithm module according to the preset control algorithm model includes the following steps:

[0019] S311: The central algorithm module transmits the drilling coordinates to the control operation module, and adjusts the hole position deviation based on the drilling positioning data information to ensure that the center of the coring drill barrel is accurately aligned with the target coordinate center;

[0020] S312: By real-time monitoring of the inclination angle of the drill pipe end, the height of the hydraulic support legs is adjusted to ensure that the core pipe always remains vertical and enters the soil layer;

[0021] S313: The control operation module controls the working state of the coring drill in real time according to the preset execution parameters, and dynamically adjusts according to the drilling tool feed force and the drilling tool working current information until the sampling depth reaches the maximum capacity of the coring drill barrel, then stops the drilling and rotation operations, applies an upward lifting force, and the operator assists in lifting the drill rod and the coring drill barrel to take out the core sample;

[0022] S314: The operator restores the connection between the drill pipe and the coring drill barrel and re-places the drill pipe in the borehole;

[0023] S315: The control operation module advances the coring drill barrel to the previous coring depth position according to the preset execution parameters, and performs the coring according to the preset program according to the adjusted drilling speed, rotation speed and drill pipe verticality parameters;

[0024] S316: After the drilling and coring are completed, the drilling and rotation operations are stopped, and an upward lifting force is applied. The operator assists in removing the drill pipe in sections and taking out the core sample;

[0025] S317: After coring is completed, the above steps are repeated to continue drilling until the final sampling depth reaches the preset target sampling depth.

[0026] In the present invention, further, in step S313, the data receiving and processing module receives the torque and azimuth information saved by the measurement while drilling module during the drilling process, and calculates and provides the reference drilling speed, rotation speed, flushing fluid flow rate and pressure of the next coring operation according to a preset algorithm;

[0027] Further in the present invention, in step S315, during the coring process, if the current drill rod length is insufficient to complete coring to the maximum capacity of the coring drill barrel, the operator needs to add a new drill rod to continue the coring operation until the sampling depth reaches the capacity length of the coring drill barrel.

[0028] In the present invention, further, in step S3, the data processing and analysis of the preset image recognition algorithm model includes the following steps:

[0029] S321: image preprocessing, obtaining a high-definition image of the core sample when it is taken out from the coring drill barrel, preprocessing each segment of the high-definition image of the core sample, including denoising, grayscale, normalization and histogram equalization, performing image cutting processing after obtaining a standardized high-resolution image, and associating the core sample image with the depth information to obtain multiple high-resolution images along the depth direction;

[0030] S322: Extracting core sample features. After obtaining a high-resolution image, extract features from the high-resolution image through a pre-trained convolutional neural network model. The image is passed through multiple convolutional layers to extract features of each core sample, such as the size of the damaged points on the core sample surface, the size of the cracks, the shape of the fragments, etc., and the core sample surface texture features are extracted as additional information in a certain range around each feature point. Multiple pooling layers are used to reduce the spatial dimension, retain the most significant core sample surface features, and improve the robustness of the model. After multiple fully connected layers, the extracted high-dimensional features are further integrated and converted into low-dimensional feature vectors, and a global feature vector is generated by weighted summation.

[0031] S323: Feature data is uploaded and stored, the core sample number and depth information are merged into the feature vector as additional features, the unique identifier and spatial location information of each core sample are added, and the initial image and special vector are uploaded to the feature library in the cloud platform through the 5G communication module.

[0032] Furthermore, in the present invention, a Gaussian convolution kernel is used to smooth the original image, which can effectively reduce the random noise generated by environmental interference, equipment noise or the acquisition process, while retaining the main characteristic details of the core sample surface.

[0033] In the present invention, grayscale is further achieved by weighted averaging the red, green and blue (RGB) channels in the image, converting the color image into a grayscale image with a more significant brightness value. The weighting coefficient is: grayscale value = (0.299*R) + (0.587*G) + (0.114*B). The grayscale can better highlight the surface details of the core sample, such as damaged points, cracks, and fragment shapes.

[0034] Furthermore, in the present invention, the normalization operation scales the image pixel values ​​to the standard range of [0, 1]. By normalizing the pixel values, the brightness value of each pixel in the image is evenly distributed, eliminating unnecessary deviations, and providing a consistent data standard for subsequent image analysis.

[0035] Furthermore, in the present invention, histogram equalization is used to improve the contrast of the image, which can enhance the detail expression of the image and make the surface features of the core sample more prominent, which is convenient for subsequent processing and analysis.

[0036] Furthermore, in the present invention, the obtained standardized high-resolution image is input into a pre-trained convolutional neural network model, which has been trained with a large amount of core sample image data and can effectively extract various features in the core sample image, including but not limited to damage points, crack size, fragment shape, etc.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The pile foundation coring drill monitoring device of the present invention includes a high-definition image acquisition module, a measurement while drilling module, a coring drill working parameter acquisition module, a data receiving and processing module, a control operation module, a human-computer interaction display module, a central algorithm module and a cloud platform module, wherein the measurement while drilling module is used for real-time acquisition of the rotational torque and azimuth of the coring drill barrel during the drilling process, while the coring drill working parameter acquisition module provides comprehensive data support for the drilling and coring process, and the data receiving and processing module and the central algorithm module perform real-time processing and analysis on the collected data, automatically mark and identify the features of each core sample, and control the coring drilling through the control operation module, thereby improving the integrity of the core sample, the accuracy of the coring detection and the authenticity of the core sample through the acquisition and automatic control of the working data, and providing reliable data support for the subsequent pile body quality assessment.

[0039] 2. The present invention realizes image acquisition of the working process of the coring drill and the core sample removal process through a high-definition image acquisition module, provides a complete visual reference for the coring process, records the characteristics of each core sample through a convolutional neural network model, and uploads it to the cloud platform for storage and presentation, providing a unique identifier and spatial location information for subsequent core sample quality inspection. The present invention can ensure the authenticity and source traceability of each core sample, and avoid the occurrence of stolen core sample replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a system block diagram of the present invention;

[0041] Figure 2 It is a structural schematic diagram of the coring drill of the present invention;

[0042] Figure 3 It is a flow chart of the control method of the present invention.

[0043] In the figure: 1. Coring drill rig; 101. Hydraulic support leg; 102. Drill rod; 103. Measurement while drilling module; 104. Coring drill barrel; 105. High-definition image acquisition module; 2. Flushing liquid centrifugal pump; 3. Flushing liquid temporary storage box. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Example 1

[0046] See also Figure 1-Figure 3The present invention provides the following technical solutions: a monitoring and control system for a pile foundation coring drill, comprising a high-definition image acquisition module, a measurement while drilling module, a coring drill working parameter acquisition module, a data receiving and processing module, a control operation module, a human-computer interaction display module, a central algorithm module and a cloud platform module, wherein the high-definition image acquisition module is used to collect the working image of the coring drill in real time and the high-definition image when the core sample is taken out; the measurement while drilling module is used to collect the rotation torque and azimuth of the coring drill barrel in real time during the drilling process; the coring drill working parameter acquisition module is used to collect the drilling positioning data information, drill rod feed force data information, drill rod speed data information, drill rod end inclination data information, drill rod depth data information, drill rod drilling speed data information, and the working current data of the coring drill when the coring drill is working. The data receiving and processing module is used to receive data from the high-definition image acquisition module, the downhole measurement module and the coring rig working parameter acquisition module for data processing, and feed back the processed data information to the central algorithm module. The central algorithm module controls the drilling of the pile foundation coring drill rig through the control operation module according to the preset control algorithm model, and performs mark recognition calculation on each section of the core sample taken out according to the preset image recognition algorithm model, and displays the working parameters and core sample image information on the human-computer interaction display module; the cloud platform module is used to receive the data processed by the data receiving and processing module uploaded by the 5G communication module, as well as the information generated by the control algorithm model and the image recognition algorithm model, and performs data storage, presentation and iterative training of the model.

[0047] Specifically, the measurement while drilling module is a measuring short section, which is connected to the end of the coring drill barrel by a thread. The internal structure is a hollow tubular structure. The hollow tube is a water channel. It has a built-in azimuth sensor, battery, torque sensor, control circuit, data storage unit and wireless data transmission unit. It is used to collect torque and azimuth information during the coring drill barrel's drilling process and store it in the data storage unit.

[0048] Specifically, the data receiving unit paired with the wireless data transmitting unit is installed in the data receiving and processing module. When the measurement while drilling module is close to the data receiving and processing module, the working data stored in the data storage unit is automatically transmitted to the data receiving and processing module.

[0049] Specifically, before drilling, one end of the measurement while drilling module is connected to the end of the coring drill barrel through a thread, and the other end is connected to the first drill rod. The built-in battery is charged by wireless charging, and the azimuth sensor and torque sensor in the measurement while drilling module are calibrated and initialized using wireless data transmission technology to ensure accurate data collection and connectivity of the data receiving and processing module.

[0050] Specifically, the core drilling rig working parameter acquisition module includes a drill driving current sensor, a drill feed force sensor (pressure sensor), a drill depth sensor (rope encoder), a drill speed sensor, a drill pipe end inclination sensor, a drill center point coordinate data sensor (GNSS positioning sensor), a flushing fluid flow sensor and a flushing fluid pressure sensor. All collected data are transmitted to the data receiving and processing module via wired means, and transmitted to the central algorithm module after processing.

[0051] Specifically, the driving current sensor is a current transformer installed at the power supply of the drill tool rotating motor, which is used to collect the working current of the rotating motor in real time; the drill tool feed force sensor is a pressure sensor installed at the bottom of the topmost drill pipe, which is used to collect the pressure applied by the topmost drill pipe to the lower drill pipe; the drill tool speed sensor is a Hall proximity switch, which is used to collect the speed of the drill pipe; the drill tool center point coordinate data sensor is a set of GNSS positioning sensors, which are divided into two antennas, which collect the coordinates of the antenna positions respectively, and are installed on the coring drill rig. Through fixed geometric relationships, the coordinates of the drill tool center point are calculated; the flushing fluid flow sensor and the flushing fluid pressure sensor are installed in the pipeline downstream of the flushing fluid centrifugal pump.

[0052] Specifically, the control operation module includes a leveling control unit and a drilling control unit:

[0053] The leveling control unit monitors the precise position of the coring drill by comparing it with the coordinate data of the center point of the drill tool, and automatically corrects the posture of the drill by adjusting the height of the hydraulic support legs. The adjustment accuracy of the hydraulic support legs can reach the centimeter level, ensuring that each adjustment can effectively reduce the hole position deviation and keep the center of the drill barrel accurately aligned with the target coordinates.

[0054] Among them, the drilling control unit dynamically adjusts the drilling speed, rotation speed, flushing fluid flow and pressure by collecting the feed force and working current information of the drill tool in real time to optimize the stability and efficiency during the drilling process. When the rock formation is uniform and stable, the working current changes little when drilling. The system maintains a high rotation speed and appropriate drilling speed to improve the drilling efficiency, reduce the time the core sample stays in the drill bit, thereby shortening the flushing time and speeding up the footage. In weak or broken rock formations, the working current changes greatly when drilling. The system will automatically reduce the drilling speed and reduce the rotation speed to reduce the drill bit load and prevent the rock sample from being damaged. The flow and pressure of the flushing fluid will be adjusted according to the load of the drill tool. While ensuring the cooling of the drill bit and the discharge of cuttings, try to choose a lower pump volume to reduce the flushing intensity and avoid damage to the core sample, thereby improving the quality of coring. In addition, the system also adjusts the control parameters in real time according to the torque and azimuth information of the drill barrel end fed back by the short section sensor. When the torque is too high, the rotation speed or drilling speed is reduced. The azimuth information helps to determine the direction of the drill tool and ensure the accuracy of the drilling trajectory. Based on these real-time data, the preset algorithm calculates and optimizes the benchmark parameters for the next drilling section to ensure a stable and efficient drilling process, while also ensuring the integrity of the core sample and avoiding deviations or damage during the coring process.

[0055] Specifically, the control operation module is based on the PID control algorithm, and implements precise operation motion control on the respective actuators through the leveling control unit and the drilling control unit. The actuators include a hydraulic support leg controller, a drill rod feed force actuator, a drill rod rotation actuator and a variable frequency flushing fluid centrifugal pump. The implementation of the control algorithm includes five key links: first, the setting of the target value, determining the theoretical value to be achieved, such as the drilling speed, rotation speed and flushing fluid flow rate of the drill bit; second, the processing of the controlled parameters, collecting the system feedback signal through the sensor, filtering and processing the signal to ensure the accuracy of the data; then, the deviation processing, calculating the difference between the target value and the actual feedback value, and obtaining the control deviation; then, the control algorithm, according to the calculated deviation value, uses the PID algorithm to adjust the system output and generate an appropriate control quantity, such as the rotation speed applied by the drill rod rotation actuator and the feed force applied by the drill rod feed force actuator; finally, the control quantity processing, converting the control quantity generated by the PID algorithm into an actual execution signal, driving the hydraulic support leg controller, the drill rod feed force actuator, the drill rod rotation actuator and the flushing fluid centrifugal pump and other actuators to make corresponding action adjustments to ensure that the drilling operation is carried out stably according to the predetermined target. The core of this control process is to realize the automatic adjustment and precise control of the system through the PID algorithm to ensure that all parameters in the drilling process are always in the best working state.

[0056] This embodiment takes a certain mixing pile project as the engineering background, and the goal is to reinforce the silt soil layer (thickness of about 10-35 meters) and improve its bearing capacity and strength. The mixing pile project adopts a pile diameter of 1000mm, a pile length of 40 meters, a water-cement ratio of 0.6, a cement content of 18%, and a "two-mixing and one-spraying" wet spraying process. The project party proposed a 28-day drilling coring method for testing and used an unconfined compressive test to test the core sample strength and the performance of the pile body. The specific standards for the coring test of the mixing pile are: 1) When drilling and coring, full-section coring is used, and the coring depth extends to 1.5 meters below the bottom of the pile; 2) The coring rate of a single coring return shall not be less than 70%; 3) The coring rate of the entire pile body shall not be less than 90%; 4) 10 samples are required for each pile for unconfined compressive strength test, and the test results must be greater than 1.5MPa. The construction coring drill rig uses a hydraulic vertical shaft drill rig and the coring tube uses a double-tube corer. The core tube diameter is 150mm, the tube depth is 1000mm, and the flushing fluid is clean water.

[0057] Before construction, first install the high-definition image acquisition module, the measurement while drilling module, and the coring drill rig working parameter acquisition module on the coring drill rig, and complete the initial configuration of the data receiving and processing module, the central algorithm module, and the human-computer interaction display module. Through the human-computer interaction display module, the operator inputs the drilling positioning data information (XY coordinates), the target depth of 41.5 meters, and the type of cleaning fluid (clean water), or directly selects the imported construction parameters for setting. According to the coordinate data of the drill center point and the relative position of the drilling rig displayed in the human-computer interaction display module, the management personnel drives the coring drill rig to the vicinity of the target position to ensure that the coring drill barrel is located near the center of the hole to be drilled.

[0058] After the coring drill reaches the vicinity of the center of the hole to be drilled, the central algorithm module transmits the target position to the control operation module according to the drilling coordinate information. Based on the drilling positioning data information, the module automatically adjusts the drilling position deviation. Through the electronically controlled hydraulic multi-way steering valve, the system accurately controls the movement of the drilling rig, so that the center of the drill rod is automatically and accurately aligned with the target coordinate center, ensuring that the deviation of the drilling center is controlled within 2 cm. At the same time, by real-time monitoring of the inclination value of the end of the drill rod, the control module adjusts the height of the hydraulic support leg to ensure that the core tube always remains in a vertical state and enters the soil layer, thereby ensuring the accuracy and stability of the coring operation.

[0059] After the coring drill is positioned and leveled, the central algorithm module starts the drilling instruction, triggering the control operation module to adjust the working status of the coring drill in real time according to the preset execution parameters. First, the control operation module continuously monitors the drilling force and current changes during the drilling process, and dynamically adjusts the parameters such as the drilling speed, rotation speed, flushing fluid flow and pressure to prevent excessive drilling force from causing the drill to get stuck or the core sample to be damaged, while ensuring smooth drilling and the integrity of the core sample. As the drilling progresses, the system accurately controls the various working parameters of the drill according to the real-time drilling force and current changes until the single coring depth reaches the maximum capacity of the coring barrel. The control module automatically stops the drilling and rotation operations, and applies an upward lifting force through the hydraulic system to prepare to lift the coring drill barrel from the borehole. At this time, the operator assists in slowly lifting the drill rod and the coring drill barrel according to the system prompts to ensure that the coring drill barrel stably takes out the core sample in the borehole. During the extraction process, the operator needs to coordinately monitor the application of the lifting force to ensure that the coring drill barrel does not vibrate excessively or get stuck to ensure the integrity of the core sample. After the core sample is successfully extracted, the sample in the coring drill barrel will be taken out and placed in the core sample collection box. During this process, the high-definition image acquisition module will collect images of the coring drill working process and the core sample removal process in real time, and record the characteristics of each core sample through the convolutional neural network model, and upload it to the cloud platform for storage and presentation in real time.

[0060] During the process of removing the coring drill barrel, when the coring drill barrel is lifted and approaches the data receiving and processing module, the measurement while drilling module connected to the end of the coring drill barrel begins to transmit data with the data receiving and processing module. The measurement while drilling module has continuously collected and recorded working data such as torque and azimuth during the drilling process, and these data are stored in the measurement while drilling module through the data storage unit. When the drill barrel is lifted and close to the data receiving and processing module, the historical working data in the data storage unit is automatically transmitted to the data receiving and processing module and processed in real time. After the received torque and azimuth information is calculated by the preset algorithm in the data receiving and processing module, the system will calculate the optimal control parameters for the next coring operation based on these data. Specifically, based on the torque data, the system can evaluate the load condition of the current drilling state. If the torque is found to be too large, the drilling speed and rotation speed of the drill tool will be automatically adjusted; according to the azimuth information, the system will fine-tune the direction of the drill tool to ensure that the drill tool can accurately maintain the target position during the next drilling process. In addition, the system will automatically adjust the flow and pressure of the flushing fluid based on feedback data to ensure the cleanliness and cooling effect of the borehole, while avoiding the impact of excessive or weak flushing on the core sampling quality.

[0061] After the core sample is taken out, the operator restores the connection between the drill pipe, the measurement while drilling module and the coring drill barrel, and re-places them in the borehole. The control operation module advances the coring drill barrel to the previous coring depth position according to the execution parameters to ensure that the drill tool is at the depth starting point of the last coring. Subsequently, the system performs the drilling operation according to the preset program based on the adjusted drilling speed, rotation speed and drill pipe verticality parameters, and starts the coring operation. During this coring process, if the current drill pipe length is not enough to complete the coring to the maximum capacity of the coring drill barrel, the operator needs to add a new drill pipe to continue the drilling process. When the drilling depth reaches the maximum capacity of the coring drill barrel, the control operation module will automatically stop the drilling and rotation operations and apply an appropriate upward lifting force. At this time, the operator assists in lifting the drilling tool system in sections and extracts the drill pipe according to the section operation steps.

[0062] Each time the drill pipe and core sample are taken out, the operator will continue to follow the same steps above to restore the connection between the drill pipe, the MWD module and the coring drill barrel, and continue the drilling operation according to the preset target depth. After each coring section is completed, the operator repeats the above steps until the preset target sampling depth is finally reached.

[0063] The monitoring and control system of the present invention can collect key parameters such as drill pipe feed force data, drill pipe rotation speed data, drill pipe depth data, drill pipe drilling speed data, coring drill rig working current data, and flushing fluid flow and pressure data in real time during the coring process of pile foundation, so as to reasonably control the coring drilling to perform the drilling and coring action, and use automated feedback control to ensure that the drilling process is stable and efficient, while ensuring the integrity of the core sample to avoid deviation or damage during the coring process; a high-definition image acquisition module is used to record the image information of the core sample removal process in real time, and a convolutional neural network (CNN) model is used to record and analyze the characteristic information of each core sample, and upload it to a cloud platform for storage and display, thereby providing a unique identifier and spatial location information for subsequent core sample quality inspection, ensuring the authenticity and source traceability of each core sample, and effectively preventing the occurrence of core sample replacement or forgery.

[0064] Example 2

[0065] Specifically, a control method for a monitoring and control system of a pile foundation coring drilling rig comprises the following steps:

[0066] S1: Install the high-definition image acquisition module, the measurement while drilling module, and the coring drill rig working parameter acquisition module on the coring drill rig, and complete the initialization settings of the data receiving and processing module, the central algorithm module, and the human-computer interaction screen display module. According to the coordinate data of the drilling tool center point displayed in the human-computer interaction screen display module, guide the coring drill rig to move to the target position, so that the coring drill barrel is near the center of the hole to be drilled, and is ready to enter the working state;

[0067] S2: Through the coring drill working parameter acquisition module, the drilling positioning data, drill pipe feed force data, drill pipe speed data, drill pipe depth data, drill pipe drilling speed data, coring drill working current data, and flushing fluid flow and pressure data are obtained in real time to provide the system with comprehensive dynamic working status information;

[0068] S3: The data receiving and processing module receives and processes the data collected by the coring rig working parameter acquisition module and the measurement while drilling module and feeds it back to the central algorithm module. The central algorithm module dynamically controls the control operation module according to the preset control algorithm model, and uses the preset image recognition algorithm model to automatically mark and identify the features of each core sample, providing accurate support for subsequent core sample analysis and anti-counterfeiting;

[0069] S4: The real-time data collected by the high-definition image acquisition module, the measurement while drilling module and the coring rig working parameter acquisition module, as well as the data processed by the data receiving and processing module, are combined with the information generated by the central algorithm module and the image recognition algorithm model, and uploaded to the cloud platform through the 5G communication module for centralized storage, data visualization and model iterative training.

[0070] In the present invention, in step S3, the method for dynamically controlling the control operation module by the central algorithm module according to the preset control algorithm model includes the following steps:

[0071] S311: The central algorithm module transmits the drilling coordinates to the control operation module, and adjusts the hole position deviation based on the drilling positioning data information to ensure that the center of the coring drill barrel is accurately aligned with the target coordinate center;

[0072] S312: By real-time monitoring of the inclination angle of the drill pipe end, the height of the hydraulic support legs is adjusted to ensure that the core pipe always remains vertical and enters the soil layer;

[0073] S313: The control operation module controls the working state of the coring drill in real time according to the preset execution parameters, and dynamically adjusts according to the drilling tool feed force and the drilling tool working current information until the sampling depth reaches the maximum capacity of the coring drill barrel, then stops the drilling and rotation operations, applies an upward lifting force, and the operator assists in lifting the drill rod and the coring drill barrel to take out the core sample;

[0074] S314: The operator restores the connection between the drill pipe and the coring drill barrel and re-places the drill pipe in the borehole;

[0075] S315: The control operation module advances the coring drill barrel to the previous coring depth position according to the preset execution parameters, and performs the coring according to the preset program according to the adjusted drilling speed, rotation speed and drill pipe verticality parameters;

[0076] S316: After the drilling and coring are completed, the drilling and rotation operations are stopped, and an upward lifting force is applied. The operator assists in removing the drill pipe in sections and taking out the core sample;

[0077] S317: After coring is completed, the above steps are repeated to continue drilling until the final sampling depth reaches the preset target sampling depth.

[0078] Specifically, in step S313, the data receiving and processing module receives the torque and azimuth information saved by the measurement while drilling module during the drilling process, and calculates and provides the reference drilling speed, rotation speed, flushing fluid flow rate and pressure of the next coring operation according to a preset algorithm;

[0079] Specifically, in step S315, during the coring process, if the current drill rod length is insufficient to complete coring to the maximum capacity of the coring drill barrel, the operator needs to add a new drill rod to continue the coring operation until the sampling depth reaches the capacity length of the coring drill barrel.

[0080] Specifically, in step S3, the data processing and analysis of the preset image recognition algorithm model includes the following steps:

[0081] S321: image preprocessing, obtaining a high-definition image of the core sample when it is taken out from the coring drill barrel, preprocessing each segment of the high-definition image of the core sample, including denoising, grayscale, normalization and histogram equalization, performing image cutting processing after obtaining a standardized high-resolution image, and associating the core sample image with the depth information to obtain multiple high-resolution images along the depth direction;

[0082] S322: Extracting core sample features. After obtaining a high-resolution image, extract features from the high-resolution image through a pre-trained convolutional neural network model. The image is passed through multiple convolutional layers to extract features of each core sample, such as the size of the damaged points on the core sample surface, the size of the cracks, the shape of the fragments, etc., and the core sample surface texture features are extracted as additional information in a certain range around each feature point. Multiple pooling layers are used to reduce the spatial dimension, retain the most significant core sample surface features, and improve the robustness of the model. After multiple fully connected layers, the extracted high-dimensional features are further integrated and converted into low-dimensional feature vectors, and a global feature vector is generated by weighted summation.

[0083] S323: Feature data is uploaded and stored, the core sample number and depth information are merged into the feature vector as additional features, the unique identifier and spatial location information of each core sample are added, and the initial image and special vector are uploaded to the feature library in the cloud platform through the 5G communication module.

[0084] Furthermore, in the present invention, a Gaussian convolution kernel is used to smooth the original image, which can effectively reduce the random noise generated by environmental interference, equipment noise or the acquisition process, while retaining the main characteristic details of the core sample surface.

[0085] Specifically, grayscale is achieved by weighted averaging the red, green, and blue (RGB) channels in the image, converting the color image into a grayscale image with a more significant brightness value. The weighting coefficient is: grayscale value = (0.299*R) + (0.587*G) + (0.114*B). The grayscale can better highlight the surface details of the core sample, such as damaged points, cracks, and fragment shapes.

[0086] Specifically, the normalization operation scales the image pixel values ​​to the standard range of [0,1]. By normalizing the pixel values, the brightness value of each pixel in the image is evenly distributed, eliminating unnecessary deviations and providing a consistent data standard for subsequent image analysis.

[0087] Specifically, histogram equalization is used to improve the contrast of the image, which can enhance the detail expression of the image and make the surface features of the core sample more prominent, which is convenient for subsequent processing and analysis.

[0088] Specifically, the obtained standardized high-resolution images are input into a pre-trained convolutional neural network model, which has been trained with a large amount of core sample image data and can effectively extract various features in the core sample images, including but not limited to damage points, crack sizes, fragment shapes, etc.

[0089] In summary, the present invention significantly improves the integrity of core samples, the accuracy of coring detection and the authenticity of core samples by precisely controlling the coring drilling process of the pile foundation, combined with work data collection and automated control technology, thereby providing reliable data support for subsequent pile body quality assessment. At the same time, the method provides a complete visual reference for the entire coring process by capturing images of the coring drill operation process and the core sample removal process. Through the convolutional neural network (CNN) model, the characteristic information of each core sample is recorded and analyzed, and uploaded to the cloud platform for storage and display, thereby providing a unique identifier and spatial location information for subsequent core sample quality inspection, ensuring the authenticity and source traceability of each core sample, and effectively preventing the occurrence of core sample replacement or forgery.

[0090] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A monitoring and control system for a pile foundation coring drill, characterized in that: It includes high-definition image acquisition module, measurement while drilling module, coring rig working parameter acquisition module, data receiving and processing module, control operation module, human-computer interaction display module, central algorithm module and cloud platform module, among which: The high-definition image acquisition module is used to collect the working images of the coring drill and the high-definition images of the core sample when it is taken out in real time; The measurement while drilling module is used to collect the rotation torque and azimuth of the coring drill barrel in real time during the drilling process; The coring drill working parameter acquisition module is used to collect the drilling positioning data information, drill rod feed force data information, drill rod speed data information, drill rod end inclination data information, drill rod depth data information, drill rod drilling speed data information, coring drill working current data information, flushing fluid flow data information and flushing fluid pressure data information when the coring drill is working; The data receiving and processing module is used to receive data from the high-definition image acquisition module, the measurement while drilling module and the coring drill working parameter acquisition module for data processing, and feed back the processed data information to the central algorithm module. The central algorithm module controls the drilling of the pile foundation coring drill through the control operation module according to the preset control algorithm model, and performs mark recognition calculation on each section of the core sample taken out according to the preset image recognition algorithm model, and displays the working parameters and core sample image information on the human-computer interaction display module; The cloud platform module is used to receive the data processed by the data receiving and processing module uploaded through the 5G communication module, as well as the information generated by the control algorithm model and the image recognition algorithm model, and to store and present the data and iteratively train the model.

2. A monitoring and control system for pile foundation coring drilling rig according to claim 1, characterized in that: The coring drill working parameter acquisition module includes a drill driving current sensor, a drill feed force sensor, a drill depth sensor, a drill speed sensor, a drill rod end inclination sensor, a drill center point coordinate data sensor, a flushing fluid flow sensor and a flushing fluid pressure sensor.

3. A monitoring and control system for pile foundation coring drilling rig according to claim 1, characterized in that: The control operation module includes a leveling control unit and a drilling control unit, wherein the leveling control unit transmits the drilling coordinates to the control operation module through the central algorithm module, controls and adjusts the hole position deviation according to the drilling positioning data information, so that the center of the coring drill barrel coincides with the target center, and the drilling control unit is used to control the drilling speed, rotation speed, flushing fluid flow and pressure of the coring drill barrel in real time, dynamically adjusts the current control parameters by obtaining the drill feed force information and the drill working current information, and calculates and provides the benchmark drilling speed, rotation speed, flushing fluid flow and pressure of the next coring operation according to the torque value and azimuth information of the coring drill barrel end fed back by the measuring short section through a preset algorithm.

4. A monitoring and control system for pile foundation coring drilling rig according to claim 1, characterized in that: The measurement while drilling module is a measuring short section, which is connected to the end of the coring drill barrel by a thread. The internal structure is a hollow tubular structure, and the hollow tube is a water channel. It has a built-in azimuth sensor, a battery, a torque sensor, a control circuit, a data storage unit and a wireless data transmission unit, which are used to collect torque and azimuth information during the coring drill barrel drilling process and store it in the data storage unit; the data receiving unit paired with the wireless data transmission unit is installed in the data receiving and processing module. When the measurement while drilling module is close to the data receiving and processing module, the working data saved by the data storage unit will be automatically transmitted to the data receiving and processing module.

5. A control method for a monitoring and control system of a pile foundation coring drilling rig according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1: Install the high-definition image acquisition module, the measurement while drilling module, and the coring drill rig working parameter acquisition module on the coring drill rig, and complete the initialization settings of the data receiving and processing module, the central algorithm module, and the human-computer interaction screen display module. According to the coordinate data of the drilling tool center point displayed in the human-computer interaction screen display module, guide the coring drill rig to move to the target position, so that the coring drill barrel is near the center of the hole to be drilled, and is ready to enter the working state; S2: Through the coring drill working parameter acquisition module, the drilling positioning data, drill pipe feed force data, drill pipe speed data, drill pipe depth data, drill pipe drilling speed data, coring drill working current data, and flushing fluid flow and pressure data are obtained in real time to provide the system with comprehensive dynamic working status information; S3: The data receiving and processing module receives and processes the data collected by the coring rig working parameter acquisition module and the measurement while drilling module and feeds it back to the central algorithm module. The central algorithm module dynamically controls the control operation module according to the preset control algorithm model, and uses the preset image recognition algorithm model to automatically mark and identify the features of each core sample, providing accurate support for subsequent core sample analysis and anti-counterfeiting; S4: The real-time data collected by the high-definition image acquisition module, the measurement while drilling module and the coring rig working parameter acquisition module, as well as the data processed by the data receiving and processing module, are combined with the information generated by the central algorithm module and the image recognition algorithm model, and uploaded to the cloud platform through the 5G communication module for centralized storage, data visualization and model iterative training.

6. The control method of a monitoring and control system for a pile foundation coring drill according to claim 5, characterized in that: In step S3, the method for dynamically controlling the control operation module by the central algorithm module according to the preset control algorithm model includes the following steps: S311: The central algorithm module transmits the drilling coordinates to the control operation module, and adjusts the hole position deviation based on the drilling positioning data information to ensure that the center of the coring drill barrel is accurately aligned with the target coordinate center; S312: By real-time monitoring of the inclination angle of the drill pipe end, the height of the hydraulic support legs is adjusted to ensure that the core pipe always remains vertical and enters the soil layer; S313: The control operation module controls the working state of the coring drill in real time according to the preset execution parameters, and dynamically adjusts according to the drilling tool feed force and the drilling tool working current information until the sampling depth reaches the maximum capacity of the coring drill barrel, then stops the drilling and rotation operations, applies an upward lifting force, and the operator assists in lifting the drill rod and the coring drill barrel to take out the core sample; S314: The operator restores the connection between the drill pipe and the coring drill barrel and re-places the drill pipe in the borehole; S315: The control operation module advances the coring drill barrel to the previous coring depth position according to the preset execution parameters, and performs the coring according to the preset program according to the adjusted drilling speed, rotation speed and drill pipe verticality parameters; S316: After the drilling and coring are completed, the drilling and rotation operations are stopped, and an upward lifting force is applied. The operator assists in removing the drill pipe in sections and taking out the core sample; S317: After coring is completed, the above steps are repeated to continue drilling until the final sampling depth reaches the preset target sampling depth.

7. The control method of a monitoring and control system for a pile foundation coring drill according to claim 6, characterized in that: In step S313, the data receiving and processing module receives the torque and azimuth information saved by the measurement while drilling module during the drilling process, and calculates and provides the reference drilling speed, rotation speed, flushing fluid flow and pressure for the next coring operation according to a preset algorithm.

8. The control method of a monitoring and control system for a pile foundation coring drill according to claim 6, characterized in that: In step S315, during the coring process, if the current drill rod length is insufficient to complete coring to the maximum capacity of the coring drill barrel, the operator needs to add a new drill rod to continue the coring operation until the sampling depth reaches the capacity length of the coring drill barrel.

9. The control method of a monitoring and control system for a pile foundation coring drill according to claim 1, characterized in that: In step S3, the data processing and analysis of the preset image recognition algorithm model includes the following steps: S321: image preprocessing, obtaining a high-definition image of the core sample when it is taken out from the coring drill barrel, preprocessing each segment of the high-definition image of the core sample, including denoising, grayscale, normalization and histogram equalization, performing image cutting processing after obtaining a standardized high-resolution image, and associating the core sample image with the depth information to obtain multiple high-resolution images along the depth direction; S322: Extracting core sample features. After obtaining a high-resolution image, extract features from the high-resolution image through a pre-trained convolutional neural network model. The image is passed through multiple convolutional layers to extract features of each core sample, such as the size of the damaged points on the core sample surface, the size of the cracks, the shape of the fragments, etc., and the core sample surface texture features are extracted as additional information in a certain range around each feature point. Multiple pooling layers are used to reduce the spatial dimension, retain the most significant core sample surface features, and improve the robustness of the model. After multiple fully connected layers, the extracted high-dimensional features are further integrated and converted into low-dimensional feature vectors, and a global feature vector is generated by weighted summation. S323: Feature data is uploaded and stored, the core sample number and depth information are merged into the feature vector as additional features, the unique identifier and spatial location information of each core sample are added, and the initial image and special vector are uploaded to the feature library in the cloud platform through the 5G communication module.

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