Self-adaptive tubular pile perpendicularity detection method

Abstract

The invention relates to the technical field of tubular pile perpendicularity detection, in particular to a self-adaptive tubular pile perpendicularity detection method. The method comprises the steps that a tubular pile is moved to a target pile pressing point position, and pressure is applied to the tubular pile; the distance sensor detects the vertical height from the top of the pipe pile to the pile clamping opening; according to data detected by the laser range finders, determining bevel edge distances, bottom edge distances and two-edge included angles from the point locations of the laser range finders to the pipe pile, and calculating the actual height of the pipe pile; the actual perpendicularity of the pipe pile is obtained according to the vertical height and the actual height; for the condition that the actual perpendicularity of the pipe pile is not in the preset perpendicularity interval of the pipe pile, arranging the actual perpendicularity data set of the pipe pile according to the moving direction of the laser range finder to obtain an actual perpendicularity data string of the pipe pile; and the influence factors that the actual perpendicularity of the pipe pile is not in the preset perpendicularity interval of the pipe pile are determined by analyzing the actual perpendicularity data string of the pipe pile. According to the method, the deviation of the pipe pile in the pile pressing process is timely and accurately found through multi-directional measurement of the perpendicularity of the pipe pile.

Description

Technical Field

[0001] The invention relates to the technical field of pipe pile verticality detection, and in particular to an adaptive pipe pile verticality detection method. Background Art

[0002] Testing the verticality of pipe piles can ensure the stability of the building structure. If the verticality of pipe piles does not meet the standards, the building structure will be unstable, and in serious cases, it may cause safety accidents such as tilting and collapse to ensure the horizontality of the building. If the pipe piles are not vertical, it will affect the parallel relationship between the columns, beams, walls and other components of the building, and then affect the overall horizontality of the building, affecting the appearance and use effect. The verticality of pipe piles is the basic work of construction, which is related to the structural safety of the building, and can improve the building's ability to withstand natural disasters and reduce maintenance costs. If the verticality of pipe piles does not meet the standards, the building may have problems such as wall cracks, deformation of doors and windows during use, increasing maintenance costs. The methods and techniques for testing the verticality of pipe piles usually include the plumb line method, which is a commonly used method at present, and visual observation is performed by setting plumbs in two directions at 90° to each other. The inclinometer method uses a specially made inclinometer to calculate the offset by measuring the change in the inclination angle between the probe and the vertical line. It is suitable for measuring the deformation data of piles in deeper parts. The verticality deviation has a significant impact on the vertical bearing capacity of the pile. The greater the deviation, the lower the bearing capacity. Therefore, the verticality should be strictly controlled during the construction process to ensure the bearing performance of the pile.

[0003] Chinese Patent Publication No.: CN107238379A discloses a verticality detection method for detecting the verticality of the inserted rebar in the prefabricated component through a rebar verticality detection device. The method obtains the result of the verticality deviation of the inserted rebar through on-site actual measurement and simple calculation, providing a basis for the installability during the construction of the prefabricated concrete structure project, thereby increasing the accuracy of the later construction. The present invention also provides a verticality detection method for detecting the verticality of the sleeve in the prefabricated component through a sleeve verticality detection device. The method obtains the result of the verticality deviation of the sleeve through on-site actual measurement and simple calculation, providing a basis for the installability during the construction of the prefabricated concrete structure project, thereby increasing the accuracy of the later construction.

[0004] It can be seen that the prior art has the following problems: due to the lack of a method for multi-directional measurement of the verticality of the pipe pile, the pipe pile is offset during the pile driving process. Summary of the invention

[0005] To this end, the present invention provides an adaptive pipe pile verticality detection method to overcome the problem of pipe pile deviation during pile driving due to the lack of a multi-directional measurement method for the pipe pile verticality in the prior art.

[0006] To achieve the above object, the present invention provides an adaptive pipe pile verticality detection method, comprising the following steps: Move the pipe pile to the target pile-pressing point and control the pile-pressing equipment to pressurize the pipe pile; The vertical height from the top of the pile to the clamping opening is obtained by using the data detected by the distance sensor installed on the top of the pile. Determine the laser rangefinder position according to the target pile driving point and the vertical height, and determine the distance from the laser rangefinder position to the hypotenuse, the distance from the bottom edge and the angle between the two sides of the pipe pile according to the data detected by the laser rangefinder to calculate the actual height of the pipe pile; Obtaining the actual verticality of the pipe pile according to the vertical height and the actual height, and determining whether the actual verticality of the pipe pile is within a preset verticality range of the pipe pile; In the case where the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile, controlling the laser rangefinder to move to obtain a data group of the actual verticality of the pipe pile, and arranging the data group of the actual verticality of the pipe pile according to the moving direction of the laser rangefinder to obtain a data string of the actual verticality of the pipe pile; Analyze the actual verticality data string of the pipe pile by data change trend, determine the influencing factor that the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile according to the analysis result, and adjust the pipe pile verticality detection step according to the influencing factor; The influencing factors include: the working state of the laser rangefinder and the pressing angle of the pile driving equipment.

[0007] Further, the process of determining the position of the laser rangefinder according to the target pile driving position and the vertical height includes: The laser rangefinder is connected to a movable slide rail, which is arranged around the target pile-pressing point. There are two slide rails which are perpendicular to each other on the same horizontal plane, and the extension lines of the slide rails pass through the target pile-pressing point.

[0008] Further, the process of obtaining the actual verticality of the pipe pile according to the vertical height and the actual height and judging whether the actual verticality of the pipe pile is within a preset verticality range of the pipe pile includes: When the actual verticality of the pipe pile is within the preset verticality range of the pipe pile, multiple groups of actual verticality data of the pipe pile on the two slide rails are obtained, and the multiple groups of actual verticality data of the pipe pile are divided into a horizontal pipe pile actual verticality data group and a vertical pipe pile actual verticality data group according to the slide rail direction.

[0009] Furthermore, the process of controlling the movement of the laser rangefinder to obtain the actual verticality data set of the pipe pile includes: The laser rangefinder is controlled to move according to the downward pressing stroke, and the moving direction is a direction away from the target pile pressing point; The downward pressing stroke is the depth to which the pile driving equipment drives the pipe pile in one time.

[0010] Furthermore, the process of arranging the actual verticality data group of the pipe pile according to the moving direction of the laser rangefinder to obtain the actual verticality data string of the pipe pile includes: The moving interval of the slide rail is divided according to the moving distance in the moving direction of the laser rangefinder and the downward pressing stroke, the position data of the dividing point of the laser rangefinder on the slide rail is recorded by a position sensor and the dividing point is marked to obtain the detection mark position data, and the actual verticality of the pipe pile is calculated according to the detection mark position data to obtain the actual verticality data of the pipe pile mark.

[0011] Furthermore, the process of arranging the actual verticality data group of the pipe pile according to the moving direction of the laser rangefinder to obtain the actual verticality data string of the pipe pile includes: The actual verticality data of the pipe pile mark is used to generate a corresponding actual verticality change curve of the pipe pile mark through a data terminal, and each actual verticality change curve of the pipe pile mark is linearly analyzed to obtain a linear change curve of the actual verticality of the pipe pile mark and a nonlinear change curve of the actual verticality of the pipe pile mark.

[0012] Furthermore, the process of obtaining the linear variation curve of the actual verticality of the pipe pile mark and the nonlinear variation curve of the actual verticality of the pipe pile mark includes: If the actual verticality change curve of the pipe pile mark is a linear change curve of the actual verticality change curve of the pipe pile mark, a change trend analysis is performed on the curve slope of the linear change curve of the actual verticality change curve of the pipe pile mark to determine whether the actual verticality of the pipe pile is within a preset verticality interval of the pipe pile before the end of the downward pressing stroke; If the actual verticality change curve of the pipe pile mark is a nonlinear change curve of the actual verticality change curve of the pipe pile mark, then the actual verticality of the pipe pile in the detection mark interval where the inflection point of the curve of the nonlinear change curve of the actual verticality change curve of the pipe pile mark is located is measured to determine whether the actual verticality of the pipe pile in the detection mark interval is normal data; The detection mark interval is an interval formed between inflection points.

[0013] Further, the process of determining the influencing factor that the actual verticality of the pipe pile is not within the preset verticality range of the pipe pile according to the analysis result includes: The actual verticality data groups of the pipe piles in the actual verticality data string are compared. If a group of actual verticality data groups of the pipe piles has a different change trend from other data groups of the actual verticality data string of the pipe piles, the laser rangefinder on the track is determined to be damaged.

[0014] Furthermore, the process of comparing the actual verticality data groups of each pipe pile in the actual verticality data string of the pipe piles includes, when the change trends of the two groups of actual verticality data groups of the pipe piles are different from those of other data groups in the actual verticality data string of the pipe piles, judging the position relationship of the two groups of actual verticality data groups of the pipe piles according to the detection mark position data.

[0015] Furthermore, the process of determining the positional relationship between the two groups of pipe pile actual verticality data groups according to the detection mark position data includes: If the position relationship between the two sets of data sets of actual verticality of pipe piles is a facing position relationship, judging whether the actual verticality of the pipe piles is true according to whether the change curves of the data sets of actual verticality of pipe piles are complementary; If the position relationship between the two groups of data sets of actual verticality of pipe piles is an adjacent position relationship, it is determined whether the actual verticality of the pipe piles is consistent according to the comparison result of the change curves of the data sets of actual verticality of pipe piles.

[0016] Compared with the prior art, the beneficial effect of the present invention is that by setting slide rails that are perpendicular to each other and whose extension lines pass through the target pile-driving points, the measurement reference of the laser rangefinder is ensured to be strictly aligned with the target pile-driving points, thereby reducing measurement errors. The laser rangefinder can move freely on the two slide rails, covering the surrounding areas of the target pile-driving points, ensuring the comprehensiveness and representativeness of the measurement data. The movable design of the laser rangefinder enables the measurement points to be flexibly adjusted according to actual needs to adapt to different construction environments and conditions. The setting of the slide rails and the installation of the laser rangefinder are simple and easy, reducing the reliance on complex equipment and improving construction efficiency. By fixing the slide rails and accurately moving the laser rangefinder, the consistency and reliability of the measurement data are ensured, providing a reliable basis for subsequent verticality calculations and adjustments.

[0017] Furthermore, the accuracy of the judgment result is ensured by calculating the actual verticality and comparing it with the preset verticality interval of the pile. Multiple sets of data are obtained and grouped to fully reflect the verticality of the pile in different directions. Through data analysis, verticality deviations are discovered in a timely manner to provide a basis for adjusting the construction. The slide rail design and the movement of the laser rangefinder are simple and easy to operate, and are suitable for a variety of construction scenarios.

[0018] Furthermore, by acquiring data once over a short distance, high-density data collection is achieved, which improves measurement accuracy. The verticality data acquired in real time can be immediately fed back to the construction personnel, which is convenient for real-time monitoring of the verticality of the piles and necessary adjustments. The formation of data strings facilitates visual display and analysis. Linear regression analysis provides intuitive verticality change trends and deviations. Synchronous movement and automatic data acquisition reduce manual operations, improve measurement efficiency, and optimize construction processes. The automated measurement process reduces errors caused by human factors and improves data reliability and accuracy. This method is suitable for different construction environments and pile driving equipment, and has good versatility and adaptability. Through accurate verticality measurement and analysis, the construction quality is effectively guaranteed and structural problems caused by verticality deviation are reduced.

[0019] Furthermore, by dividing the moving interval of the slide rail into fixed lengths and recording the position data at each dividing point, the uniform distribution of the dividing measurement points and the comprehensiveness of the data are ensured. The position sensor is used to record the position data of the dividing point in real time, and combined with the measurement results of the laser rangefinder and the distance sensor, the actual verticality of each dividing point is accurately calculated to reduce human errors. The verticality data of each dividing point is arranged according to the moving direction to form an ordered data string, which is convenient for subsequent analysis and tracing. Each dividing point is marked and the position data is recorded to ensure that each data point corresponds to a specific position one by one, thereby improving the traceability of the data. By acquiring and analyzing the actual verticality data of the pipe pile in real time, the verticality deviation can be discovered in time, and the construction parameters can be adjusted to ensure that the verticality of the pipe pile meets the design requirements. The uniform distribution of the sliding rail dividing points ensures a comprehensive measurement of the area around the pipe pile to avoid missing local deviations. The automatic data collection of the position sensor and the laser rangefinder reduces the complexity and error of manual operation. According to the downward stroke and construction requirements, the sliding rail segmentation length can be flexibly adjusted to adapt to different construction scenarios and accuracy requirements. This method is applicable to various types of pipe piles and geological conditions. By optimizing the measurement process and data collection method, the dependence on complex equipment is reduced and the construction cost is reduced.

[0020] Furthermore, the overall trend and local fluctuation of the verticality of the pile can be intuitively displayed through the change curve. The linear change curve can reflect the overall trend of the pile deviation, which is convenient for judging the systematic deviation of the verticality of the pile. The nonlinear change curve reflects the local fluctuation, which is convenient for identifying local problems in construction. According to the analysis results, the construction parameters are adjusted to improve the construction quality. The curve is generated by the data terminal and linear analysis is performed to realize the digital and intelligent management of construction data.

[0021] Furthermore, by analyzing the slope change trend and inflection point, the future changes in the actual verticality of the piles can be predicted, providing a basis for construction adjustments. Real-time monitoring of verticality changes ensures construction quality. Based on the results of data analysis, construction decisions and adjustments are guided.

[0022] Furthermore, by comparing the trend of data group changes, abnormal data groups can be quickly identified and damaged distance meters can be located. It is determined that the damage of the distance meter is the main reason why the actual verticality of the pipe pile is not within the preset range, which is convenient for targeted solutions. By determining the damaged distance meter, timely repair or replacement can be carried out to ensure the accuracy and reliability of the measurement data. Avoid measurement errors caused by damage to the distance meter and improve construction quality. By analyzing the trend of data group changes in real time, verticality deviations can be discovered in time and construction parameters can be adjusted. Avoid construction deviations caused by damage to the distance meter and reduce construction risks. Based on the data analysis results, a scientific equipment maintenance plan is formulated to extend the service life of the equipment. By identifying damaged equipment, resources can be reasonably allocated to improve construction efficiency.

[0023] Furthermore, by detecting the marked position data to determine the position relationship of the pipe piles, combined with the complementarity and similarity analysis of the change curve, the authenticity and consistency of the verticality of the pipe piles can be judged more accurately to reduce misjudgment. For the actual verticality data group of the opposite position relationship, the data authenticity is verified through complementarity analysis; for the actual verticality data group of the adjacent position relationship, the data consistency is ensured through similarity comparison. This double verification mechanism improves the reliability of the data. When the verticality of the pipe piles in the adjacent position relationship is inconsistent, the system dynamically adjusts the downward pressure angle of the pile driving equipment according to the similarity difference to ensure the consistency of the verticality of the pipe piles, thereby improving the construction quality. Through complementarity and similarity analysis, abnormal data can be quickly identified, unnecessary rework and data re-collection can be avoided, saving time and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Flow chart of the adaptive pipe pile verticality detection method in this embodiment; Figure 2 This is a process flow chart of the slide rails arranged around the target pile pressing point in the adaptive pipe pile verticality detection method in this embodiment; Figure 3 1 is a process flow chart of obtaining actual verticality data of pipe pile marks in the adaptive pipe pile verticality detection method in this embodiment; Figure 4 This is a flow chart for judging whether the actual verticality of the pipe pile mark is true in the adaptive pipe pile verticality detection method in this embodiment. DETAILED DESCRIPTION

[0025] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0027] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0028] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] See also Figure 1-Figure 4 As shown, Figure 1 Flow chart of the adaptive pipe pile verticality detection method in this embodiment; Figure 2 This is a process flow chart of the slide rails arranged around the target pile pressing point in the adaptive pipe pile verticality detection method in this embodiment; Figure 3 1 is a process flow chart of obtaining actual verticality data of pipe pile marks in the adaptive pipe pile verticality detection method in this embodiment; Figure 4 This is a flow chart of judging the actual verticality variation curve of the pipe pile mark in the adaptive pipe pile verticality detection method in this embodiment.

[0030] This embodiment provides an adaptive pipe pile verticality detection method, comprising the following steps: Step S1, moving the pipe pile to the target pile pressing point by means of the pile clamp of the static press, and controlling the pile pressing device of the static press to press the pipe pile; Step S2, obtaining the vertical height from the top of the pile to the pile clamping opening by detecting data from a distance sensor arranged at the top of the pile; Step S3, determining the laser rangefinder point according to the target pile driving point and the vertical height, and determining the distance from the laser rangefinder point to the hypotenuse, the distance from the base and the angle between the two sides of the pipe pile according to the data detected by the laser rangefinder to calculate the actual height of the pipe pile; Step S4, obtaining the actual verticality of the pipe pile according to the vertical height and the actual height, and judging whether the actual verticality of the pipe pile is within a preset verticality range of the pipe pile; Step S5, when the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile, controlling the laser rangefinder to move to obtain a data set of the actual verticality of the pipe pile, and arranging the data set of the actual verticality of the pipe pile according to the moving direction of the laser rangefinder to obtain a data string of the actual verticality of the pipe pile; Step S6, analyzing the actual verticality data string of the pipe pile by data change trend, determining the influencing factor that the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile according to the analysis result, and adjusting the pipe pile verticality detection step according to the influencing factor; The influencing factors include: the working state of the laser rangefinder and the pressing angle of the pile driving equipment.

[0031] Specifically, the step of determining the position of the laser rangefinder according to the target pile driving position and the vertical height includes: The laser rangefinder is connected to a movable slide rail, which is arranged around the target pile-pressing point. There are two slide rails which are perpendicular to each other on the same horizontal plane, and the extension lines of the slide rails pass through the target pile-pressing point.

[0032] This embodiment provides a process of setting a slide rail around a target pile driving point, including the following steps: Step S301, determining a preset target pile-pressing point, setting two slide rails around the target pile-pressing point, ensuring that the two slide rails are on the same horizontal plane and perpendicular to each other, and that the extension lines of the two slide rails pass through the target pile-pressing point; Step S302, installing the laser rangefinder on a movable slide rail to ensure that the laser rangefinder can move freely along the slide rail. The laser rangefinder should be able to move on two slide rails respectively.

[0033] By setting slide rails that are perpendicular to each other and whose extension lines pass through the target pile-pressing point, the measurement reference of the laser rangefinder is ensured to be strictly aligned with the target pile-pressing point, thereby reducing measurement errors. The laser rangefinder can move freely on the two slide rails, covering the surrounding area of ​​the target pile-pressing point, ensuring the comprehensiveness and representativeness of the measurement data. The movable design of the laser rangefinder enables the measurement points to be flexibly adjusted according to actual needs to adapt to different construction environments and conditions. The setting of the slide rails and the installation of the laser rangefinder are simple and easy, reducing the reliance on complex equipment and improving construction efficiency. By fixing the slide rails and accurately moving the laser rangefinder, the consistency and reliability of the measurement data are ensured, providing a reliable basis for subsequent verticality calculation and adjustment.

[0034] Specifically, the process of obtaining the actual verticality of the pipe pile according to the vertical height and the actual height and judging whether the actual verticality of the pipe pile is within the preset verticality range of the pipe pile includes: When the actual verticality of the pipe pile is within the preset verticality range of the pipe pile, multiple groups of actual verticality data of the pipe pile on the two slide rails are obtained, and the multiple groups of actual verticality data of the pipe pile are divided into a horizontal pipe pile actual verticality data group and a vertical pipe pile actual verticality data group according to the slide rail direction.

[0035] The vertical height from the top of the pile to the clamping opening is obtained through the distance sensor; The hypotenuse distance, base distance and included angle are measured by a laser rangefinder to calculate the actual height of the pile, which is the product of the hypotenuse distance and the sine value of the included angle. According to the vertical height and the actual height, the actual verticality of the pile is calculated. The actual verticality is the value of the inverse tangent function, whose parameter is the difference between the actual height and the vertical height divided by the base distance; Compare the actual verticality with the preset verticality interval of the pile. If the actual verticality is within the preset verticality interval, move the laser rangefinder along the two slide rails to obtain multiple sets of actual verticality data of the pile. Divide multiple sets of actual verticality data into two groups according to the direction of the slide rail. The actual verticality data set of the horizontal pipe pile is the data set measured along the horizontal slide rail; The actual verticality data set of the vertical pipe pile is the data set measured along the vertical direction slide rail.

[0036] The accuracy of the judgment result is ensured by calculating the actual verticality and comparing it with the preset verticality range of the pile. Multiple sets of data are obtained and grouped to fully reflect the verticality of the pile in different directions. Through data analysis, verticality deviations are discovered in a timely manner to provide a basis for adjusting the construction. The slide rail design and the movement of the laser rangefinder are simple and easy to operate, and are suitable for a variety of construction scenarios.

[0037] Specifically, the process of controlling the movement of the laser rangefinder to obtain the actual verticality data set of the pipe pile includes: The laser rangefinder is controlled to move according to the downward pressing stroke, and the moving direction is away from the target pile pressing point; The downward pressing stroke is the depth to which the pile driving equipment drives the pipe pile in one time.

[0038] In this embodiment, the pressing stroke is set to a single pile pressing depth of 10 cm; the moving direction is set to move left along the horizontal slide rail. When the pile driving equipment applies pressure to the pipe pile according to the downward pressure stroke, the laser rangefinder is moved synchronously. After each downward pressure is completed, the laser rangefinder is controlled to move 10 cm to the left along the horizontal slide rail. During the movement of the laser rangefinder, the actual verticality data of the pipe pile is obtained every 1 cm. The obtained data is recorded in sequence to form a data group. The data group is arranged according to the moving direction to form a data string. Linear regression is used to analyze the changing trend of the data string to determine the deviation of the verticality of the pipe pile.

[0039] By acquiring data once over a short distance, high-density data collection is achieved, which improves measurement accuracy. The verticality data acquired in real time can be immediately fed back to the construction personnel, which is convenient for real-time monitoring of the verticality of the pile and necessary adjustments. The formation of data strings facilitates visual display and analysis. Linear regression analysis provides intuitive verticality change trends and deviations. Synchronous movement and automatic data acquisition reduce manual operations, improve measurement efficiency, and optimize construction processes. The automated measurement process reduces errors caused by human factors and improves data reliability and accuracy. This method is suitable for different construction environments and pile driving equipment, and has good versatility and adaptability. Through accurate verticality measurement and analysis, the construction quality is effectively guaranteed and structural problems caused by verticality deviation are reduced.

[0040] Specifically, the process of arranging the actual verticality data group of the pipe pile according to the moving direction of the laser rangefinder to obtain the actual verticality data string of the pipe pile includes: The moving interval of the slide rail is divided according to the moving distance in the moving direction of the laser rangefinder and the downward pressing stroke, the position data of the dividing point of the laser rangefinder on the slide rail is recorded by a position sensor and the dividing point is marked to obtain the detection mark position data, and the actual verticality of the pipe pile is calculated according to the detection mark position data to obtain the actual verticality data of the pipe pile mark.

[0041] According to the moving direction and downward stroke of the laser rangefinder, the moving range of the slide rail is divided into several sections; The length of each segment corresponds to the pressing stroke (for example, if you press down 1 meter each time, the length of each segment is 10 cm); Using a position sensor to record the position data of each segmentation point of the laser rangefinder on the slide rail, marking each segmentation point, generating detection mark position data, calculating the actual verticality data of the pipe pile mark, calculating the actual verticality data of the pipe pile mark corresponding to each segmentation point according to the detection mark position data, obtaining the actual verticality data of the pipe pile mark, arranging the actual verticality data of the pipe pile mark according to the moving direction of the laser rangefinder, forming a data string of the actual verticality of the pipe pile; This embodiment provides a step of obtaining actual verticality data of a pipe pile mark, including: Step S501, the laser rangefinder moves leftward along the horizontal slide rail, and the segmentation length is determined according to the moving distance and the downward pressing stroke; Step S502, installing a position sensor on the slide rail to record the position of the laser rangefinder and the segmentation point position data in real time; Step S503, calculating the actual verticality data of the pipe pile mark, and at each segmentation point, determining the actual verticality of the pipe pile according to the hypotenuse distance, base distance and angle of the segmentation point position measured by the laser rangefinder and the vertical height of the current segmentation point detected by the distance sensor; Step S504, sorting the data, arranging the verticality data of each segmentation point according to the moving direction, and generating a data string.

[0042] Example: Set the downward stroke to 10 cm; the total length of the slide rail to 100 cm; the moving direction of the laser rangefinder is from left to right with the target pile pressing point as the origin. Divide the rail into 10 sections, each 10 cm long. Record the division point position data at 10 cm, 20 cm, ..., 100 cm. Measure and calculate the actual verticality at each division point. For example: The actual verticality at 10 cm is 0.3°; The actual verticality at 20 cm is 0.5°; ... The actual verticality at 100 cm is 0.1°; The data string is 0.3°, 0.5°, ..., 0.1°.

[0043] By dividing the moving section of the slide rail into fixed lengths and recording the position data at each dividing point, the uniform distribution of the dividing measurement points and the comprehensiveness of the data are ensured. The position sensor is used to record the position data of the dividing point in real time, and combined with the measurement results of the laser rangefinder and the distance sensor, the actual verticality of each dividing point is accurately calculated to reduce human errors. The verticality data of each dividing point is arranged according to the moving direction to form an orderly data string for subsequent analysis and tracing. Each dividing point is marked and the position data is recorded to ensure that each data point corresponds to a specific position one by one, thereby improving the traceability of the data. By acquiring and analyzing the actual verticality data of the pipe pile in real time, the verticality deviation can be discovered in time, and the construction parameters can be adjusted to ensure that the verticality of the pipe pile meets the design requirements. The uniform distribution of the rail dividing points ensures a comprehensive measurement of the area around the pipe pile to avoid missing local deviations. The automatic data collection of the position sensor and the laser rangefinder reduces the complexity and error of manual operation. According to the downward stroke and construction requirements, the rail segmentation length can be flexibly adjusted to adapt to different construction scenarios and accuracy requirements. This method is applicable to various types of pipe piles and geological conditions. By optimizing the measurement process and data collection method, the dependence on complex equipment is reduced and the construction cost is reduced.

[0044] Specifically, the process of arranging the actual verticality data group of the pipe pile according to the moving direction of the laser rangefinder to obtain the actual verticality data string of the pipe pile includes: The actual verticality data of the pipe pile mark is used to generate a corresponding actual verticality change curve of the pipe pile mark through a data terminal, and each actual verticality change curve of the pipe pile mark is linearly analyzed to obtain a linear change curve of the actual verticality of the pipe pile mark and a nonlinear change curve of the actual verticality of the pipe pile mark.

[0045] The target pile driving point is taken as the origin, the split point position data is taken as the horizontal axis of the two-dimensional coordinate system where the change curve is located, and the actual verticality value is taken as the vertical axis to generate the actual verticality change curve of the pile mark. The actual verticality change curve of the pipe pile mark is linearly fitted to obtain the actual verticality linear change curve of the pipe pile mark. For example, the least squares method is used to fit the straight line equation y=kx+b, where y is the actual verticality value; x is the position of the split point; k is the slope, reflecting the overall change trend of the verticality; b is the intercept, Nonlinear separation: Subtract the original change curve from the linear change curve to obtain the nonlinear change curve.

[0046] Nonlinear variation curves reflect local fluctuations or deviations.

[0047] The overall trend and local fluctuation of the verticality of the pile can be intuitively displayed through the change curve. The linear change curve can reflect the overall trend of the pile deviation, which is convenient for judging the systematic deviation of the verticality of the pile. The nonlinear change curve reflects the local fluctuation, which is convenient for identifying local problems in construction. Adjust the construction parameters according to the analysis results to improve the construction quality. Generate curves and perform linear analysis through the data terminal to realize the digital and intelligent management of construction data.

[0048] Specifically, the process of obtaining the linear change curve of the actual verticality of the pipe pile mark and the nonlinear change curve of the actual verticality of the pipe pile mark includes: If the actual verticality change curve of the pipe pile mark is a linear change curve of the actual verticality change curve of the pipe pile mark, a change trend analysis is performed on the curve slope of the linear change curve of the actual verticality change curve of the pipe pile mark to determine whether the actual verticality of the pipe pile is within a preset verticality interval of the pipe pile before the end of the downward pressing stroke; If the actual verticality change curve of the pipe pile mark is a nonlinear change curve of the actual verticality change curve of the pipe pile mark, then the actual verticality of the pipe pile in the detection mark interval where the inflection point of the curve of the nonlinear change curve of the actual verticality change curve of the pipe pile mark is located is measured to determine whether the actual verticality of the pipe pile in the detection mark interval is normal data; The detection mark interval is an interval formed between inflection points.

[0049] Generate a linear change curve of the actual verticality of the pipe pile mark through the data terminal, and analyze the change trend of the slope. If the slope is close to 0, it means that the actual verticality of the pipe pile changes little and the overall trend is stable; if the slope is large, it means that the actual verticality of the pipe pile has an obvious upward or downward trend; based on the slope change trend, predict whether the actual verticality of the pipe pile is within the preset verticality range of the pipe pile before the end of the downward stroke.

[0050] Example: The equation of the linear change curve is y=0.02x+0.1, where the slope k=0.0 means that the verticality increases slowly as the position of the split point increases; In this embodiment, the preset verticality interval of the pipe pile is set to ±0.5°. When the slope k=0.02, it indicates that the actual verticality of the pipe pile changes in a gentle trend. It is predicted that before the end of the downward pressure stroke, the actual verticality of the pipe pile will not exceed the preset verticality interval of the pipe pile.

[0051] Generate a nonlinear change curve of the actual verticality of the pipe pile mark through the data terminal, and use an inflection point detection algorithm (such as the second-order derivative method) to identify the inflection point in the nonlinear change curve of the actual verticality of the pipe pile mark, where the inflection point is the point where the change trend of the nonlinear change curve of the actual verticality of the pipe pile mark changes significantly; the interval formed between the inflection points is the detection mark interval, For example, if the turning points are located at 30 cm and 70 cm, the detection mark interval is 30 cm to 70 cm. The actual verticality of the pipe pile within the detection mark interval is measured to determine whether the data is normal.

[0052] Through slope change trend and inflection point analysis, the future changes of the actual verticality of the piles are predicted to provide a basis for construction adjustments. Real-time monitoring of verticality changes ensures construction quality. Based on the results of data analysis, construction decisions and adjustments are guided.

[0053] Specifically, the process of determining the influencing factor that the actual verticality of the pipe pile is not within the preset verticality range of the pipe pile according to the analysis result includes: The actual verticality data groups of the pipe piles in the actual verticality data string are compared. If a group of actual verticality data groups of the pipe piles has a different change trend from other data groups of the actual verticality data string of the pipe piles, the laser rangefinder on the track is determined to be damaged.

[0054] Get the actual verticality data string of the pipe pile, which includes multiple groups of data, for example: The horizontal slide data set is 0.3°, 0.5°, 0.4°, 0.6°, and 0.7°; The vertical slide data set is 0.2°, 0.3°, 0.4°, 0.5°, 0.6°; Each set of data is measured by the distance meter on the corresponding slide rail, and the change trend of each set of data is analyzed, for example: The slope k1=0.1 of the horizontal slide data group shows an upward trend; The vertical slide data set has an increasing trend with slope k2=0.1; Compare the slopes of each group of data to determine whether they are consistent. For example, if the slope of the horizontal slide rail data group is k1 = 0.1 and the slope of the vertical slide rail data group is k2 = −0.1, the trends are inconsistent, and it is determined that the rangefinder corresponding to the abnormal data group is damaged.

[0055] By comparing the trend of data group changes, abnormal data groups can be quickly identified and damaged distance meters can be located. Determining that the damage of the distance meter is the main reason why the actual verticality of the pipe pile is not within the preset range facilitates targeted solutions. By determining the damaged distance meter, timely repair or replacement can be carried out to ensure the accuracy and reliability of the measurement data. Avoid measurement errors caused by damage to the distance meter and improve construction quality. By analyzing the trend of data group changes in real time, verticality deviations can be discovered in time and construction parameters can be adjusted. Avoid construction deviations caused by damage to the distance meter and reduce construction risks. Based on the data analysis results, a scientific equipment maintenance plan is formulated to extend the service life of the equipment. By identifying damaged equipment, resources can be reasonably allocated to improve construction efficiency.

[0056] Specifically, the process of comparing the actual verticality data groups of the pipe piles in the actual verticality data string includes: If the two groups of pipe pile actual verticality data sets have different change trends from other data sets of the pipe pile actual verticality data string, the position relationship of the two groups of pipe pile actual verticality data sets is determined according to the detection mark position data.

[0057] Specifically, the process of determining the positional relationship between the two groups of pipe pile actual verticality data groups according to the detection mark position data includes: If the position relationship between the two sets of data sets of actual verticality of pipe piles is a facing position relationship, judging whether the actual verticality of the pipe piles is true according to whether the change curves of the data sets of actual verticality of pipe piles are complementary; If the position relationship between the two groups of data sets of actual verticality of pipe piles is an adjacent position relationship, judging whether the actual verticality of the pipe piles is consistent according to the comparison result of the change curves of the data sets of actual verticality of pipe piles; If the positional relationship between the two groups of actual verticality data sets of the pipe piles is not a corresponding relationship, it is determined that the laser rangefinder data is abnormal.

[0058] The position relationship between the two sets of actual verticality data sets of pipe piles is a facing position relationship. The change curves of the two sets of actual verticality data sets of pipe piles are selected for comparison. If the change curves of the two sets of actual verticality data of pipe piles are complementary, that is, the rising section of one curve corresponds to the falling section of the other curve in time, then the two sets of actual verticality data of pipe piles are judged to be true data; If the change curves of the two groups of actual verticality data of pipe piles do not show complementarity, the relevant data need to be collected again; For the two sets of pipe pile actual verticality data sets with adjacent position relationship, the change curves of the two sets of pipe pile actual verticality data sets are selected for similarity comparison. If the similarity of the change curves of the two groups of pipe pile actual verticality data sets is less than or equal to the preset standard change curve similarity, it is determined that the actual verticality of the pipe piles is consistent.

[0059] If the similarity of the change curves of the two groups of actual verticality data sets of pipe piles is greater than the similarity of the preset standard change curves, it is judged that the actual verticality of the pipe piles is inconsistent, and the downward pressure angle of the pile driving equipment needs to be adjusted. The downward pressure angle of the pile driving equipment is determined according to the difference between the similarity of the standard change curve and the similarity of the change curve of the actual verticality data set of pipe piles and the compensation parameter for the influence of the difference between the similarity of the standard change curve and the similarity of the change curve of the actual verticality data set of pipe piles on the downward pressure angle of the pile driving equipment, wherein the difference between the similarity of the standard change curve and the similarity of the change curve of the actual verticality data set of pipe piles is directly proportional to the downward pressure angle of the pile driving equipment.

[0060] By detecting the marked position data to determine the position relationship of the pipe piles, combined with the complementarity and similarity analysis of the change curve, the authenticity and consistency of the verticality of the pipe piles can be judged more accurately to reduce misjudgment. For the actual verticality data group of the opposite position relationship, the data authenticity is verified through complementarity analysis; for the actual verticality data group of the adjacent position relationship, the data consistency is ensured through similarity comparison. This double verification mechanism improves the reliability of the data. When the verticality of the pipe piles in the adjacent position relationship is inconsistent, the system dynamically adjusts the downward pressure angle of the pile driving equipment according to the similarity difference to ensure the consistency of the verticality of the pipe piles, thereby improving the construction quality. Through complementarity and similarity analysis, abnormal data can be quickly identified, unnecessary rework and data re-collection can be avoided, saving time and cost.

[0061] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive pipe pile verticality detection method, characterized in that: The following steps are included: Move the pipe pile to the target pile-pressing point and control the pile-pressing equipment to pressurize the pipe pile; The vertical height from the top of the pile to the pile clamping opening is obtained by using the data detected by the distance sensor installed on the top of the pile; Determine the laser rangefinder position according to the target pile driving point and the vertical height, and determine the distance from the laser rangefinder position to the hypotenuse, the distance from the bottom edge and the angle between the two sides of the pipe pile according to the data detected by the laser rangefinder to calculate the actual height of the pipe pile; Obtaining the actual verticality of the pipe pile according to the vertical height and the actual height, and determining whether the actual verticality of the pipe pile is within a preset verticality range of the pipe pile; In the case where the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile, controlling the laser rangefinder to move to obtain a data group of the actual verticality of the pipe pile, and arranging the data group of the actual verticality of the pipe pile according to the moving direction of the laser rangefinder to obtain a data string of the actual verticality of the pipe pile; Analyze the actual verticality data string of the pipe pile by data change trend, determine the influencing factor that the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile according to the analysis result, and adjust the pipe pile verticality detection step according to the influencing factor; The influencing factors include: the working state of the laser rangefinder and the pressing angle of the pile driving equipment.

2. The adaptive pipe pile verticality detection method according to claim 1 is characterized in that: The process of determining the position of the laser rangefinder according to the target pile driving position and the vertical height includes: The laser rangefinder is connected to a movable slide rail, which is arranged around the target pile-pressing point. There are two slide rails which are perpendicular to each other on the same horizontal plane, and the extension lines of the slide rails pass through the target pile-pressing point.

3. The adaptive pipe pile verticality detection method according to claim 2 is characterized in that: The process of obtaining the actual verticality of the pipe pile according to the vertical height and the actual height and judging whether the actual verticality of the pipe pile is within the preset verticality range of the pipe pile includes: When the actual verticality of the pipe pile is within the preset verticality range of the pipe pile, multiple groups of actual verticality data of the pipe pile on the two slide rails are obtained, and the multiple groups of actual verticality data of the pipe pile are divided into a horizontal pipe pile actual verticality data group and a vertical pipe pile actual verticality data group according to the slide rail direction.

4. The adaptive pipe pile verticality detection method according to claim 3 is characterized in that: The process of controlling the movement of the laser rangefinder to obtain the actual verticality data set of the pipe pile includes: The laser rangefinder is controlled to move according to the downward pressing stroke, and the moving direction is away from the target pile pressing point; The downward pressing stroke is the depth to which the pile driving equipment drives the pipe pile in one time.

5. The adaptive pipe pile verticality detection method according to claim 4 is characterized in that: The process of arranging the actual verticality data group of the pipe pile according to the moving direction of the laser rangefinder to obtain the actual verticality data string of the pipe pile includes: The moving interval of the slide rail is divided according to the moving distance in the moving direction of the laser rangefinder and the downward pressing stroke, the position data of the dividing point of the laser rangefinder on the slide rail is recorded by a position sensor and the dividing point is marked to obtain the detection mark position data, and the actual verticality of the pipe pile is calculated according to the detection mark position data to obtain the actual verticality data of the pipe pile mark.

6. The adaptive pipe pile verticality detection method according to claim 5 is characterized in that: The process of arranging the actual verticality data group of the pipe pile according to the moving direction of the laser rangefinder to obtain the actual verticality data string of the pipe pile includes: The actual verticality data of the pipe pile mark is used to generate a corresponding actual verticality change curve of the pipe pile mark through a data terminal, and each actual verticality change curve of the pipe pile mark is linearly analyzed to obtain a linear change curve of the actual verticality of the pipe pile mark and a nonlinear change curve of the actual verticality of the pipe pile mark.

7. The adaptive pipe pile verticality detection method according to claim 6 is characterized in that: The process of obtaining the linear variation curve of the actual verticality of the pipe pile mark and the nonlinear variation curve of the actual verticality of the pipe pile mark includes: If the actual verticality change curve of the pipe pile mark is a linear change curve of the actual verticality change curve of the pipe pile mark, a change trend analysis is performed on the curve slope of the linear change curve of the actual verticality change curve of the pipe pile mark to determine whether the actual verticality of the pipe pile is within a preset verticality interval of the pipe pile before the end of the downward pressing stroke; If the actual verticality change curve of the pipe pile mark is a nonlinear change curve of the actual verticality change curve of the pipe pile mark, then the actual verticality of the pipe pile in the detection mark interval where the inflection point of the curve of the nonlinear change curve of the actual verticality change curve of the pipe pile mark is located is measured to determine whether the actual verticality of the pipe pile in the detection mark interval is normal data; The detection mark interval is an interval formed between inflection points.

8. The adaptive pipe pile verticality detection method according to claim 7 is characterized in that: The process of determining the influencing factor that the actual verticality of the pipe pile is not within the preset verticality range of the pipe pile according to the analysis result includes: The actual verticality data groups of the pipe piles in the actual verticality data string are compared. If a group of actual verticality data groups of the pipe piles has a different change trend from other data groups of the actual verticality data string of the pipe piles, the laser rangefinder on the track is determined to be damaged.

9. The adaptive pipe pile verticality detection method according to claim 8, characterized in that: The process of comparing the actual verticality data groups of the pipe piles in the actual verticality data string includes: If the two groups of pipe pile actual verticality data sets have different change trends from other data sets of the pipe pile actual verticality data string, the position relationship of the two groups of pipe pile actual verticality data sets is determined according to the detection mark position data.

10. The adaptive pipe pile verticality detection method according to claim 9, characterized in that: The process of judging the positional relationship between the two groups of pipe pile actual verticality data groups according to the detection mark position data includes: If the position relationship between the two sets of data sets of actual verticality of pipe piles is a facing position relationship, judging whether the actual verticality of the pipe piles is true according to whether the change curves of the data sets of actual verticality of pipe piles are complementary; If the position relationship between the two groups of data sets of actual verticality of pipe piles is an adjacent position relationship, it is determined whether the actual verticality of the pipe piles is consistent according to the comparison result of the change curves of the data sets of actual verticality of pipe piles.

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