An adaptive method for detecting the verticality of pipe piles

Abstract

The present invention relates to the technical field of pipe pile verticality detection, and particularly to an adaptive pipe pile verticality detection method, which includes moving the pipe pile to the target pile pressing position and applying pressure to the pipe pile; a distance sensor detects the vertical height from the top of the pipe pile to the pile clamping opening; according to the data detected by the laser rangefinder, the hypotenuse distance, the base distance from the laser rangefinder point to the pipe pile, and the included angle between the two sides are calculated to obtain the actual height of the pipe pile; the actual verticality of the pipe pile is obtained based on the vertical height and the actual height; for the case where the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile, the actual verticality data group of the pipe pile is arranged according to the moving direction of the laser rangefinder to obtain the actual verticality data string of the pipe pile; the influencing factors for the actual verticality of the pipe pile not being within the preset verticality interval of the pipe pile are determined by analyzing the actual verticality data string of the pipe pile. The present invention can timely and accurately detect the deviation of the pipe pile during the pile pressing process through multi-directional measurement of the pipe pile verticality.

Description

Technical Field

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

[0002] Detecting the verticality of pipe piles can ensure the stability of building structures. If the verticality of pipe piles does not meet the standard, it will lead to unstable building structures, and in severe cases, safety accidents such as tilting and collapse may occur. Ensure the levelness of the building. Non-vertical pipe piles will affect the parallel relationship between components such as columns, beams, and walls of the building, thereby affecting the overall levelness of the building, and affecting the aesthetics and usability. The verticality of pipe piles is a basic task in building construction, which is related to the structural safety of buildings and can improve the ability of buildings to withstand natural disasters. Reduce maintenance costs. If the verticality of the pipe piles does not meet the standard, problems such as wall cracks and door and window deformation may occur during the use of the building, increasing the maintenance cost. The methods and techniques for detecting the verticality of pipe piles usually include the plumb line method, which is the currently commonly used method. The plumb line is set up in two directions that are perpendicular to each other for visual observation. 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, and is suitable for measuring the deformation data of pile bodies in deeper parts. The influence of verticality deviation on the bearing capacity of pipe piles. The verticality deviation has a significant impact on the vertical bearing capacity of pipe piles. 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 pipe piles.

[0003] Chinese Patent Publication No.: CN107238379A discloses a verticality detection method for detecting the verticality of inserted steel bars in precast components through an inserted steel bar verticality detection device. This method obtains the result of the verticality deviation of the inserted steel bars through on-site measurement and simple calculation, providing a basis for the installability during the construction process of precast concrete structure projects, thereby increasing the accuracy of subsequent construction. The present invention also provides a verticality detection method for detecting the verticality of sleeves in precast components through a sleeve verticality detection device. This method obtains the result of the verticality deviation of the sleeves through on-site measurement and simple calculation, providing a basis for the installability during the construction process of precast concrete structure projects, thereby increasing the accuracy of subsequent construction.

[0004] It can be seen that the existing technology has the following problems: Due to the lack of a method for multi-directional measurement of the verticality of pipe piles, the pipe piles deviate during the pile pressing process. Summary of the Invention

[0005] Therefore, the present invention provides an adaptive pipe pile verticality detection method to overcome the problem that the pipe piles deviate during the pile pressing process due to the lack of a method for multi-directional measurement of the verticality of pipe piles in the existing technology.

[0006] To achieve the above object, the present invention provides an adaptive method for detecting the verticality of pipe piles, including the following steps:

[0007] Move the pipe pile to the target pipe-pressing point, and control the pipe-pressing equipment to press the pipe pile.

[0008] Detect the data through the distance sensor arranged at the top of the pipe pile to obtain the vertical height from the top of the pipe pile to the pile clamping opening.

[0009] Determine the laser rangefinder position according to the target pipe-pressing point and the vertical height, and determine the hypotenuse distance, base distance from the laser rangefinder position to the pipe pile and the included angle between the two sides according to the data detected by the laser rangefinder, and calculate the actual height of the pipe pile.

[0010] Obtain the actual verticality of the pipe pile according to the vertical height and the actual height, and judge whether the actual verticality of the pipe pile is within the preset verticality interval of the pipe pile.

[0011] For the case where the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile, control the laser rangefinder to move to obtain a group of actual verticality data of the pipe pile, and arrange the group of actual verticality data of the pipe pile in the moving direction of the laser rangefinder to obtain an actual verticality data string of the pipe pile.

[0012] Analyze the actual verticality data string of the pipe pile through the data change trend, determine the influencing factors for the actual verticality of the pipe pile not being within the preset verticality interval of the pipe pile according to the analysis result, and adjust the pipe pile verticality detection steps according to the influencing factors.

[0013] Among them, the influencing factors include: the working state of the laser rangefinder and the pressing angle of the pipe-pressing equipment.

[0014] Calculate the actual verticality of the pipe pile according to the vertical height and the actual height. The actual verticality is the value of the arctangent function, and its parameter is the difference between the actual height and the vertical height divided by the base distance, where the actual height is the product of the hypotenuse distance and the sine value of the included angle.

[0015] Further, the process of determining the laser rangefinder position according to the target pipe-pressing point and the vertical height includes:

[0016] Connect the laser rangefinder to a movable slide rail. The slide rail is arranged around the target pipe-pressing point. There are two slide rails and they are perpendicular to each other on the same horizontal plane. The extension lines of the slide rails all pass through the target pipe-pressing point.

[0017] 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 the preset verticality interval of the pipe pile includes:

[0018] For the case where the actual verticality of the pipe pile is within the preset verticality range of the pipe pile, obtain multiple groups of actual verticality data of the pipe pile on the two slide rails, and divide the multiple groups of actual verticality data of the pipe pile into a horizontal actual verticality data group of the pipe pile and a vertical actual verticality data group of the pipe pile according to the slide rail direction.

[0019] Further, the process of controlling the movement of the laser rangefinder to obtain the actual verticality data group of the pipe pile includes,

[0020] Controlling the movement of the laser rangefinder according to the pressing stroke, and the moving direction is away from the target pipe pile pressing point;

[0021] Wherein, the pressing stroke is the depth of the pipe pile pressing operation by the pipe pile pressing equipment each time.

[0022] Further, 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,

[0023] Dividing the moving interval of the slide rail according to the moving distance in the moving direction of the laser rangefinder and the pressing stroke, recording the position data of the splitting points of the laser rangefinder on the slide rail through the position sensor and marking the splitting points to obtain the detected marked position data, and calculating the actual verticality of the pipe pile according to the detected marked position data to obtain the marked actual verticality data of the pipe pile.

[0024] Further, 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,

[0025] Generating a corresponding actual verticality change curve of the pipe pile mark by the data terminal for the marked actual verticality data of the pipe pile, and performing linear analysis on each actual verticality change curve of the pipe pile mark to obtain an actual verticality linear change curve of the pipe pile mark and an actual verticality non-linear change curve of the pipe pile mark.

[0026] Further, the process of obtaining the actual verticality linear change curve of the pipe pile mark and the actual verticality non-linear change curve of the pipe pile mark includes,

[0027] If the actual verticality change curve of the pipe pile mark is the actual verticality linear change curve of the pipe pile mark, then perform a change trend analysis on the curve slope of the actual verticality linear change curve of the pipe pile mark to determine whether the actual verticality of the pipe pile is within the preset verticality range of the pipe pile before the end of the pressing stroke;

[0028] If the actual verticality change curve of the pipe pile mark is a non-linear change curve of the actual verticality of the pipe pile mark, measure the actual verticality of the pipe pile in the detection mark interval where the curve inflection point of the non-linear change curve of the actual verticality of the pipe pile mark is located to determine whether the actual verticality of the pipe pile in the detection mark interval is normal data;

[0029] Among them, the detection mark interval is the interval formed between the inflection points.

[0030] Further, the process of determining the influencing factors for which the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile according to the analysis result includes,

[0031] Compare each group of actual verticality data of the pipe pile in the actual verticality data string of the pipe pile. If a group of actual verticality data of the pipe pile has a different change trend from other data groups in the actual verticality data string of the pipe pile, it is determined that the laser rangefinder on this slide rail is damaged.

[0032] Further, the process of comparing each group of actual verticality data of the pipe pile in the actual verticality data string of the pipe pile includes, for the case where the change trends of two groups of actual verticality data of the pipe pile are different from other data groups in the actual verticality data string of the pipe pile, judge the positional relationship between the two groups of actual verticality data of the pipe pile according to the detection mark position data.

[0033] Further, the process of judging the positional relationship between the two groups of actual verticality data of the pipe pile according to the detection mark position data includes,

[0034] If the positional relationship between the two groups of actual verticality data of the pipe pile is an opposite positional relationship, judge whether the actual verticality of the pipe pile is real according to whether the change curves of the actual verticality data of the pipe pile are complementary;

[0035] If the positional relationship between the two groups of actual verticality data of the pipe pile is an adjacent positional relationship, judge whether the actual verticality of the pipe pile is consistent according to the comparison result of the change curves of the actual verticality data of the pipe pile.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows. By providing slide rails that are perpendicular to each other and whose extension lines pass through the target pile pressing point, it is ensured that the measurement reference of the laser rangefinder is strictly aligned with the target pile pressing point, 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, adapting to different construction environments and conditions. The setting of the slide rails and the installation of the laser rangefinder are simple and easy to implement, reducing the dependence on complex equipment and improving construction efficiency. By fixing the slide rails and precisely moving the laser rangefinder, the consistency and reliability of the measurement data are ensured, providing a reliable basis for subsequent perpendicularity calculation and adjustment.

[0037] Furthermore, by calculating the actual perpendicularity and comparing it with the preset perpendicularity interval of the pipe pile, the accuracy of the judgment result is ensured. Multiple groups of data are obtained and grouped to comprehensively reflect the perpendicularity of the pipe pile in different directions. Through data analysis, perpendicularity deviations can be detected in a timely manner, providing a basis for adjusting the construction. The slide rail design and the movement operation of the laser rangefinder are simple and easy to implement, suitable for various construction scenarios.

[0038] Furthermore, by obtaining data once at a short distance, high-density data collection is achieved, improving the measurement accuracy. The perpendicularity data obtained in real time can be immediately fed back to the construction personnel, facilitating real-time monitoring of the perpendicularity of the pipe pile and making necessary adjustments. The formation of data strings is convenient for visual display and analysis. Linear regression analysis provides an intuitive perpendicularity change trend and deviation situation. Synchronous movement and automatic data collection reduce manual operations, improve measurement efficiency, and optimize the construction process. The automated measurement process reduces errors caused by human factors, improving the reliability and accuracy of the data. This method is applicable to different construction environments and pile pressing equipment, with good versatility and adaptability. Through precise perpendicularity measurement and analysis, the construction quality is effectively guaranteed, and structural problems caused by perpendicularity deviations are reduced.

[0039] Furthermore, by dividing the sliding rail movement interval into fixed lengths and recording the position data at each division point, the uniform distribution of the division measurement points and the comprehensiveness of the data are ensured. The position sensor is used to record the position data of the division points in real time, and combined with the measurement results of the laser rangefinder and the distance sensor, the actual verticality of each division point is accurately calculated to reduce human error. The verticality data of each division point is arranged in the moving direction to form an ordered data string, which is convenient for subsequent analysis and traceability. Each division point is marked and the position data is recorded to ensure that each data point corresponds to a specific position, improving the traceability of the data. By obtaining and analyzing the actual verticality data of the pipe pile in real time, the verticality deviation can be detected 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 division points ensures the comprehensive measurement of the surrounding area of the pipe pile, avoiding missing local deviations. Through the automatic data collection of the position sensor and the laser rangefinder, the complexity and error of manual operation are reduced. According to the pressing stroke and construction requirements, the sliding rail division length is 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 lowered.

[0040] Furthermore, the overall trend and local fluctuations of the pipe pile verticality are intuitively displayed through the variation curve. The linear variation curve can reflect the overall trend of the pipe pile offset, facilitating the judgment of the systematic deviation of the pipe pile verticality. The non-linear variation curve reflects local fluctuations, facilitating the identification of local problems in construction. The construction parameters are adjusted according to the analysis results to improve the construction quality. By generating the curve and performing linear analysis through the data terminal, the digital and intelligent management of construction data is realized.

[0041] Furthermore, through the analysis of the slope change trend and inflection points, the future changes of the actual verticality of the pipe pile are predicted, providing a basis for construction adjustment. The verticality change is monitored in real time to ensure the construction quality. Based on the analysis results of the data, the construction decision-making and adjustment are guided.

[0042] Furthermore, by comparing the change trends of the data groups, abnormal data groups are quickly identified, and the damaged rangefinder is located. It is determined that the damage of the rangefinder is the main reason for the actual verticality of the pipe pile not being within the preset range, facilitating targeted solutions. By determining the damaged rangefinder, it is repaired or replaced in time to ensure the accuracy and reliability of the measurement data. The measurement error caused by the damage of the rangefinder is avoided, and the construction quality is improved. By analyzing the change trend of the data groups in real time, the verticality deviation is detected in time, and the construction parameters are adjusted. The construction deviation caused by the damage of the rangefinder is avoided, and the construction risk is reduced. Based on the analysis results of the data, a scientific equipment maintenance plan is formulated to extend the service life of the equipment. By identifying the damaged equipment, the resources are reasonably configured to improve the construction efficiency.

[0043] Furthermore, by detecting the marked position data to judge the position relationship of the pipe piles, combined with the complementarity and similarity analysis of the change curves, the authenticity and consistency of the pipe pile verticality can be judged more accurately, reducing misjudgment. For the actual verticality data groups of the opposite position relationship, the data authenticity is verified through complementarity analysis; for the actual verticality data groups of the adjacent position relationship, the data consistency is ensured through similarity comparison. This dual 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 pressing angle of the pile pressing equipment according to the similarity difference to ensure the consistency of the pipe pile verticality, thereby improving the construction quality. Through complementarity and similarity analysis, abnormal data can be quickly identified, avoiding unnecessary rework and data re-acquisition, saving time and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flowchart of the adaptive pipe pile verticality detection method in this embodiment;

[0045] Figure 2 is a process flowchart of the slide rail arranged around the target pile pressing point in the adaptive pipe pile verticality detection method in this embodiment;

[0046] Figure 3 is a process flowchart of obtaining the actual verticality data of the pipe pile marks in the adaptive pipe pile verticality detection method in this embodiment;

[0047] Figure 4 is a flowchart for judging whether the actual verticality of the pipe pile marks in the adaptive pipe pile verticality detection method in this embodiment is true. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] In order to make the objectives and advantages of the present invention clearer and more understandable, the present invention will be 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.

[0049] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0050] It should be noted that in the description of the present invention, the terms indicating directions or position relationships such as "up", "down", "left", "right", "inside", "outside", etc. are based on the directions or position relationships shown in the drawings. This is only 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, and therefore should not be construed as a limitation of the present invention.

[0051] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", and "linkage" 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 an indirect connection through an intermediate medium, and it can be the communication inside 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.

[0052] Please refer to Figures 1-4 as shown in Figure 1 the flowchart of the adaptive pipe pile verticality detection method in this embodiment; Figure 2 the process flowchart of the slide rail arranged around the target pipe pile driving point in the adaptive pipe pile verticality detection method in this embodiment; Figure 3 the process flowchart of obtaining the actual verticality data of the pipe pile mark in the adaptive pipe pile verticality detection method in this embodiment; Figure 4 the judgment flowchart of the actual verticality change curve of the pipe pile mark in the adaptive pipe pile verticality detection method in this embodiment.

[0053] This embodiment provides an adaptive pipe pile verticality detection method, including the following steps:

[0054] Step S1: Move the pipe pile to the target pipe pile driving point through the pile gripper of the static pile driver, and control the pile driving equipment of the static pile driver to apply pressure to the pipe pile.

[0055] Step S2: Detect the data through the distance sensor arranged at the top of the pipe pile to obtain the vertical height from the top of the pipe pile to the pile gripper.

[0056] Step S3: Determine the laser rangefinder point according to the target pipe pile driving point and the vertical height, and calculate the actual height of the pipe pile according to the hypotenuse distance, bottom side distance and included angle between the two sides from the laser rangefinder point to the pipe pile detected by the laser rangefinder.

[0057] Step S4: Obtain the actual verticality of the pipe pile according to the vertical height and the actual height, and judge whether the actual verticality of the pipe pile is within the preset verticality interval of the pipe pile.

[0058] Step S5: For the case where the actual verticality of the pipe pile is not within the preset verticality interval of the pipe pile, control the laser rangefinder to move to obtain a set of actual verticality data of the pipe pile, and arrange the set of actual verticality data of the pipe pile in the moving direction of the laser rangefinder to obtain an actual verticality data string of the pipe pile.

[0059] Step S6: Analyze the actual perpendicularity data string of the pipe pile through data trend analysis, determine the influencing factors for the actual perpendicularity of the pipe pile not being within the preset perpendicularity interval of the pipe pile according to the analysis results, and adjust the pipe pile perpendicularity detection steps according to the influencing factors;

[0060] Among them, the influencing factors include: the working state of the laser rangefinder and the pressing angle of the pile pressing equipment.

[0061] Specifically, the steps for determining the laser rangefinder position according to the target pile pressing point and the vertical height include,

[0062] Connect the laser rangefinder to a movable slide rail. The slide rails are arranged around the target pile pressing point. There are two slide rails and they are perpendicular to each other on the same horizontal plane. The extension lines of the slide rails all pass through the target pile pressing point.

[0063] This embodiment provides a process for setting slide rails around the target pile pressing point, including the following steps,

[0064] Step S301: Determine the preset target pile pressing point, and set two slide rails around the target pile pressing point to ensure that the two slide rails are on the same horizontal plane and perpendicular to each other, and the extension lines of the two slide rails all pass through the target pile pressing point;

[0065] Step S302: Install the laser rangefinder on the 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 the two slide rails respectively.

[0066] By setting slide rails that are perpendicular to each other and whose extension lines pass through the target pile pressing point, it is ensured that the measurement reference of the laser rangefinder is strictly aligned with the target pile pressing point, 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, adapting to different construction environments and conditions. The setting of the slide rails and the installation of the laser rangefinder are simple and easy to implement, reducing the dependence on complex equipment and improving construction efficiency. Through the fixation of the slide rails and the precise movement of the laser rangefinder, the consistency and reliability of the measurement data are ensured, providing a reliable basis for subsequent perpendicularity calculation and adjustment.

[0067] Specifically, the process of obtaining the actual perpendicularity of the pipe pile according to the vertical height and the actual height and determining whether the actual perpendicularity of the pipe pile is within the preset perpendicularity interval of the pipe pile includes,

[0068] For the case where the actual verticality of the pipe pile is within the preset verticality range of the pipe pile, obtain multiple groups of actual verticality data of the pipe pile on the two slide rails, and divide the multiple groups of actual verticality data of the pipe pile into a horizontal pipe pile actual verticality data group and a vertical pipe pile actual verticality data group according to the slide rail direction.

[0069] Obtain the vertical height from the top of the pipe pile to the pile clamping opening through a distance sensor;

[0070] Measure the hypotenuse distance, base distance and included angle through a laser rangefinder, and calculate the actual height of the pipe pile. The actual height is the product of the hypotenuse distance and the sine value of the included angle;

[0071] According to the vertical height and the actual height, calculate the actual verticality of the pipe pile. The actual verticality is the value of the arctangent function, and its parameter is the difference between the actual height and the vertical height divided by the base distance;

[0072] Compare the actual verticality with the preset verticality range of the pipe pile. If the actual verticality is within the preset verticality range of the pile, move the laser rangefinder along the two slide rails to obtain multiple groups of actual verticality data of the pipe pile.

[0073] Divide the multiple groups of actual verticality data into two groups according to the slide rail direction.

[0074] The horizontal pipe pile actual verticality data group is the data group measured along the horizontal slide rail;

[0075] The vertical pipe pile actual verticality data group is the data group measured along the vertical slide rail.

[0076] By calculating the actual verticality and comparing it with the preset verticality range of the pipe pile, the accuracy of the judgment result is ensured. Obtain multiple groups of data and group them to comprehensively reflect the verticality of the pipe pile in different directions. Through data analysis, the verticality deviation can be found in time, providing a basis for adjusting the construction. The slide rail design and the movement operation of the laser rangefinder are simple and easy to implement, and are applicable to various construction scenarios.

[0077] Specifically, the process of controlling the movement of the laser rangefinder to obtain the actual verticality data group of the pipe pile includes:

[0078] Control the laser rangefinder to move according to the downward pressing stroke, and the moving direction is away from the target pipe pile pressing point position;

[0079] Among them, the downward pressing stroke is the depth of the pipe pile pressing by the pile pressing equipment once.

[0080] In this embodiment, it is set that the downward pressing stroke is the depth of a single pipe pile pressing is 10 cm; the moving direction is set to move left along the horizontal slide rail.

[0081] When the pile pressing equipment applies pressure to the pipe pile according to the downward pressing stroke, the laser rangefinder is moved synchronously. After each downward pressing 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, and 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, and the linear regression analysis is used to analyze the change trend of the data string to judge the deviation of the pipe pile verticality.

[0082] By obtaining data at short intervals, high-density data collection is realized, and the measurement accuracy is improved. The real-time obtained verticality data can be immediately fed back to the construction personnel, which is convenient for real-time monitoring of the verticality of the pipe pile and necessary adjustments. The formation of the data string is convenient for visual display and analysis. The linear regression analysis provides an intuitive verticality change trend and deviation situation. The synchronous movement and automatic data collection reduce manual operations, improve the measurement efficiency, and optimize the construction process. The automated measurement process reduces errors caused by human factors, improves the reliability and accuracy of the data. This method is applicable to different construction environments and pile pressing 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.

[0083] 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,

[0084] The moving interval of the slide rail is segmented according to the moving distance in the moving direction of the laser rangefinder and the downward pressing stroke. The position sensor records the position data of the segmentation points of the laser rangefinder on the slide rail and marks the segmentation points to obtain the detected marked position data. The actual verticality of the pipe pile is calculated according to the detected marked position data to obtain the marked actual verticality data of the pipe pile.

[0085] According to the moving direction and downward pressing stroke of the laser rangefinder, the moving interval of the slide rail is divided into several segments;

[0086] The length of each segment corresponds to the downward pressing stroke (for example, when pressing 1 m each time, the length of each segment is 10 cm);

[0087] The position sensor is used to record the position data of each segmentation point of the laser rangefinder on the slide rail, mark each segmentation point, generate the detected marked position data, calculate the marked actual verticality data of the pipe pile, calculate the actual verticality of the pipe pile corresponding to each segmentation point according to the detected marked position data to obtain the marked actual verticality data of the pipe pile, and arrange the marked actual verticality data of the pipe pile according to the moving direction of the laser rangefinder to form the actual verticality data string of the pipe pile;

[0088] This embodiment provides steps for obtaining the actual perpendicularity data of the pipe pile markings, including,

[0089] Step S501: The laser rangefinder moves left along the horizontal slide rail, and determines the segmentation length according to the moving distance and the pressing stroke;

[0090] Step S502: Install a position sensor on the slide rail to record the position of the laser rangefinder in real time and record the position data of the segmentation points;

[0091] Step S503: Calculate the actual perpendicularity data of the pipe pile markings. At each segmentation point, determine the actual perpendicularity of the pipe pile according to the hypotenuse distance, base distance and included angle at the position of the segmentation point measured by the laser rangefinder and the vertical height of the current segmentation point detected by the distance sensor;

[0092] Step S504: Organize the data, arrange the perpendicularity data of each segmentation point in the moving direction to generate a data string.

[0093] Example:

[0094] Set the pressing stroke to 10 cm; the total length of the slide rail is 100 cm; the moving direction of the laser rangefinder is from left to right with the target pile pressing point as the origin,

[0095] Divide the slide rail into 10 intervals, each 10 cm long, record the position data of the segmentation points at 10 cm, 20 cm,..., 100 cm, and measure and calculate the actual perpendicularity at each segmentation point. For example:

[0096] The actual perpendicularity at 10 cm is 0.3°;

[0097] The actual perpendicularity at 20 cm is 0.5°; ...

[0098] The actual perpendicularity at 100 cm is 0.1°;

[0099] The data string is 0.3°, 0.5°,..., 0.1°.

[0100] By dividing the moving range of the slide rail at a fixed length and recording the position data at each division point, the uniform distribution of the divided measurement points and the comprehensiveness of the data are ensured. The position sensor is used to record the position data of the division points in real time, and combined with the measurement results of the laser rangefinder and the distance sensor, the actual perpendicularity of each division point is accurately calculated, reducing human error. The perpendicularity data of each division point is arranged according to the moving direction to form an ordered data string, which is convenient for subsequent analysis and traceability. Each division point is marked and the position data is recorded to ensure that each data point corresponds to a specific position one by one, improving the traceability of the data. By obtaining and analyzing the actual perpendicularity data of the pipe pile in real time, the perpendicularity deviation can be found in time, and the construction parameters can be adjusted to ensure that the perpendicularity of the pipe pile meets the design requirements. The uniform distribution of the division points of the slide rail ensures the comprehensive measurement of the surrounding area of the pipe pile, avoiding missing local deviations. Through the automatic data collection of the position sensor and the laser rangefinder, the complexity and error of manual operation are reduced. According to the pressing stroke and construction requirements, the division length of the slide rail is 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 lowered.

[0101] Specifically, the process of arranging the actual perpendicularity data group of the pipe pile in the moving direction of the laser rangefinder to obtain the actual perpendicularity data string of the pipe pile includes,

[0102] Through the data terminal, the actual perpendicularity data of the pipe pile mark is generated into the corresponding actual perpendicularity change curve of the pipe pile mark, and linear analysis is performed on each actual perpendicularity change curve of the pipe pile mark to obtain the linear change curve of the actual perpendicularity of the pipe pile mark and the non-linear change curve of the actual perpendicularity of the pipe pile mark.

[0103] Taking the target pile pressing point as the origin, using the position data of the division point as the horizontal axis of the two-dimensional coordinate system where the change curve is located, and using the actual perpendicularity value as the vertical axis, the actual perpendicularity change curve of the pipe pile mark is generated,

[0104] Performing linear fitting on the actual perpendicularity change curve of the pipe pile mark to obtain the linear change curve of the actual perpendicularity of the pipe pile mark,

[0105] For example, using the least squares method to fit the straight line equation y = kx + b, where y is the actual perpendicularity value; x is the position of the division point; k is the slope, reflecting the overall change trend of the perpendicularity; b is the intercept,

[0106] Non-linear separation:

[0107] Subtracting the original change curve from the linear change curve to obtain the non-linear change curve.

[0108] The non-linear change curve reflects local fluctuations or deviations.

[0109] Intuitively display the overall trend and local fluctuations of the pipe pile verticality through the change curve. The linear change curve can reflect the overall trend of the pipe pile offset, facilitating the judgment of the systematic deviation of the pipe pile verticality. The non-linear change curve reflects local fluctuations, facilitating the identification of local problems during construction. Adjust the construction parameters according to the analysis results to improve the construction quality. Generate curves through the data terminal and conduct linear analysis to realize the digital and intelligent management of construction data.

[0110] Specifically, the process of obtaining the linear change curve of the actual verticality of the pipe pile mark and the non-linear change curve of the actual verticality of the pipe pile mark includes

[0111] If the actual verticality change curve of the pipe pile mark is the linear change curve of the actual verticality of the pipe pile mark, analyze the change trend of the curve slope of the linear change curve of the actual verticality of the pipe pile mark to determine whether the actual verticality of the pipe pile is within the preset verticality interval of the pipe pile before the end of the pressing stroke;

[0112] If the actual verticality change curve of the pipe pile mark is the non-linear change curve of the actual verticality of the pipe pile mark, measure the actual verticality of the pipe pile in the detection mark interval where the curve inflection point of the non-linear change curve of the actual verticality of the pipe pile mark is located to determine whether the actual verticality of the pipe pile in the detection mark interval is normal data;

[0113] Wherein, the detection mark interval is the interval formed between the inflection points.

[0114] Generate the linear change curve of the actual verticality of the pipe pile mark through the data terminal. Analyze the change trend of the slope. If the slope is close to 0, it indicates that the change in the actual verticality of the pipe pile is small and the overall trend is stable; if the slope is large, it indicates that the actual verticality of the pipe pile has an obvious upward or downward trend; according to the slope change trend, predict whether the actual verticality of the pipe pile is within the preset verticality interval of the pipe pile before the end of the pressing stroke.

[0115] Example:

[0116] The linear change curve equation is y = 0.02x + 0.1, where the slope k = 0.0 indicates that the verticality slowly rises with the increase of the dividing point position;

[0117] 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 change trend of the actual verticality of the pipe pile is relatively gentle, and it is predicted that the actual verticality of the pipe pile will not exceed the preset verticality interval of the pipe pile before the end of the pressing stroke.

[0118] Generate the non - linear change curve of the actual perpendicularity of the pipe pile marks through a data terminal, and use an inflection point detection algorithm (such as the second - derivative method) to identify the inflection points in the non - linear change curve of the actual perpendicularity of the pipe pile marks. Here, the inflection point is the point where the change trend of the non - linear change curve of the actual perpendicularity of the pipe pile marks changes significantly; the interval formed between the inflection points is the detection mark interval.

[0119] For example, if the inflection points are located at 30 cm and 70 cm, then the detection mark interval is from 30 cm to 70 cm. Measure the actual perpendicularity of the pipe pile within the detection mark interval to determine whether the data is normal.

[0120] Through the analysis of the slope change trend and inflection points, predict the future change of the actual perpendicularity of the pipe pile, providing a basis for construction adjustment. Monitor the perpendicularity change in real - time to ensure construction quality. Based on the results of data analysis, guide construction decision - making and adjustment.

[0121] Specifically, the process of determining the influencing factors for which the actual perpendicularity of the pipe pile is not within the preset perpendicularity interval of the pipe pile according to the analysis results includes,

[0122] Compare each group of actual perpendicularity data of the pipe pile in the actual perpendicularity data string of the pipe pile. If one group of actual perpendicularity data of the pipe pile has a different change trend from other data groups in the actual perpendicularity data string of the pipe pile, then the laser rangefinder on this track is determined to be damaged.

[0123] Obtain the actual perpendicularity data string of the pipe pile. The actual perpendicularity data string of the pipe pile includes multiple groups of data. For example:

[0124] The horizontal slide - rail data group is 0.3°, 0.5°, 0.4°, 0.6°, 0.7°;

[0125] The vertical slide - rail data group is 0.2°, 0.3°, 0.4°, 0.5°, 0.6°;

[0126] Each group of data is measured by the rangefinder on the corresponding slide - rail. Analyze the change trend of each group of data. For example:

[0127] The slope of the horizontal slide - rail data group \(k1 = 0.1\) shows an upward trend;

[0128] The slope of the vertical slide - rail data group \(k2 = 0.1\) shows an upward trend;

[0129] Compare the slopes of each group of data to determine whether they are consistent.

[0130] For example, if the slope of the horizontal slide - rail data group \(k1 = 0.1\) while the slope of the vertical slide - rail data group \(k2=-0.1\), then the trends are inconsistent, and it is determined that the rangefinder corresponding to the abnormal data group is damaged.

[0131] By comparing the changing trends of data groups, abnormal data groups can be quickly identified to locate the damaged rangefinder. Determining that the damage of the rangefinder is the main reason for the actual verticality of the pipe pile not being within the preset range facilitates targeted solutions. By determining the damaged rangefinder, timely repair or replacement can be carried out to ensure the accuracy and reliability of measurement data. Avoid measurement errors caused by the damage of the rangefinder and improve the construction quality. By analyzing the changing trends of data groups in real time, verticality deviations can be detected in a timely manner and construction parameters can be adjusted. Avoid construction deviations caused by the damage of the rangefinder and reduce construction risks. Based on the data analysis results, a scientific equipment maintenance plan can be formulated to extend the service life of the equipment. By identifying damaged equipment, resources can be reasonably allocated to improve construction efficiency.

[0132] Specifically, the process of comparing each group of actual verticality data of the pipe pile within the actual verticality data string of the pipe pile includes

[0133] For the situation where the changing trends of two groups of actual verticality data of the pipe pile are different from those of other data groups in the actual verticality data string of the pipe pile, the positional relationship between the two groups of actual verticality data of the pipe pile is judged according to the detected marker position data.

[0134] Specifically, the process of judging the positional relationship between the two groups of actual verticality data of the pipe pile according to the detected marker position data includes

[0135] If the positional relationship between the two groups of actual verticality data of the pipe pile is an opposite positional relationship, it is judged whether the actual verticality of the pipe pile is true according to whether the changing curves of the actual verticality data groups of the pipe pile are complementary;

[0136] If the positional relationship between the two groups of actual verticality data of the pipe pile is an adjacent positional relationship, it is judged whether the actual verticality of the pipe pile is consistent according to the comparison result of the changing curves of the actual verticality data groups of the pipe pile;

[0137] If the positional relationship between the two groups of actual verticality data of the pipe pile is not a corresponding relationship, it is judged that the data of the laser rangefinder is abnormal.

[0138] For the situation where the positional relationship between two groups of actual verticality data of the pipe pile is an opposite positional relationship, the changing curves of the two groups of actual verticality data of the pipe pile are selected for comparison

[0139] If the changing curves of the two groups of actual verticality data of the pipe pile show complementarity, that is, the rising section of one curve corresponds to the falling section of the other curve in time, it is judged that the two groups of actual verticality data of the pipe pile are real data;

[0140] If the changing curves of the two groups of actual verticality data of the pipe pile do not show complementarity, relevant data needs to be collected again;

[0141] For two groups of actual verticality data sets of pipe piles with an adjacent positional relationship, select the change curves of the two groups of actual verticality data sets of pipe piles for similarity comparison.

[0142] If the similarity of the change curves of the two groups of actual verticality data sets of pipe piles 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.

[0143] If the similarity of the change curves of the two groups of actual verticality data sets of pipe piles is greater than the preset standard change curve similarity, it is determined that the actual verticality of the pipe piles is inconsistent, and the pressing angle of the pile pressing equipment needs to be adjusted. Determine the pressing angle of the pile pressing equipment according to the difference between the standard change curve similarity and the change curve similarity of the actual verticality data set of the pipe pile and the influence compensation parameter of the difference between the standard change curve similarity and the change curve similarity of the actual verticality data set of the pipe pile on the pressing angle of the pile pressing equipment. Among them, the difference between the standard change curve similarity and the change curve similarity of the actual verticality data set of the pipe pile is in a direct proportional relationship with the pressing angle of the pile pressing equipment.

[0144] By detecting the marked position data to judge the positional relationship of the pipe piles, and combining the complementarity and similarity analysis of the change curves, the authenticity and consistency of the pipe pile verticality can be judged more accurately, and misjudgment can be reduced. For the actual verticality data sets in the opposite positional relationship, verify the data authenticity through complementary analysis; for the actual verticality data sets in the adjacent positional relationship, ensure the data consistency through similarity comparison. This dual verification mechanism improves the reliability of the data. When the verticality of the pipe piles in the adjacent positional relationship is inconsistent, the system dynamically adjusts the pressing angle of the pile pressing equipment according to the similarity difference to ensure the consistency of the pipe pile verticality, thereby improving the construction quality. Through complementary and similarity analysis, abnormal data can be quickly identified, unnecessary rework and data re-acquisition can be avoided, and time and cost can be saved.

[0145] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the 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 all fall within the protection scope of the present invention.

[0146] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, 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; The actual verticality of the pile is calculated based on the vertical height and the actual height. 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, wherein the actual height is the product of the hypotenuse distance and the sine value of the angle.

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 slide rail 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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