A method and device for controlling the positioning deviation of a high-pressure jet grouting rig

Abstract

The present application provides a method and device for controlling the positioning deviation of a high-pressure jet grouting rig, including: obtaining the inclination angle data and top positioning data of the drill pipe of the jet grouting rig; establishing a dynamic weight correction model based on the positioning data and inclination angle data to obtain the offset of the actual position of the drill bit from the preset target position. The correction model includes: calculating the actual position coordinates of the drill bit position based on the weight coefficients corresponding to the inclination angle fluctuation and displacement fluctuation; defining the offset angle between the actual position and the target position in the overall coordinate system, and calculating the positioning deviation angle of the drill bit in the local coordinate system from the offset angle and the antenna heading angle; obtaining the movement amounts of the drill bit in each direction based on the positioning deviation angle and the offset, and controlling the movement of the drill bit to the target position according to the movement amounts for downhole grouting operation. The present application can achieve real-time and high-precision control of the positioning deviation of the high-pressure jet grouting rig and real-time guidance, can ensure that the jet grouting rig accurately reaches the construction position, and effectively improves the construction quality.

Description

Technical Field

[0001] This application belongs to the technical field of foundation reinforcement and underground engineering, and particularly relates to a method and device for controlling the positioning deviation of a high-pressure jet grouting rig. Background Art

[0002] The high-pressure jet grouting pile is a construction technology widely used in foundation reinforcement and underground engineering. Its working principle is to spray cement slurry or chemical slurry under high pressure, so that the slurry is mixed with the foundation soil to form a consolidated body with high strength and stability. The high-pressure jet grouting pile technology plays an important role in soft foundation reinforcement, diaphragm wall construction, tunnel support and other fields. In the actual construction process, the construction points of high-pressure jet grouting piles are usually continuous and dense, and the control of the pile hole position and the pile spacing is crucial for the construction quality and efficiency. The high-precision drilling positioning method directly affects the quality of the high-pressure jet grouting wall.

[0003] The existing traditional drilling rig positioning control methods usually rely on manual operations, mainly by using a tape measure to lay out equidistant marking points to determine the construction points. However, the accuracy of manual measurement is limited and is easily affected by human factors, such as the measurement method of the operator and the reading error. Secondly, during the construction process, due to the complex construction site environment, there are various interference factors, such as the uneven ground and the vibration of mechanical equipment. These may cause the pre-laid marking points to shift during the construction process. Therefore, the traditional measurement method cannot ensure that the drilling rig accurately reaches the construction point, and there are problems of low accuracy, large fluctuations during the construction process, and the inability to achieve specific and operable direction guidance. Summary of the Invention

[0004] In view of this, this application aims to propose a method and device for controlling the positioning deviation of a high-pressure jet grouting rig to solve the problem of inaccurate drilling positioning of the high-pressure jet grouting rig, resulting in poor construction quality.

[0005] To achieve the above object, the technical solution of this application is realized as follows:

[0006] In a first aspect, this application provides a method for controlling the positioning deviation of a high-pressure jet grouting rig, including:

[0007] Obtain the drill rod data during the movement of the jet grouting rig, where the drill rod data includes the inclination angle data and the top positioning data of the drill rod;

[0008] Establish a dynamic weight correction model according to the positioning data and the inclination angle data to obtain the offset of the actual position of the drill bit from the preset target position. The correction model includes: calculating the actual position coordinates of the drill bit position based on the weight coefficients corresponding to the inclination angle fluctuation and the displacement fluctuation;

[0009] Define the offset angle between the actual position and the target position in the overall coordinate system, and calculate the positioning deviation angle of the drill bit in the local coordinate system based on the offset angle and the antenna heading angle;

[0010] Based on the positioning deviation angle and the offset, obtain the movement amounts in all directions of the drill bit, and control the drill bit to move to the target position according to the movement amounts for downhole grouting operation.

[0011] In a second aspect, based on the same inventive concept, the present application further provides a device for controlling the positioning deviation of a high-pressure jet grouting rig, which includes, according to the method for controlling the positioning deviation of a high-pressure jet grouting rig described in the first aspect:

[0012] A positioning reference module, a verticality monitoring module, a data processing and analysis module, and a remote platform monitoring module;

[0013] The positioning reference module is configured to obtain the positioning data of the top of the drill pipe, and the verticality monitoring module is configured to monitor the inclination data of the drill pipe;

[0014] The data processing and analysis module is configured to perform fluctuation weight correction according to the positioning data and the inclination data, perform offset processing according to the actual position of the drill bit and the preset target position, and guide the drill bit of the rig to reach the target position according to the obtained offset distance;

[0015] The remote platform monitoring module is configured to remotely monitor the moving position and grouting data of the rig, and give reminder feedback.

[0016] Compared with the prior art, the method and device for controlling the positioning deviation of a high-pressure jet grouting rig described in the present application have the following beneficial effects:

[0017] For the method and device for controlling the positioning deviation of a high-pressure jet grouting rig described in the present application, based on high-precision positioning technology and digital means, the operator can timely discover and operate according to the prompt guidance to move the rig to meet the requirements, correct problems such as position deviation, inclination, and verticality of the high-pressure jet grouting machine during construction, and ensure that the key parameters such as the position, pile spacing, and verticality of the jet grouting pile meet the construction requirements, thereby greatly improving the construction quality of the high-pressure jet grouting pile. On the other hand, engineering managers can understand the construction situation of the high-pressure jet grouting machine in real time on the monitoring platform, which enables managers to discover problems and give guidance in a timely manner even when not at the construction site, facilitating the effective management of the entire construction process. Description of the Drawings

[0018] The drawings forming a part of the present application are used to provide a further understanding of the present application. The schematic embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0019] Figure 1 Flow chart of a method for controlling the positioning deviation of a high-pressure jet grouting rig according to an embodiment of the present application;

[0020] Figure 2 Schematic structural diagram of a device for controlling the positioning deviation of a high-pressure jet grouting rig according to an embodiment of the present application;

[0021] Figure 3 Schematic module structure diagram of a device for controlling the positioning deviation of a high-pressure jet grouting rig according to an embodiment of the present application;

[0022] Figure 4 Schematic diagram of angle correction according to an embodiment of the present application.

[0023] Description of reference numerals:

[0024] 1 - positioning reference module; 2 - verticality monitoring module; 3 - data processing and analysis module; 4 - remote platform monitoring module; 101 - main antenna; 102 - sub-antenna; 103 - differential base station; 201 - antenna course angle; 202 - offset angle; 203 - target point; 204 - drilling point; 205 - positioning deviation angle. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0026] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the ordinary meanings understood by those of ordinary skill in the art to which the present application belongs. The "first", "second", and similar terms used in the embodiments of the present application do not indicate any order, quantity, or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0027] Please refer to Figures 1 to 4 As shown, this embodiment provides a method for controlling the positioning deviation of a high-pressure jet grouting rig, which specifically includes the following steps:

[0028] Step S101, obtain the drill pipe data during the movement of the jet grouting rig, where the drill pipe data includes the inclination angle data and the top positioning data of the drill pipe.

[0029] Specifically, in this embodiment, during the movement of the high-pressure jet grouting rig, the GNSS positioning antennas symmetrically distributed on the left and right at the top of the column cooperate with the differential base station deployed remotely to position the rig, and the height difference between the positioning antenna and the drill bit position is measured. , and the GNSS positioning antennas collect the positioning coordinates of the top plane of the drill pipe at the current moment and the antenna heading angle 201 at a fixed sampling frequency.

[0030] During the movement of the high-pressure jet grouting rig, the biaxial inclination sensor is fixedly installed on the side of the rig column and collects the inclination angle at a fixed frequency at the moment, that is, the verticality , including and , where:

[0031] 0-90° is the front, and 90-180° is the rear;

[0032] 0-90° is the right, and 90-180° is the left.

[0033] Step S102: Establish a dynamic weight correction model based on the positioning data and the inclination data to obtain the offset of the actual position of the drill bit from the preset target position. The correction model includes: calculating the actual position coordinates of the drill bit position based on the weight coefficients corresponding to the inclination fluctuation and the displacement fluctuation.

[0034] Specifically, in this step, during the construction process, the position coordinates of the drill bit are calculated in real time. The data of the top of the drill pipe transmitted back by the GNSS positioning antenna and the inclination sensor at the moment are considered, and a dynamic weight correction model is established considering the positioning value fluctuation and the inclination value fluctuation during the movement of the rig. Among them, the inclination fluctuation coefficient within the fixed sampling frequency and the positioning fluctuation coefficient within the fixed sampling frequency ( represents the variance of the inclination data within the most recent 1 s, and represents the mean value of the displacement fluctuation within the most recent 1 s) are respectively:

[0035] (1)

[0036] (2)

[0037] The weight coefficients corresponding to the inclination fluctuation and the displacement fluctuation are established , , specifically as follows:

[0038] (3)

[0039] (4)

[0040] Define the displacement correction amount of the drill bit , , specifically as follows:

[0041] (5)

[0042] (6)

[0043] Considering the drill pipe inclination and related data fluctuations for correction, the on-board analysis terminal can calculate the actual coordinates of the drilling point 204 at the moment as:

[0044] (7)

[0045] (8)

[0046] During the movement of the drilling rig, the offset between the current actual position of the drill bit and the target point is calculated in real time , where:

[0047] (9)

[0048] Step S103: Define the offset angle between the actual point and the target point in the overall coordinate system, and calculate the positioning deviation angle 205 of the drill bit in the local coordinate system from the offset angle 202 and the antenna heading angle 201.

[0049] In this step, define as the offset angle between the drilling target point and the actual point in the overall coordinate system, that is, the angle in the clockwise direction between the due north direction and the actual point and the target point, where:

[0050] (10)

[0051] Considering the change in the antenna heading angle, calculate the deviation angle of the drill bit in the local coordinate system, that is, the angle in the clockwise direction between the forward direction of the drilling rig and the actual point and the target point , and the specific formula is as follows:

[0052] (11)

[0053] Step S104: Obtain the movement amounts of the drill bit in all directions based on the positioning deviation angle and the offset, and control the drill bit to move to the target point for downhole grouting operation according to the movement amounts.

[0054] Specifically, in this step, the global coordinate deviation is decomposed into the movement amounts of the drill bit position in the front / back and left / right directions of the local coordinate system that can be specifically implemented, where:

[0055] (12)

[0056] (13)

[0057] Among them, represents moving forward, represents moving backward, represents moving forward and to the right, represents moving to the left;

[0058] During the movement of the drilling rig, the data information is updated every second and displayed on the screen of the on-board analysis terminal in real time. The operator guides the movement of the drilling rig according to the movement amounts so that the drill bit reaches the target point.

[0059] In some embodiments, it further includes:

[0060] In response to the offset satisfying the preset positioning deviation threshold (the positioning deviation threshold set in this embodiment is ≤5 cm), the positioning is completed through screen display and voice prompt;

[0061] In response to the offset not satisfying the preset positioning deviation threshold, an alarm prompt is issued.

[0062] Specifically, in this embodiment, when meets the positioning deviation setting threshold, the on-board analysis terminal issues a voice prompt to reach near the target point, indicating that the positioning meets the design requirements at this moment and the subsequent grouting operation can be started. At the same time, all data during the movement process and the grouting process are transmitted back to the remote monitoring platform in real time. In case of a large positioning deviation, it is recorded and an alarm is issued in time to remind the management personnel and on-site construction personnel to make timely rectifications.

[0063] A method for controlling the positioning deviation of a high-pressure jet grouting rig according to this embodiment is based on high-precision positioning technology and digital means. The operator can timely discover and operate to move the rig according to the prompt guidance to meet the requirements, correct problems such as position deviation, inclination, and verticality of the high-pressure jet grouting machine during construction, and ensure that the key parameters of the position, pile spacing, and verticality of the jet grouting pile meet the construction requirements, thereby greatly improving the construction quality of the high-pressure jet grouting pile. On the other hand, project managers can understand the construction situation of the high-pressure jet grouting machine in real time on the monitoring platform, which enables managers to discover problems and give guidance in a timely manner even when they are not at the construction site, facilitating the effective management of the entire construction process.

[0064] Based on the same inventive concept, corresponding to the method of any of the above embodiments, for realizing precise positioning calculation and real-time guidance, as Figure 2 , Figure 3 shown, an embodiment of the present application further provides a device for controlling the positioning deviation of a high-pressure jet grouting rig, including:

[0065] A positioning reference module 1, a verticality monitoring module 2, a data processing and analysis module 3, and a remote platform monitoring module 4;

[0066] The positioning reference module 1 is configured to obtain the positioning data of the top of the drill pipe, and the verticality monitoring module 2 is configured to monitor the inclination angle data of the drill pipe;

[0067] The data processing and analysis module 3 is configured to perform fluctuation weight correction according to the positioning data and the inclination angle data, and perform offset processing based on the actual position of the drill bit and the preset target position, and guide the drill bit of the rig to reach the target position according to the obtained offset distance;

[0068] The remote platform monitoring module 4 is configured to remotely monitor the moving position and grouting data of the rig and give reminder feedback.

[0069] Specifically, in this embodiment, the positioning reference module 1 mounted on the drill pipe of the rig obtains the three-dimensional position information of the top of the drill pipe with high precision. At the same time, based on the verticality monitoring module 2, the inclination angle of the drill pipe is monitored with high precision. Considering the inclination angle of the drill pipe, the antenna height, and the numerical fluctuation weight during the moving process for correction, the accurate real-time coordinates of the drill bit position are calculated in the data processing and analysis module 3. The real-time deviation distance of the drilling position is calculated through the design position (i.e., the target position) information pre-released by the remote platform monitoring module 4. At the same time, the conversion relationship between the overall coordinate system and the local coordinate system is established, and the offset distance is specifically calculated in the left-right and front-back directions relative to the rig, realizing the real-time guidance of the operation position of the drill bit. Through real-time monitoring and moving guidance, it is ensured that the drill bit position is accurately moved near the design point. When the deviation from the design point exceeds the construction specified threshold, an alarm prompt is issued to ensure the construction quality of the high-pressure jet grouting pile.

[0070] Furthermore, the positioning reference module includes a remote differential base station or a CORS network and dual GNSS positioning antennas at the drill rig end. The antennas are installed on the top of the drill pipe of the drill rig and are used to receive satellite signals to obtain high-precision three-dimensional position information (latitude, longitude, and elevation information) at the drill pipe in real time. After the sensor signals are collected, they are transmitted to the data processing and analysis module for further processing.

[0071] Refer to Figure 2 , the positioning reference module 1 includes a remote differential base station 103 or a CORS network and dual GNSS positioning antennas at the drill rig end. The GNSS positioning antennas are divided into a main antenna 101 and a secondary antenna 102. A differential base station 103 is selected as the reference station at an open and unobstructed location with good signal near the construction area. At the top of the vertical tower of the jet grouting drill rig, extendable antenna brackets are installed on both sides at appropriate positions perpendicular to the drill rig body (i.e., along the direction of the drill rig crawler or hydraulic telescopic rod). The GNSS positioning antennas are fixedly installed on the antenna brackets through bolts. The dual antennas are symmetrically distributed with respect to the drill pipe column, and the antenna baseline is guaranteed to be perpendicular to the drill pipe and the main axis of the drill rig (crawler of the walking drill rig) to ensure good reception of the positioning signals from the base station or CORS network. The antenna signal transmission feeder is fixed along the vertical tower and connected to the on-board analysis terminal at the console position. The main antenna 101 provides the reference position, and the secondary antenna 102 is used for the measurement of the dynamic position. The two work together to achieve high-precision positioning and navigation services during the movement of the drill rig.

[0072] The verticality monitoring module 2 mainly includes a dual-axis inclination sensor. Refer to Figure 2 , the dual-axis inclination sensor 2 is fixed on the side of the drill rig column to ensure that it is not affected by vibration during the construction process. The signals are transmitted to the on-board analysis terminal through a data transmission line. When first used, a plumb bob is used as a reference. After adjusting the drill pipe to be completely vertical, angle correction is performed, and a level is used as an auxiliary reference. During the actual construction process, for the jet grouting drill rig, the direction that the operator faces when operating at the console is defined as the front, and the left and right directions are the left and right. The inclination sensor real-time collects the verticality in the front-back and left-right directions at the current moment.

[0073] The data processing and analysis module 3 mainly includes an on-board analysis terminal, which is powered by a mobile power generation device. It includes a built-in GNSS receiver, an integrated controller, a data wireless transmission module, and an on-board display device. The data collected by the GNSS antenna in real time is transmitted to the built-in GNSS receiver through the feeder in real time. The integrated controller is used to perform offset processing on the received positioning data and inclination data. According to the coordinate reference systems adopted for different projects (such as the CGCS2000 coordinate system, the WGS-84 coordinate system, or different city coordinate systems, etc.) and the corresponding coordinate conversion parameters, the on-board analysis terminal converts the latitude and longitude signals into construction north-east coordinates (plane value). Considering the distance between the dual antennas and the antenna heading angle 201 (refer toFigure 4 As shown is defined as the course angle between the due north direction and the main antenna and the sub-antenna in the clockwise direction ), fix the drilling rig for position and azimuth calibration.

[0074] Before the construction starts, obtain the construction number, coordinates , design construction parameters and other control information of the designed construction jet grouting pile points (i.e., target point 203) from the monitoring platform; during the monitoring process, the data processing and analysis module calculates the position coordinates of the drill bit in real time and displays them on the display screen of the on-board analysis terminal. The operator follows the display guidance and adjusts the position of the high-pressure jet grouting rig to the set requirements in a timely manner.

[0075] Furthermore, based on the plane coordinate information of the top of the drill pipe transmitted by the antenna positioning, the elevation information of the antenna from the drill bit preset during installation, and the drill pipe inclination information, comprehensively consider the data fluctuation weight correction and relevant geometric relationships, and jointly calculate the real-time position coordinates of the drill bit position. According to the target point coordinates transmitted by the remote platform monitoring module 4 and the real-time position coordinates of the calculated drill bit position, the on-board analysis terminal calculates the position deviation distance, performs coordinate transformation considering the pile driver azimuth information, and provides operable left-right and front-back direction movement distance guidance during the process of the drill bit moving to the design point. When the offset exceeds the threshold, an alarm prompt can be provided to guide the on-site personnel to adjust in a timely manner. Specifically, the data processing and analysis module analyzes the positioning coordinates and drill pipe verticality data, calculates the position offset between the real-time plane position coordinates of the drill bit during the movement and the target point, and realizes the guiding positioning.

[0076] The remote platform monitoring module 4 is used to receive and store the data sent by the data processing and analysis module 3 in real time, and at the same time can realize the functions of sending construction instructions and online viewing. The client uses a web page to log in. Enter the website address in the browser address bar to enter the system login interface, and enter the user name and password to log in: before the construction starts, the operator sets the jet grouting pile number and target point information through the specified web page end and stores this information in the database through the network for subsequent applications; during the monitoring process, the client can display the position movement of the monitored jet grouting pile in real time: In addition, the client can determine unqualified construction information and give an alarm prompt to prompt the management personnel of all parties to take corresponding measures for adjustment.

[0077] For the convenience of description, when describing the above device, it is divided into various modules according to functions for separate description. Of course, when implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0078] The device of the above embodiment is used to implement the corresponding method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0079] During specific operation by the operator, after completing the construction of the previous jet grouting pile point, the on-board analysis terminal automatically obtains the information of the next point, specifically showing the total distance to the next target point, the distance in the front-back direction, and the distance in the left-right direction. The operator can move the drilling rig in the left-right and front-back directions according to the guidance on the screen and initially reach the target point. After the offset meets the threshold, a voice prompt is issued indicating that the positioning is completed. Then, referring to the inclination angle and offset data displayed on the on-board analysis terminal, the operator can finely adjust the drilling rig until all parameters meet the design requirements. After completion, click the screen to start construction and continue the operation of drilling and grouting. Through real-time monitoring, when the offset exceeds the positioning deviation threshold during drilling, the monitoring platform and the site will send out an alarm to notify the on-site and management personnel to ensure the construction quality.

[0080] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

[0081] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A method for controlling the positioning deviation of a high-pressure jet grouting rig, characterized in that, Including: Obtain the drill pipe data during the movement of the jet grouting rig, where the drill pipe data includes the inclination angle data and the top positioning data of the drill pipe; Establish a dynamic weight correction model based on the positioning data and the inclination angle data to obtain the offset of the actual position of the drill bit from the preset target position. The correction model includes: calculating the actual position coordinates of the drill bit position based on the weight coefficients corresponding to the inclination angle fluctuation and the displacement fluctuation; Define the offset angle between the actual position and the target position in the overall coordinate system, and calculate the positioning deviation angle of the drill bit in the local coordinate system from the offset angle and the antenna heading angle; Obtain the movement amounts of the drill bit in each direction based on the positioning deviation angle and the offset, and control the movement of the drill bit to the target position according to the movement amounts for downhole grouting operation.

2. The method according to claim 1, characterized in that: Define the inclination angle fluctuation coefficient and the positioning fluctuation coefficient at a fixed sampling frequency, specifically as follows: ； ； Establish the weight coefficients corresponding to the inclination angle fluctuation and the displacement fluctuation based on the inclination angle fluctuation coefficient and the positioning fluctuation coefficient, specifically as follows: ； ； Wherein, represents the sampling frequency corresponding to the dip fluctuation coefficient, represents the sampling frequency corresponding to the positioning fluctuation coefficient, represents the perpendicularity of the drill pipe, represents the fluctuation coefficient, represents the weight coefficient, , y represents the positioning coordinate value of the top plane of the drill pipe.

3. The method according to claim 2, characterized in that, Define the displacement correction amount of the drill bit , , which is specifically as follows: ； ； Calculate the actual position coordinates of the drill bit position based on the weight coefficients corresponding to the inclination angle fluctuation and the displacement fluctuation, specifically as follows: ； ； Calculate the offset of the actual position coordinates from the preset target position coordinates, specifically as follows: ； In the formula, represents the height difference between the positioning antenna set at the top of the drill pipe and the bottom position of the drill pipe, represents the heading angle of the positioning antenna, , and are the components of the drill pipe verticality represents the offset distance between the current actual position coordinates of the drill bit and the target point.

4. The method according to claim 3, wherein The formula for the offset angle is: ； Due to the change of the antenna heading angle, calculate the positioning deviation angle of the drill bit in the local coordinate system from the offset angle and the antenna heading angle, and the specific formula is as follows: 。 5. The method according to claim 4, wherein The movement amounts of the drill bit in each direction obtained based on the positioning deviation angle and the offset, and the specific formula is as follows: ； ； Among them, indicates moving forward, indicates moving backward, indicates moving forward and to the right, indicates moving to the left; The operator guides the movement of the rig according to the movement amounts so that the drill bit reaches the target position.

6. The method according to claim 1, wherein Also including: In response to the offset satisfying the preset positioning deviation threshold, the positioning is completed through screen display and voice prompt; In response to the offset not satisfying the preset positioning deviation threshold, an alarm prompt is issued.

7. The method according to claim 6, characterized in that: The positioning deviation threshold ≤ 5 cm.

8. A positioning deviation control device for a high-pressure jet grouting rig, according to the high-pressure jet grouting rig positioning deviation control method according to any one of claims 1 to 7, characterized in that, Including: A positioning reference module, a verticality monitoring module, a data processing and analysis module, and a remote platform monitoring module; The positioning reference module is configured to obtain the positioning data of the top of the drill pipe, and the verticality monitoring module is configured to monitor the inclination angle data of the drill pipe; The data processing and analysis module is configured to perform fluctuation weight correction based on the positioning data and the inclination angle data, perform offset processing according to the actual position of the drill bit and the preset target position, and guide the drill bit of the rig to reach the target position according to the obtained offset distance; The remote platform monitoring module is configured to remotely monitor the movement position and grouting data of the rig and give reminder feedback.

9. The device according to claim 8, characterized in that: The positioning reference module includes a remote differential base station and two GNSS positioning antennas for information interaction with the remote differential base station. The two GNSS positioning antennas are respectively arranged on both sides of the top of the column tower of the jet grouting rig and perpendicular to the direction of the rig body, and are used to receive satellite signals to obtain the positioning data at the drill pipe; The verticality monitoring module includes a biaxial inclinometer sensor disposed on the side of the column of the jet grouting rig.

10. The device according to claim 9, characterized in that: The data processing and analysis module includes a GNSS receiver, an integrated controller, a data wireless transmission module, and an on-board display unit; The GNSS receiver receives the positioning data collected by the GNSS positioning antenna. The integrated controller is used to perform offset processing on the received positioning data and inclination data, and display the displacement offset data of the drill bit through the on-board display unit. The data processing and analysis module transmits data to the remote platform monitoring module through the data wireless transmission module for remote monitoring.

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