Automatic rectangular pile excavation and prefabricated retaining wall installation control method and system

Abstract

The invention relates to the technical field of automatic installation equipment, and discloses an automatic rectangular pile excavation and prefabricated retaining wall installation control method and system.The method comprises the steps that the position of pile hole excavation equipment is automatically adjusted according to pile position coordinates, and the pile hole coordinates are automatically positioned; the excavation perpendicularity is monitored in real time through infrared rays; determining a rectangular combined tool bit according to the excavation soil texture of the rectangular pile, and monitoring the excavation progress, the soil hardness and the soil output at each cutter head position in real time; the rotating speed and torque of each cutter head are adjusted through calculation, rectangular pile wall shaping devices are installed on the periphery of the rectangular combined tool bit, and a sawtooth chain is adopted for cutting shaping; a folding protective cover is mounted; the excavated and cut earth and stone are conveyed to a safe area; and a prefabricated retaining wall component storage frame is designed, and a retaining wall structure is automatically grabbed and installed in the excavated rectangular hole. The system comprises a rectangular pile data acquisition module, an optimal cutterhead combination module and a rectangular pile prefabricated retaining wall mounting module. The construction risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automated installation equipment, and particularly to a control method and system for automated excavation of rectangular piles and installation of precast retaining walls. Background Art

[0002] Traditional excavation of rectangular piles and installation of retaining walls mainly rely on manual operation, which has problems such as low construction efficiency, high labor intensity, high safety risks, and difficulty in ensuring construction quality. With the rapid development of the construction industry, the requirements for construction efficiency and quality are increasing day by day, and there is an urgent need for equipment that can automatically, efficiently, and safely complete the excavation of rectangular piles and the installation of retaining walls.

[0003] Prior Art One, a Chinese patent with patent number 202310635228.7 discloses an assembled precast lock retaining wall rapid assembly system for rectangular manually dug pile holes, including a lock part, which includes an upper part and a lower part. The upper part is a pair of first side lock plates and a pair of first front and rear lock plates, and the lower part is a pair of second side lock plates and a second front and rear lock plate; a retaining wall part, which is connected to the bottom of the lock part and includes multiple sections of retaining wall plates. Every two sections of retaining wall plates form a group. In each group of retaining wall plates, the upper section is composed of a first side retaining wall plate and a first front and rear retaining wall plate, and the lower section is composed of a second side retaining wall plate and a second front and rear retaining wall plate; a fixing component for fixing between the upper part and the lower part of the lock part, between the lock part and the retaining wall part, and between adjacent retaining wall plates. Although it can achieve higher support strength and rapid assembly underground, with the advantages of simple installation process, time-saving and labor-saving, and rapid and efficient hole formation; its structure is relatively simple, the degree of intelligence is low, and the efficiency of retaining wall installation is not effectively increased.

[0004] Prior Art Two, a Chinese patent with patent number 202311226480.9 discloses a rapid excavation construction method for large-section rectangular piles in soft geological areas, including the following steps: construction preparation; lock construction; pile hole construction; pile hole support structure construction; support concrete pouring and curing; construction of the next hole section; among which, pile hole construction includes rotary drilling rig construction and manual shaping and cleaning; the pile hole support structure is divided into several sub-structures, and the sub-structures are precast structures, and the precast structures are hoisted into the pile hole and quickly connected to form the pile hole support structure. Although through the combination of manual and mechanical work, compared with manual excavation, the construction efficiency is effectively improved, the working time of construction personnel in the pile hole is greatly reduced, and the safety risk is low; compared with mechanical excavation, the structural strength of the pile hole is effectively improved by constructing the retaining wall, and the hole formation rate of the pile hole is greatly increased; but it still relies too much on manual experience, and in practical applications, the effect of improving the installation efficiency is limited.

[0005] Prior Art III, a Chinese patent with the patent number 202211220153.8, discloses a construction method for a precast and assembled retaining wall of a manually dug pile, including the installation of the first ring: excavating a circular trench on the ground according to the designed position, then placing the first and second precast blocks, arranging them alternately to form a ring. Next, install a steel beam on the embedded screw rod at the top of the first precast block, and set wooden square pads at both ends of the steel beam. Make the first precast block tightly connected to the second precast block by tightening the first precast block; Installation of the second layer ring: continue to excavate the soil downward. When reaching the predetermined depth, first install the second precast block, connect it to the first precast block of the upper layer through the embedded component. Then, insert the first precast block from bottom to top between adjacent second precast blocks, and connect it to the second precast block of the upper layer through the embedded component. Finally, seal the operation hole with quick-drying cement; Repeat the second step until all the retaining wall construction is completed. Although it improves the construction quality of the retaining wall concrete and reduces the safety risk of the collapse of the hole wall of the dug pile; However, the intelligent control level of its construction process needs to be further improved.

[0006] Currently, Prior Art I, Prior Art II, and Prior Art III have the problems of low construction efficiency, few automated equipment used, and the need to further reduce construction risks. To solve the above problems, the present invention provides an automated control method and system for the excavation of rectangular piles and the installation of precast retaining walls. Summary of the Invention

[0007] The main purpose of the present invention is to provide an automated control method and system for the excavation of rectangular piles and the installation of precast retaining walls to solve the problems of low construction efficiency, few automated equipment used, and the need to further reduce construction risks in the prior art.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An automated control method for the excavation of rectangular piles and the installation of precast retaining walls, the automated control method for the excavation of rectangular piles and the installation of precast retaining walls includes:

[0010] Obtain the rectangular pile position coordinates and the soil quality of the rectangular pile excavation, input the pile position coordinates into the coordinate automatic positioning system, automatically adjust the position of the pile hole excavation equipment according to the pile position coordinates, and automatically locate the pile hole coordinates; Use infrared rays to monitor the excavation verticality in real time;

[0011] Determine the rectangular combined cutter head according to the soil quality of the rectangular pile excavation, and monitor the excavation progress, soil hardness, and the soil output at each cutter head position in real time; Adjust the rotational speed and torque of each cutter head by calculation, install a rectangular pile wall shaping device around the rectangular combined cutter head, and use a serrated chain for cutting and shaping; And install a folding protective cover;

[0012] Transport the cut soil and stone after excavation to a safe area; design a storage rack for precast retaining wall components, and cooperate with the positioning system to automatically grab the retaining wall structure and install it into the excavated rectangular hole.

[0013] As a further improvement of the present invention, the process of automatically positioning the pile hole coordinates includes the following steps:

[0014] Based on the design requirements, use a total station to set out and determine the pile position center, and draw a grid control network for the pile position axis and elevation reference points; obtain the geodetic coordinates or construction coordinates of the pile position, determine the soil conditions during excavation through sensors, and adjust the excavation sequence according to the soil conditions;

[0015] Input the obtained pile position coordinate information into the coordinate automatic positioning system, and the coordinate positioning system automatically calculates and adjusts the equipment position according to the preset pile position coordinates; use the automatic positioning technology to adjust the horizontal and verticality of the equipment in real time;

[0016] During the excavation process, use an infrared detection device to detect the verticality of the pile hole; monitor the inclination angle of the drill bit or excavation equipment through an infrared sensor, and when deviation is found, immediately adjust the direction of the drill bit or excavation equipment; feedback the monitoring data to the control system to automatically adjust the equipment operation parameters.

[0017] As a further improvement of the present invention, the process of automatically calculating and adjusting the equipment position according to the preset pile position coordinates includes the following steps:

[0018] Input the pile position coordinate information provided by the design document or surveying instrument into the coordinate automatic positioning system; use a total station to set out and determine the pile position center, and draw a grid control network for the pile position axis and elevation reference points, and at the same time obtain the geodetic coordinates or construction coordinates of the pile position;

[0019] The coordinate automatic positioning system calculates the deviation between the equipment and the target coordinate installation based on the input pile position coordinates and the current position of the equipment; the automatic positioning system supports the calculation of the main point, midpoint and edge point coordinates, and adjusts the equipment position according to the given spacing and deviation;

[0020] The automatic coordinate positioning system monitors the position change of the equipment in real time through sensors and feeds the deviation data back to the control system; the control system automatically adjusts the equipment operation parameters according to the deviation data and adjusts the horizontal and vertical angles of the equipment in real time;

[0021] Among them, the pile position coordinate input and the initial deviation calculation formula are:

[0022]

[0023] In the formula: p d represents the total deviation between the current position of the equipment and the target pile position coordinates; (x t, y t , z t ) represents the three-dimensional coordinates of the target pile position; (x c , y c , z c ) represents the three-dimensional coordinates of the current position of the device; represents the weight coefficient of the pile position control point, which is related to the layout of the pile position axis grid control network; σ i represents the elevation correction value of the pile position control point, which is determined by the elevation reference point and the total station layout;

[0024] Equipment position deviation correction and adjustment formula:

[0025]

[0026] In the formula, (ΔX, ΔY, ΔZ) represents the deviation correction amount of the device in the X, Y, and Z directions; (k x , k y , k z ) represents the adjustment coefficients of the device in the X, Y, and Z directions, which are preset by the coordinate automatic positioning system; α, β, γ represent the current horizontal angle, vertical angle, and tilt angle of the device; ξ, η, ζ represent the dynamic correction coefficients provided by the sensor, which are related to the actual operating parameters; ρ represents the motion damping coefficient of the device, which is related to the soil hardness and the self-weight of the device; represents the real-time speed of the device in the X, Y, and Z directions;

[0027] Comprehensive control formula for real-time monitoring and parameter feedback:

[0028]

[0029] In the formula: θ represents the comprehensive tilt angle of the device operation, which is used to feedback to the control system to adjust the horizontal and vertical angles of the device; ω i represents the angle correction weight of the device in the X, Y, and Z directions; T m represents the real-time torque output value of the device, which is related to the deviation correction and the soil hardness; μ represents the torque adjustment coefficient of the device, which is preset by the control system; v represents the dynamic torque correction value provided by the sensor; represents the deviation p d 's real-time change rate, which is used to dynamically adjust the device operation parameters.

[0030] As a further improvement of the present invention, the process of installing the rectangular pile wall shaping device around the rectangular combined cutter head includes the following steps:

[0031] During the excavation of the rectangular pile, use the sensor to real-time monitor the rotation speed and torque of each cutter head; transmit the data obtained by the sensor to the control system for real-time acquisition, and transmit it to the central processing unit for analysis, and form a data set with the analysis results;

[0032] Divide the data set into a training set, a test set, and a validation set; establish a cutterhead simulation model based on real-time monitoring data, combined with geological conditions, cutterhead design parameters, and excavation targets; use the training set to train the cutterhead simulation model, perform iterative calculations on the cutterhead simulation model, and obtain the optimal cutterhead rotation speed and torque combination parameters;

[0033] According to the optimal cutterhead rotation speed and torque combination parameters, the control system automatically adjusts the cutterhead rotation speed and torque; after the adjustment is completed, the control system adjusts according to the real-time feedback adjustment result and continues to monitor the operating state of the cutterhead; if there is a deviation between the actual operating parameters and the expected result, re-simulate and adjust the cutterhead rotation speed and torque combination parameters.

[0034] As a further improvement of the present invention, the process of obtaining the optimal cutterhead rotation speed and torque combination includes the following steps:

[0035] Transmit the data obtained by the sensor to the control system for real-time acquisition, and transmit it to the central processing unit for analysis, and form a data set with the analysis results; preprocess the data set by removing distorted data, noise data, and outliers;

[0036] Establish a cutterhead simulation model based on real-time monitoring data, combined with geological conditions, cutterhead design parameters, and excavation targets; and learn the relationship between the cutterhead shape, soil pressure distribution, cutterhead torque, and propulsion speed;

[0037] Use the training set to train the cutterhead simulation model, initialize the cutterhead design parameters, retrieve historical cutterhead data, and define the input cutterhead range; change the value of each input cutterhead parameter one by one while keeping other cutterhead parameters unchanged, record the change of the input result after each change, and obtain the optimal cutterhead rotation speed and torque combination.

[0038] As a further improvement of the present invention, the process of recording the change of the input result after each change includes the following steps:

[0039] Calculate the influence value of each cutterhead input parameter on the output result according to the change of the output result, analyze the influence value of each cutterhead input parameter on the output parameter, and identify the key cutterhead data whose influence is greater than the preset value;

[0040] Retrieve historical cutterhead data and set the value range of the cutterhead input parameters; change the value of each cutterhead input parameter one by one while keeping other parameters unchanged to generate an output result sample set; calculate the influence measure of each cutterhead input parameter change on the output result based on the output result sample set;

[0041] Quantify the impact metric; quantitatively measure the impact of the cutter head input parameters on the output variance, decompose the output variance into parts, calculate the contribution value of each cutter head input parameter, and adjust the cutter head input parameters according to the contribution value.

[0042] As a further improvement of the present invention, the process of identifying the key cutter head data with an impact greater than a preset value includes the following steps:

[0043] Calculate the impact metric of each cutter head input parameter on the output result according to the change of the output result, analyze the impact of each cutter head input parameter on the output parameter, and identify the key cutter head data with an output impact greater than the preset value;

[0044] Judge the key cutter head data less than the preset value as low-sensitivity parameters, and calculate whether the optimization target is achieved; if the optimization target is achieved, determine it as the final cutter head result parameter; if the optimization target is not achieved, perform structural adjustment and recalculate the cutter head structure parameters;

[0045] If the key cutter head parameter greater than the preset value is judged as a high-sensitivity parameter, calculate whether the optimization target is achieved; if the optimization target is achieved, determine it as the final cutter head result parameter; if the optimization target is not achieved, perform structural adjustment and recalculate the cutter head structure parameters.

[0046] As a further improvement of the present invention, the process of the control system automatically reducing the speed includes the following steps:

[0047] Perform adaptive calculation on the adjusted optimization target to obtain the objective function; calculate the objective function value to evaluate the adaptability of the cutter head speed and torque combination; select the cutter head parameter combination with the fitness reaching the standard, perform iterative optimization on the cutter head parameter combination to obtain the standard cutter head input parameter combination;

[0048] Input the standard cutter head input parameter combination into the control system, and the control system automatically adjusts the cutter head speed and torque according to the standard cutter head input parameter combination; after the adjustment is completed, perform real-time monitoring on the cutter head to obtain the real-time feedback adjustment result;

[0049] Obtain the deviation between the real-time cutter head operation parameters and the expected result according to the real-time feedback result, and compare the deviation with the preset value. If it is greater than the preset value, perform simulation again and adjust the cutter head speed and torque combination parameters.

[0050] As a further improvement of the present invention, the process of automatically grasping the retaining wall structure and installing it into the excavated rectangular hole includes the following steps:

[0051] Determine the position of the rectangular pile according to the positioning system, and ensure that the deviation between the center of the hole position and the design axis does not exceed the preset value. At the same time, set up a positioning device and auxiliary correction outside the hole position; design a standardized plug-in or bolt connection structure between the retaining wall components, and tightly connect each component to form a retaining wall structure;

[0052] Through the telescopic mechanism and rotating mechanism of the machine wall, move the retaining wall assembly from the threshold position to above the excavation cavity; align the grabbed retaining wall assembly with the excavation opening, fix it through the positioning device, and lower the retaining wall assembly into the cavity by using the hydraulic lifting device or the lifting mechanism of the mechanical arm, and fix it;

[0053] Install the retaining wall assembly according to the design requirements. After installation, detect the retaining wall, pour concrete into the cavity, continue with the excavation and retaining wall construction of the next layer until the design depth is reached;

[0054] To achieve the above object, the present invention also provides the following technical solutions:

[0055] An automated rectangular pile excavation and precast retaining wall installation control system, which is applied to the automated rectangular pile excavation and precast retaining wall installation control method. The automated rectangular pile excavation and precast retaining wall installation control system includes:

[0056] A rectangular pile data acquisition module, which is used to obtain the rectangular pile position coordinates and the soil quality of the rectangular pile excavation, input the pile position coordinates into the coordinate automatic positioning system, automatically adjust the position of the pile hole excavation equipment according to the pile position coordinates, and automatically position the pile hole coordinates; use infrared rays to monitor the excavation verticality in real time;

[0057] An optimal cutter head combination module, which is used to determine the rectangular combined cutter head according to the soil quality of the rectangular pile excavation, and monitor the excavation progress, soil hardness and the earth excavation volume at each cutter head position in real time; adjust the rotation speed and torque of each cutter head by calculation, install a rectangular pile wall shaping device around the rectangular combined cutter head, and use a serrated chain for cutting and shaping; and install a folding protective cover;

[0058] A rectangular pile precast retaining wall installation module, which is used to transport the cut soil and stone after excavation to a safe area; design a storage rack for precast retaining wall components, cooperate with the positioning system, automatically grab the retaining wall structure and install it into the excavated rectangular hole.

[0059] The present invention obtains the pile position coordinates through a coordinate automatic positioning system and monitors the excavation verticality in real time, thereby achieving accurate pile hole positioning and construction control. Ensure the accuracy of the pile hole position and verticality, and improve the construction accuracy and efficiency. Select a rectangular combined cutter head according to the soil quality, and monitor the excavation progress, soil hardness and the earth excavation volume at the cutter head position in real time. Optimize the excavation process by adjusting the cutter head rotation speed and torque. At the same time, install a pile wall shaping device and a folding protective cover to ensure the construction quality and safety; improve the excavation efficiency, reduce the influence of the soil quality on the construction, and ensure the stability and safety of the construction process. Convey the cut soil and stones to a safe area, and design a storage rack for precast retaining wall components, which automatically grabs and installs the retaining wall structure in cooperation with the positioning system; optimize the soil and stone treatment process, improve the construction efficiency, and at the same time reduce manual operations through automated equipment and reduce the construction risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic flow chart of the steps of an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0061] Figure 2 It is a schematic flow chart of the steps of automatically positioning the pile hole coordinates in an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0062] Figure 3 It is a schematic flow chart of the steps of automatically calculating and adjusting the equipment position according to the preset pile position coordinates in an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0063] Figure 4 It is a schematic flow chart of the steps of installing a rectangular pile wall shaping device around the rectangular combined cutter head in an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0064] Figure 5 It is a schematic flow chart of the steps of obtaining the optimal combination of cutter head rotation speed and torque in an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0065] Figure 6 It is a schematic flow chart of the steps of recording the change situation of the input result after each change in an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0066] Figure 7 It is a schematic flow chart of the steps of identifying the key cutter head data with an influence greater than the preset value in an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0067] Figure 8Schematic diagram of the step process for the control system to automatically reduce the speed in an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0068] Figure 9 Schematic diagram of the step process for automatically grasping the retaining wall structure and installing it into the excavated rectangular hole in an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0069] Figure 10 Schematic diagram of the functional modules in an embodiment of the system of the automated rectangular pile excavation and precast retaining wall installation control method of the present invention;

[0070] Figure 11 Schematic diagram of the structure of an embodiment of the electronic device of the present invention;

[0071] Figure 12 Schematic diagram of the structure of an embodiment of the storage medium of the present invention. Detailed implementation manners

[0072] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0073] The terms "first", "second", and "third" in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined. All directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0074] As used herein, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0075] As Figure 1 As shown, this embodiment provides an embodiment of the automated rectangular pile excavation and precast retaining wall installation control method. In this embodiment, the automated rectangular pile excavation and precast retaining wall installation control method specifically includes:

[0076] Step S1: Obtain the rectangular pile position coordinates and the soil quality of the rectangular pile excavation, input the pile position coordinates into the coordinate automatic positioning system, automatically adjust the position of the pile hole excavation equipment according to the pile position coordinates, and automatically locate the pile hole coordinates; use infrared rays to monitor the excavation verticality in real time;

[0077] Step S2: Determine the rectangular combined cutter head according to the soil quality of the rectangular pile excavation, and monitor the excavation progress, soil hardness, and the earth excavation volume at each cutter head position in real time; adjust the rotation speed and torque of each cutter head by calculation, install a rectangular pile wall shaping device around the rectangular combined cutter head, and use a serrated chain for cutting and shaping; and install a folding protective cover;

[0078] Step S3: Transport the cut soil and stone after excavation to a safe area; design a storage rack for precast retaining wall components, and cooperate with the positioning system to automatically grab the retaining wall structure and install it into the excavated rectangular hole.

[0079] Preferably, step S1 of this embodiment obtains the coordinates of the pile position through the coordinate automatic positioning system and monitors the verticality of the excavation in real time, thereby achieving accurate pile hole positioning and construction control. Ensure the accuracy of the pile hole position and verticality, and improve construction accuracy and efficiency. Step S2 selects a rectangular combined cutter head according to the soil quality, and monitors the excavation progress, soil hardness and the amount of excavation at the cutter head position in real time, and optimizes the excavation process by adjusting the cutter head speed and torque. At the same time, install a pile wall shaping device and a folding protective cover to ensure construction quality and safety. Improve excavation efficiency, reduce the impact of soil quality on construction, and ensure the stability and safety of the construction process. Step S3 transports the cut soil and rocks to a safe area, and designs a prefabricated wall protection component storage rack to automatically grab and install the wall protection structure in conjunction with the positioning system. Optimize the soil and rock processing process, improve construction efficiency, and reduce manual operations and construction risks through automated equipment. This embodiment designs a coordinate automatic positioning system, inputs the pile position coordinates, automatically adjusts the position of the pile hole excavation equipment, automatically locates the pile hole coordinates, avoids the error of manual setting out, and uses infrared to monitor the verticality of excavation in real time; designs a rectangular combined cutter head with adjustable size, which is composed of 4 to 6 motor-driven cutter discs. The cutter discs use wear-resistant alloy blades and are suitable for cutting different soils. The cutter head size can be achieved by adjusting the spacing and angles between the cutter discs to meet the needs of rectangular pile excavation of different depths and widths. Real-time monitoring of excavation progress and soil hardness, automatic adjustment of cutting parameters; monitoring the excavation volume at each cutter disc position, and adjusting the speed and torque of each cutter disc after calculation. The cutter disc that is easy to dig automatically reduces the speed and torque, and the cutter disc that is difficult to dig increases the tachometer torque. Under the condition of efficient use of energy, each cutter disc is always on the same excavation surface to ensure the verticality of the pile hole. Design a set of automatic transportation equipment, such as a screw conveyor or a scraper conveyor, integrated with the excavation module to continuously transport the cut earth and stone to the outside of the equipment; equip a small belt conveyor to transport the earth and stone to a safer area farther away, so as to achieve excavation and soil discharge. Install a rectangular pile wall shaping device around the rectangular combined cutter head, which uses a motor-driven sawtooth chain for cutting and shaping; install a foldable protective cover around the sawtooth chain device to ensure the safety of personnel and equipment during operation; the shaping device works synchronously with the excavation module to cut and shape the rectangular hole wall after excavation to ensure that the hole wall is smooth and flat; design a prefabricated wall protection component storage rack to store 1-meter-long rectangular hole wall protection components; use a mechanical arm or pneumatic gripper, in conjunction with a precision positioning system, to automatically grab the wall protection components and accurately install them in the excavated rectangular hole; design a standardized plug-in or bolt connection structure between the wall protection components to ensure that the components are closely connected to form a stable wall protection structure.

[0080] Furthermore, if Figure 2 As shown, the process of automatically locating the pile hole coordinates in step S1 specifically includes the following steps:

[0081] Step S11: Based on the design requirements, use a total station to set out and determine the pile position center, and draw a grid control network for the pile position axis and elevation reference points; obtain the geodetic coordinates or construction coordinates of the pile position, determine the excavation soil conditions through sensors, and adjust the excavation sequence according to the soil conditions;

[0082] Step S12: Input the obtained pile position coordinate information into the coordinate automatic positioning system. The coordinate positioning system automatically calculates and adjusts the equipment position according to the preset pile position coordinates; use the automatic positioning technology to adjust the horizontal and verticality of the equipment in real time;

[0083] Step S13: During the excavation process, use an infrared detection device to detect the verticality of the pile hole; monitor the inclination angle of the drill bit or excavation equipment through an infrared sensor. When deviation is found, immediately adjust the direction of the drill bit or excavation equipment; feed back the monitoring data to the control system to automatically adjust the equipment operation parameters.

[0084] Preferably, in step S11 of this embodiment, a total station is used to set out and determine the pile position center, and a grid control network for the pile position axis and elevation reference points is drawn. At the same time, sensors are combined to detect the soil conditions to adjust the excavation sequence. Ensure the accuracy of the pile position and the rationality of the construction, and improve the construction efficiency and quality. In step S12, the pile position coordinate information is input into the coordinate automatic positioning system, and the automatic positioning technology is used to adjust the horizontal and verticality of the equipment in real time. Improve the accuracy of equipment positioning and the dynamic adjustment ability during the construction process, thereby ensuring the quality of the pile hole formation. In step S13, an infrared detection device is used to monitor the verticality of the pile hole, and the direction of the drill bit or excavation equipment is adjusted in real time through sensors. Discover and correct deviations in a timely manner, ensure the consistency between the verticality of the pile hole and the design requirements, and reduce construction errors.

[0085] Further, as Figure 3 shown, the process of automatically calculating and adjusting the equipment position according to the preset pile position coordinates in step S12 specifically includes the following steps:

[0086] Step S121: Input the pile position coordinate information provided by the design document or surveying instrument into the coordinate automatic positioning system; use a total station to set out and determine the pile position center, and draw a grid control network for the pile position axis and elevation reference points. At the same time, obtain the geodetic coordinates or construction coordinates of the pile position;

[0087] Step S122: The coordinate automatic positioning system calculates the deviation between the equipment and the target coordinate installation according to the input pile position coordinates and the current position of the equipment; the automatic positioning system supports the calculation of the coordinates of the main point, midpoint and edge point, and adjusts the equipment position according to the given spacing and deviation;

[0088] Step S123: The automatic coordinate positioning system monitors the position change of the device in real time through sensors and feeds the deviation data back to the control system; the control system automatically adjusts the device operation parameters according to the deviation data and adjusts the horizontal and vertical angles of the device in real time.

[0089] Among them, the pile position coordinate input and the initial deviation calculation formula in step S121 are:

[0090]

[0091] In the formula: p d represents the total deviation between the current position of the device and the target pile position coordinate; (x t , y t , z t ) represents the three-dimensional coordinates (geodetic coordinates or construction coordinates) of the target pile position; (x c , y c , z c ) represents the three-dimensional coordinates of the current position of the device; represents the weight coefficient of the pile position control point, which is related to the layout of the pile position axis grid control network; σ i represents the elevation correction value of the pile position control point, which is determined by the elevation reference point and the total station layout;

[0092] The device position deviation correction and adjustment formula in step S122:

[0093]

[0094] In the formula, (ΔX, ΔY, ΔZ) represents the deviation correction amount of the device in the X, Y, and Z directions; (k x , k y , k z ) represents the adjustment coefficients of the device in the X, Y, and Z directions, which are preset by the coordinate automatic positioning system; α, β, γ represent the current horizontal angle, vertical angle, and tilt angle of the device; ξ, η, ζ represent the dynamic correction coefficients provided by the sensor, which are related to the actual operation parameters; ρ represents the motion damping coefficient of the device, which is related to the soil hardness and the device self-weight; represents the real-time speed of the device in the X, Y, and Z directions;

[0095] The comprehensive control formula for real-time monitoring and parameter feedback in step S123:

[0096]

[0097] In the formula: θ represents the comprehensive tilt angle of the device operation, which is used to feedback to the control system to adjust the horizontal and vertical angles of the device; ω i represents the angle correction weight of the device in the X, Y, and Z directions; T mRepresents the real-time torque output value of the device, which is related to deviation correction and soil hardness; μ represents the torque adjustment coefficient of the device, preset by the control system; v represents the dynamic torque correction value provided by the sensor; Represents the deviation p d The real-time change rate is used to dynamically adjust the operation parameters of the device. The above formula is designed based on the complex requirements of device positioning, deviation correction, real-time monitoring, and parameter feedback, covering the entire process from initial coordinate input to device operation parameter adjustment; by introducing dynamic correction coefficients, damping coefficients, and weight coefficients, the formula can accurately reflect the real-time state of the device during the excavation of rectangular piles and perform efficient adjustments to ensure the excavation accuracy of rectangular pile holes and the installation quality of precast retaining walls.

[0098] Preferably, in step S121 of this embodiment, the pile position center is determined and the control network is drawn by inputting the pile position coordinate information into the coordinate automatic positioning system and combining with the total station layout technology, so as to achieve high-precision pile position positioning. Utilizing the high-precision measurement ability of the total station ensures the accuracy of the pile position. At the same time, by drawing the axis grid control network and elevation reference points, it provides a reliable reference basis for subsequent construction. In step S122, the coordinate automatic positioning system can calculate the deviation and adjust the device position according to the input pile position coordinates and the current position of the device. The system supports the calculation of main point, midpoint, and side point coordinates and can automatically adjust the device position according to the given spacing and deviation, thus achieving precise device positioning and correction. It improves construction efficiency, reduces manual intervention, and ensures construction accuracy. In step S123, the sensor is used to real-time monitor the change of the device position, and the deviation data is fed back to the control system, so as to real-time adjust the operation parameters of the device. It realizes the dynamic adjustment of the horizontal and vertical angles of the device, ensuring high precision and stability during the construction process. This real-time dynamic adjustment technology effectively improves construction efficiency and quality and reduces error accumulation.

[0099] Furthermore, as Figure 4 described, the process of installing the rectangular pile wall shaping device around the rectangular combined cutter head in step S2 specifically includes the following steps:

[0100] Step S21: During the excavation of the rectangular pile, use the sensor to real-time monitor the rotation speed and torque of each cutter head; transmit the data obtained by the sensor to the control system for real-time acquisition and then transmit it to the central processing unit for analysis, and form a data set with the analysis results;

[0101] Step S22: Divide the data set into a training set, a test set, and a validation set; establish a cutter head simulation model according to the real-time monitoring data, combined with geological conditions, cutter head design parameters, and excavation targets; use the training set to train the cutter head simulation model, perform iterative calculations on the cutter head simulation model, and obtain the optimal cutter head rotation speed and torque combination parameters;

[0102] Step S23: According to the optimal cutterhead rotation speed and torque combination parameters, the control system automatically adjusts the cutterhead rotation speed and torque. After the adjustment is completed, the control system adjusts according to the real-time feedback adjustment result and continues to monitor the operation state of the cutterhead. If there is a deviation between the actual operation parameters and the expected result, the simulation is carried out again, and the cutterhead rotation speed and torque combination parameters are adjusted.

[0103] Preferably, in step S21 of this embodiment, sensors are used to monitor the rotation speed and torque of the cutterhead in real time, and the data is transmitted to the control system for analysis to form a data set, realizing the dynamic monitoring of the operation state of the cutterhead and improving the construction efficiency and safety. In step S22, the training set, test set and validation set are divided through the data set, and a cutterhead simulation model is established in combination with the geological conditions, cutterhead design parameters and excavation objectives. The optimal cutterhead rotation speed and torque combination parameters are obtained through iterative calculation, reflecting the data-driven optimization method, which can accurately adjust the cutterhead parameters to adapt to complex geological conditions, thereby improving the construction efficiency and quality. In step S23, the cutterhead rotation speed and torque are automatically adjusted according to the optimal parameters, and the adjustment result is fed back in real time to continue monitoring the operation state of the cutterhead. If there is a deviation between the actual operation parameters and the expected result, the simulation is carried out again and the parameters are adjusted. The dynamic adjustment mechanism ensures the real-time optimization and high-precision control of the construction process, significantly improving the construction safety and efficiency.

[0104] Furthermore, as Figure 5 shown, the process of obtaining the optimal cutterhead rotation speed and torque combination in step S22 specifically includes the following steps:

[0105] Step S221: Transmit the data obtained by the sensor to the control system for real-time acquisition, and then transmit it to the central processing unit for analysis. The analysis result forms a data set. The data set is preprocessed by removing distorted data, noise data and outliers, etc.

[0106] Step S222: According to the real-time monitoring data, in combination with the geological conditions, cutterhead design parameters and excavation objectives, establish a cutterhead simulation model, and learn the relationship between the cutterhead shape, earth pressure distribution, cutterhead torque and propulsion speed.

[0107] Step S223: Use the training set to train the cutterhead simulation model. Initialize the cutterhead design parameters, retrieve the historical cutterhead data, and define the input cutterhead range. Change the value of each input cutterhead parameter one by one while keeping other cutterhead parameters unchanged, record the change of the input result after each change, and obtain the optimal cutterhead rotation speed and torque combination.

[0108] Preferably, in step S221 of this embodiment, data is collected in real time through sensors and transmitted to the central processing unit for analysis to form a data set, and the data is preprocessed (such as removing distorted data, noise data, and outliers) to ensure the accuracy and reliability of the data. In step S222, a cutterhead simulation model is established by combining real-time monitoring data, geological conditions, cutterhead design parameters, and excavation targets, and the relationships among the cutterhead shape, earth pressure distribution, cutterhead torque, and propulsion speed are learned. The cutterhead design is optimized through the simulation model to improve the tunnel boring efficiency and safety. In step S223, the cutterhead simulation model is trained using the training set. By adjusting the cutterhead parameters one by one and recording the changes in the results, the optimal combination of cutterhead rotation speed and torque is obtained. The performance of the cutterhead is improved through parameter optimization, construction costs are reduced, and the stability and efficiency of tunnel boring are increased at the same time.

[0109] Further, as Figure 6 shown, the process of recording the changes in the input results after each change in step S223 specifically includes the following steps:

[0110] Step S2231: Calculate the influence value of each cutterhead input parameter on the output result according to the change in the output result, analyze the influence value of each cutterhead input parameter on the output parameter, and identify the key cutterhead data with an influence greater than the preset value;

[0111] Step S2232: Retrieve historical cutterhead data and set the value range of the cutterhead input parameters; change the values of each cutterhead input parameter one by one while keeping other parameters unchanged to generate an output result sample set; calculate the influence measure of each cutterhead input parameter change on the output result based on the output result sample set;

[0112] Step S2233: Quantify the influence measure; quantitatively measure the influence of the cutterhead input parameter on the output variance, decompose the output variance into parts, and calculate the contribution value of each cutterhead input parameter. Adjust the cutterhead input parameter according to the contribution value.

[0113] Preferably, in step S2231 of this embodiment, key cutter head data is identified by analyzing the influence value of the cutter head input parameters on the output result. By using the sensitivity analysis method, the contribution of the input parameters to the output result can be quantified, so as to optimize the cutter head parameter settings and improve the production efficiency and processing quality. In step S2232, by changing the cutter head input parameters one by one and generating an output result sample set, the influence measure of each parameter change on the output result is calculated. Reflecting the combination of experimental design and data analysis, it can systematically evaluate the sensitivity of each parameter to the final result and provide data support for subsequent optimization. In step S2233, the influence measure is quantified, and the output variance is decomposed into parts to calculate the contribution value of each cutter head input parameter. By the method of decomposing the variance, the specific influence of each parameter on the output result is clarified, so as to guide the parameter adjustment, optimize the cutter head performance, and improve the processing accuracy and efficiency.

[0114] Further, as Figure 7 shown, the process of identifying the key cutter head data with an influence greater than the preset value in step S2231 specifically includes the following steps:

[0115] Step S22311: Calculate the influence measure of each cutter head input parameter on the output result according to the change of the output result, analyze the influence of each cutter head input parameter on the output parameter, and identify the key cutter head data with an output influence greater than the preset value;

[0116] Step S22312: Judge the key cutter head data less than the preset value as low-sensitivity parameters, and calculate whether the optimization target is achieved; if the optimization target is achieved, determine it as the final cutter head result parameter; if the optimization target is not achieved, perform structural adjustment and recalculate the cutter head structure parameters;

[0117] Step S22313: If the key cutter head parameters greater than the preset value are judged as high-sensitivity parameters, calculate whether the optimization target is achieved; if the optimization target is achieved, determine it as the final cutter head result parameter; if the optimization target is not achieved, perform structural adjustment and recalculate the cutter head structure parameters.

[0118] Preferably, in step S22311 of this embodiment, by calculating the influence measure of the cutter head input parameters on the output result, analyzing the influence of each parameter on the output, and identifying the key cutter head data. It reflects the quantitative analysis ability of the influence of cutter head parameters, can quickly screen out the key parameters with greater influence on the output result, and thus provides a basis for subsequent optimization. In step S22312, the low-sensitivity parameters (less than the preset value) are judged as non-critical parameters, and it is judged whether the optimization target is reached by calculation. If it is reached, the final cutter head parameters are determined; otherwise, the structure is adjusted and recalculated. This process reflects the iterative characteristic of the optimization algorithm, and gradually adjusts the parameters to approach the optimal solution. In step S22313, similar judgment and optimization are performed on the high-sensitivity parameters (greater than the preset value). This process further improves the accuracy of the cutter head parameter optimization, ensures that the key parameters are fully considered in the optimization process, and thus improves the cutter head performance.

[0119] Further, as Figure 8 shown, the process of the control system automatically reducing the speed in step S23 specifically includes the following steps:

[0120] Step S231: Perform adaptive calculation on the adjusted optimization target to obtain the objective function; calculate the objective function value to evaluate the adaptability of the cutter head speed and torque combination; select the cutter head parameter combination with the fitness reaching the standard, and perform iterative optimization on the cutter head parameter combination to obtain the standard cutter head input parameter combination;

[0121] Among them, the objective function expression:

[0122]

[0123] In the formula, F represents the objective function value, which is used to evaluate the adaptability of the cutter head speed and torque combination; T act represents the actual torque of the cutter head; T opt represents the optimal torque of the cutter head; N act represents the actual speed of the cutter head; N opt represents the optimal speed of the cutter head; E act represents the actual energy consumption of the cutter head; E opt represents the optimal energy consumption of the cutter head; F soil represents the resistance of the soil to the cutter head; F crit represents the critical soil resistance; R friction represents the frictional resistance between the cutter head and the soil; R allowable represents the maximum allowable frictional resistance; α ′ , β ′ , γ ′ , δ, ζ ′ represents the weight coefficient, which is used to adjust the contribution degree of each parameter, and satisfies (α ′ + β ′ + γ ′+δ+ζ ′ = 1);

[0124] Step S232: Input the standard cutter head input parameter combination into the control system. The control system automatically adjusts the cutter head speed and torque according to the standard cutter head input parameter combination. After the adjustment is completed, the cutter head is monitored in real time to obtain the real-time feedback adjustment result;

[0125] Step S233: Obtain the deviation between the real-time cutter head operation parameters and the expected result according to the real-time feedback result, and compare the deviation with the preset value. If it is greater than the preset value, re-simulate and adjust the cutter head speed and torque combination parameters.

[0126] Preferably, in step S231 of this embodiment, the objective function is optimized through adaptive calculation, the adaptability of the cutter head speed and torque combination is evaluated, and the parameter combination with qualified fitness is selected for iterative optimization. Finally, the standard cutter head input parameter combination is obtained; realizing the dynamic optimization of the cutter head parameters, ensuring that the parameter combination can meet the actual operation requirements, and improving the operation efficiency and stability of the cutter head. Step S232 inputs the optimized cutter head input parameter combination into the control system, automatically adjusts the cutter head speed and torque, and feeds back the adjustment result through real-time monitoring. Through the real-time monitoring and feedback mechanism, the operation state of the cutter head is dynamically adjusted to ensure that it reaches the optimal performance under the actual working conditions. Step S233 evaluates the deviation between the cutter head operation parameters and the expected result according to the real-time feedback result, and compares it with the preset value. If the deviation is too large, re-simulate and adjust the parameters; through deviation correction and dynamic adjustment, further improve the accuracy and reliability of the cutter head operation, and reduce the impact of errors on production.

[0127] Furthermore, as Figure 9 shown, the process of automatically grasping the retaining wall structure and installing it into the excavated rectangular hole in step S3 specifically includes the following steps:

[0128] Step S31: Determine the position of the rectangular pile according to the positioning system, and ensure that the deviation between the hole center and the design axis does not exceed the preset value. At the same time, set the positioning device and auxiliary correction outside the hole position; a standardized plug-in or bolt connection structure is designed between the retaining wall components, and the components are closely connected to form a retaining wall structure;

[0129] Step S32: Through the telescopic mechanism and rotating mechanism of the machine wall, move the retaining wall component from the threshold position to above the excavation cavity; align the grasped retaining wall component with the excavation hole, fix it through the positioning device, and lower the retaining wall component into the hole by using the hydraulic lifting device or the lifting mechanism of the mechanical arm, and fix it;

[0130] Step S33: Install the retaining wall components according to the design requirements. After the installation is completed, inspect the retaining wall, pour concrete into the hole, and continue with the excavation and retaining wall construction of the next layer until the design depth is reached.

[0131] Among them, the inspection of the retaining wall includes the central axis position, verticality, thickness, and the installation quality of the steel reinforcement cage, etc.

[0132] Preferably, in step S31 of this embodiment, the position of the rectangular pile is accurately determined through a positioning system, and the deviation between the center of the hole position and the design axis is controlled within a preset range. At the same time, a standardized connection method for the retaining wall components (such as plug-in or bolt connection) is adopted to make each component closely connected to form a stable retaining wall structure. The technical effect is to ensure the construction accuracy and the overall stability of the retaining wall, providing a reliable foundation for subsequent construction. In step S32, the telescopic and rotating mechanisms of the machine wall are used to move the retaining wall components above the excavation cavity, and after aligning with the hole opening through a positioning device and fixing, the retaining wall components are lowered into the cavity and fixed through a hydraulic jacking device or a lifting mechanism. In step S33, the installation of the retaining wall components is completed according to the design requirements, and the retaining wall is inspected (including the central axis position, verticality, thickness, and the installation quality of the steel reinforcement cage, etc.), then concrete is poured into the cavity, and the excavation and retaining wall construction of the next layer are continued until the design depth is reached.

[0133] As Figure 10 shown, this embodiment also provides an embodiment of the automatic rectangular pile excavation and precast retaining wall installation control system. In this embodiment, the automatic rectangular pile excavation and precast retaining wall installation control system is applied to the automatic rectangular pile excavation and precast retaining wall installation control method as described in the above embodiment. The automatic rectangular pile excavation and precast retaining wall installation control system includes:

[0134] The rectangular pile data acquisition module 1 is used to obtain the rectangular pile position coordinates and the soil quality of the rectangular pile excavation, input the pile position coordinates into the coordinate automatic positioning system, automatically adjust the position of the pile hole excavation equipment according to the pile position coordinates, and automatically locate the pile hole coordinates; use infrared rays to monitor the excavation verticality in real time;

[0135] The optimal cutter head combination module 2 is used to determine the rectangular combined cutter head according to the soil quality of the rectangular pile excavation, and monitor the excavation progress, soil hardness, and the soil output at each cutter head position in real time; adjust the rotation speed and torque of each cutter head through calculation, install a rectangular pile wall shaping device around the rectangular combined cutter head, and use a serrated chain for cutting and shaping; and install a folding protective cover;

[0136] The rectangular pile precast retaining wall installation module 3 is used to transport the cut soil and stone after excavation to a safe area; design a storage rack for precast retaining wall components, and cooperate with the positioning system to automatically grab the retaining wall structure and install it into the excavated rectangular hole.

[0137] Among them, the rectangular pile data acquisition module 1 of this embodiment obtains the rectangular pile position coordinates and the excavation soil quality information, inputs the pile position coordinates into the coordinate automatic positioning system, automatically adjusts the equipment position according to the coordinates, and uses infrared rays to monitor the excavation verticality in real time; realizes accurate pile position positioning and verticality control, improves the construction accuracy and efficiency, reduces manual intervention, and ensures the construction quality. The optimal cutter head combination module 2 determines the rectangular combined cutter head according to the excavation soil quality, monitors the excavation progress, soil hardness and the earth excavation volume at the cutter head position in real time, adjusts the cutter head speed and torque through calculation, and installs a serrated chain and a folding protective cover; optimizes the cutter head combination and construction parameters, improves the excavation efficiency, reduces the waste of earth and stone, and at the same time ensures the safe operation of the equipment. The rectangular pile precast retaining wall installation module 3 conveys the cut earth and stone to a safe area, designs a storage rack for precast retaining wall components, and automatically grabs and installs the retaining wall structure into the excavation hole in cooperation with the positioning system; realizes the rapid installation of the retaining wall structure, improves the construction speed, and at the same time ensures the stability and safety of the hole wall and reduces the construction risk.

[0138] As Figure 11 shown, this embodiment provides an embodiment of an electronic device. In this embodiment, the electronic device 4 includes a processor 41 and a memory 42 coupled to the processor 41.

[0139] The memory 42 stores program instructions for implementing the layout method of the automated rectangular pile excavation and precast retaining wall installation control system of any of the above embodiments.

[0140] The processor 41 is used to execute the program instructions stored in the memory 42 to perform the layout of the automated rectangular pile excavation and precast retaining wall installation control system.

[0141] Among them, the processor 41 can also be called a CPU (Central Processing Unit, central processing unit). The processor 41 may be an integrated circuit chip with signal processing capabilities. The processor 41 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0142] Furthermore, Figure 12The figure is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium 5 of the embodiment of the present application stores program instructions 51 that can implement all the above methods. Among them, the program instructions 51 can be stored in the above storage medium in the form of a software product, including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, or terminal devices such as computers, servers, mobile phones, and tablets.

[0143] In several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, indirect couplings or communication connections of devices or units, and can be in electrical, mechanical, or other forms.

[0144] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. The above is only the embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, is equally included in the patent protection scope of the present invention.

[0145] The specific embodiments of the invention have been described in detail above, but it is only an example, and the invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modification or substitution to the invention is also within the scope of the invention. Therefore, equivalent transformations, modifications, improvements, etc. made without departing from the spirit and principles of the invention should all be covered by the scope of the invention.

Claims

1. An automated rectangular pile excavation and prefabricated retaining wall installation control method, characterized in that: The automated rectangular pile excavation and prefabricated retaining wall installation control method comprises: Obtain the coordinates of the rectangular pile position and the soil quality of the rectangular pile excavation, input the pile position coordinates into the coordinate automatic positioning system, automatically adjust the position of the pile hole excavation equipment according to the pile position coordinates, and automatically locate the pile hole coordinates; use infrared rays to monitor the verticality of the excavation in real time; Determine the rectangular combined cutter head according to the soil quality of the rectangular pile excavation, and monitor the excavation progress, soil hardness and the amount of soil excavated at each cutter head position in real time; adjust the rotation speed and torque of each cutter head by calculation, install a rectangular pile wall shaping device around the rectangular combined cutter head, use a sawtooth chain for cutting and shaping; and install a foldable protective cover; After excavation, the cut soil and rocks are transported to a safe area; a prefabricated wall protection component storage rack is designed, and with the positioning system, the wall protection structure is automatically grasped and installed into the excavated rectangular hole.

2. The automated rectangular pile excavation and prefabricated retaining wall installation control method according to claim 1 is characterized in that: The process of automatically locating the pile hole coordinates includes the following steps: Based on the design requirements, the total station is used to determine the center of the pile position, and the grid control network and elevation reference points of the pile axis are drawn; the geodetic coordinates or construction coordinates of the pile position are obtained, the excavation soil conditions are determined by sensors, and the excavation sequence is adjusted according to the soil conditions; The acquired pile position coordinate information is input into the coordinate automatic positioning system, which automatically calculates and adjusts the equipment position according to the preset pile position coordinates; the automatic positioning technology is used to adjust the horizontal and vertical degree of the equipment in real time; During the excavation process, infrared detection equipment is used to detect the verticality of the pile hole; the inclination angle of the drill bit or excavation equipment is monitored by infrared sensors. When deviation is found, the direction of the drill bit or excavation equipment is immediately adjusted; the monitoring data is fed back to the control system to automatically adjust the equipment operating parameters.

3. The automated rectangular pile excavation and prefabricated retaining wall installation control method according to claim 2 is characterized in that: The process of automatically calculating and adjusting the equipment position according to the preset pile position coordinates includes the following steps: Input the pile position coordinate information provided by the design document or surveying instrument into the coordinate automatic positioning system; determine the pile position center by total station surveying, draw the pile position axis grid control network and elevation reference point, and obtain the geodetic coordinates or construction coordinates of the pile position at the same time; The automatic coordinate positioning system calculates the deviation between the device and the target coordinate system based on the input stake position coordinates and the current position of the device. The automatic positioning system supports the calculation of the main point, midpoint and side point coordinates, and adjusts the device position according to the given spacing and deviation. The automatic coordinate positioning system monitors the position changes of the equipment in real time through sensors and feeds back the deviation data to the control system; the control system automatically adjusts the equipment operating parameters according to the deviation data and adjusts the horizontal and vertical angles of the equipment in real time; Among them, the calculation formula of pile position coordinate input and initial deviation is: Where: p d Indicates the total deviation between the current position of the device and the target pile position coordinates; (x t ,y t , z t ) represents the three-dimensional coordinates of the target pile position; (x c ,y c , z c ) represents the three-dimensional coordinates of the current position of the device; Represents the weight coefficient of the pile position control point, which is related to the layout of the pile position axis grid control network; σ i It indicates the elevation correction value of the stake control point, which is determined by the elevation benchmark and total station layout; Equipment position deviation correction and adjustment formula: In the formula, (ΔX, ΔY, ΔZ) represents the deviation correction of the equipment in the X, Y, and Z directions; (k x ,k y ,k z ) represents the adjustment coefficient of the equipment in the X, Y, and Z directions, which is preset by the coordinate automatic positioning system; α, β, γ represent the current horizontal angle, vertical angle, and tilt angle of the equipment; ξ, η, ζ represent the dynamic correction coefficient provided by the sensor, which is related to the actual operating parameters; ρ represents the motion damping coefficient of the equipment, which is related to the soil hardness and the weight of the equipment; Indicates the real-time speed of the device in the X, Y, and Z directions; Comprehensive control formula for real-time monitoring and parameter feedback: Where: θ represents the comprehensive inclination angle of the equipment operation, which is used to feed back to the control system to adjust the horizontal and vertical angles of the equipment; ω i Indicates the angle correction weight of the device in the X, Y, and Z directions; T m It represents the real-time torque output value of the equipment, which is related to the deviation correction and soil hardness; μ represents the torque adjustment coefficient of the equipment, which is preset by the control system; v represents the dynamic torque correction value provided by the sensor; Denotes the deviation p d The real-time rate of change is used to dynamically adjust the equipment operating parameters.

4. The automated rectangular pile excavation and prefabricated retaining wall installation control method according to claim 1 is characterized in that: The process of installing the rectangular pile wall shaping device around the rectangular combined cutter head includes the following steps: During the rectangular pile excavation process, sensors are used to monitor the rotation speed and torque of each cutterhead in real time; the data acquired by the sensors are transmitted to the control system for real-time collection, and then transmitted to the central processing unit for analysis, and the analysis results are formed into a data set; The data set is divided into a training set, a test set, and a validation set. A cutterhead simulation model is established based on real-time monitoring data, combined with geological conditions, cutterhead design parameters, and excavation targets. The cutterhead simulation model is trained using the training set, and the cutterhead simulation model is iteratively calculated to obtain the optimal cutterhead speed and torque combination parameters. The control system automatically adjusts the cutter disc speed and torque according to the optimal cutter disc speed and torque combination parameters; after the adjustment is completed, the control system adjusts the results based on real-time feedback and continues to monitor the cutter disc operating status; if there is a deviation between the actual operating parameters and the expected results, the simulation is re-performed and the cutter disc speed and torque combination parameters are adjusted.

5. The automated rectangular pile excavation and prefabricated retaining wall installation control method according to claim 4 is characterized in that: The process of obtaining the optimal cutter head speed and torque combination includes the following steps: The data acquired by the sensor is transmitted to the control system for real-time collection, and then transmitted to the central processing unit for analysis, and the analysis results are formed into a data set; the data set is pre-processed to remove distorted data, noise data and outliers; According to the real-time monitoring data, combined with the geological conditions, cutterhead design parameters and excavation targets, a cutterhead simulation model is established; and the relationship between the cutterhead shape, soil pressure distribution, cutterhead torque and propulsion speed is studied; The cutterhead simulation model is trained using the training set, the cutterhead design parameters are initialized, historical cutterhead data is retrieved, and the input cutterhead range is defined. The value of each input cutterhead parameter is changed one by one while keeping other cutterhead parameters unchanged. The changes in the input results after each change are recorded to obtain the optimal cutterhead speed and torque combination.

6. The automated rectangular pile excavation and prefabricated retaining wall installation control method according to claim 5 is characterized in that: The process of recording the changes in the input results after each change includes the following steps: Calculate the impact of each cutter head input parameter on the output result according to the change of the output result, analyze the impact of each cutter head input parameter on the output parameter, and identify the key cutter head data whose impact is greater than the preset value; Retrieve historical cutterhead data and set the range of cutterhead input parameters; change the values ​​of each cutterhead input parameter one by one while keeping other parameters unchanged to generate an output result sample set; calculate the impact of each cutterhead input parameter change on the output result based on the output result sample set; Quantify the impact metrics; quantitatively measure the impact of the cutterhead input parameters on the output variance, decompose the output variance into parts, and calculate the contribution value of each cutterhead input parameter, and adjust the cutterhead input parameters according to the contribution value.

7. The automated rectangular pile excavation and prefabricated retaining wall installation control method according to claim 6 is characterized in that: The process of identifying the critical cutter head data whose impact is greater than a preset value includes the following steps: Calculate the impact measure of each cutter head input parameter on the output result according to the change of the output result, analyze the impact of each cutter head input parameter on the output parameter, and identify the key cutter head data whose output impact is greater than the preset value; The key cutter head data that is less than the preset value is judged as a low-sensitivity parameter, and a calculation is performed to determine whether the optimization target is achieved; if the optimization target is achieved, the final cutter head result parameter is determined; if the optimization target is not achieved, the structure is adjusted and the cutter head structure parameters are recalculated; If the key cutter disc parameter is greater than the preset value, it is judged as a high-sensitivity parameter, and a calculation is performed to determine whether the optimization target is achieved; if the optimization target is achieved, it is determined as the final cutter disc result parameter; if the optimization target is not achieved, the structure is adjusted and the cutter disc structure parameters are recalculated.

8. The automated rectangular pile excavation and prefabricated retaining wall installation control method according to claim 4 is characterized in that: The process of the control system automatically reducing the speed includes the following steps: The adjusted optimization target is adaptively calculated to obtain the objective function; the objective function value is calculated to evaluate the adaptability of the cutter head speed and torque combination; a cutter head parameter combination whose fitness reaches the standard is selected, and the cutter head parameter combination is iteratively optimized to obtain a standard cutter head input parameter combination; The standard cutter disc input parameter combination is input into the control system, and the control system automatically adjusts the cutter disc speed and torque according to the standard cutter disc input parameter combination; after the adjustment is completed, the cutter disc is monitored in real time to obtain real-time feedback of the adjustment result; The deviation between the real-time cutterhead operating parameters and the expected results is obtained based on the real-time feedback results, and the deviation is compared with the preset value. If it is greater than the preset value, the simulation is performed again and the cutterhead speed and torque combination parameters are adjusted.

9. The automated rectangular pile excavation and prefabricated retaining wall installation control method according to claim 1, characterized in that: The process of automatically grabbing the retaining wall structure and installing it into the excavated rectangular hole includes the following steps: The position of the rectangular pile is determined according to the positioning system, and the deviation between the hole center and the design axis is not greater than the preset value. At the same time, positioning devices and auxiliary corrections are set outside the hole. Standardized plug-in or bolt connection structures are designed between the wall protection components, and the components are closely connected to form a wall protection structure. The wall protection assembly is moved from the threshold position to the top of the excavated hole through the telescopic mechanism and the rotating mechanism of the machine wall; the grabbed wall protection assembly is aligned with the excavated hole opening, fixed through the positioning device, and the wall protection assembly is lowered into the hole and fixed using the hydraulic jacking device or the lifting mechanism of the machine arm; Install the retaining wall components according to the design requirements. After installation, inspect the retaining wall, pour concrete in the holes, and continue with the next layer of excavation and retaining wall construction until the designed depth is reached.

10. An automated rectangular pile excavation and prefabricated retaining wall installation control system, which is applied to the automated rectangular pile excavation and prefabricated retaining wall installation control method as claimed in any one of claims 1 to 9, characterized in that: The automated rectangular pile excavation and prefabricated retaining wall installation control system comprises: The rectangular pile data acquisition module is used to obtain the rectangular pile position coordinates and the rectangular pile excavation soil quality, input the pile position coordinates into the coordinate automatic positioning system, automatically adjust the position of the pile hole excavation equipment according to the pile position coordinates, and automatically locate the pile hole coordinates; use infrared rays to monitor the excavation verticality in real time; The optimal cutterhead combination module is used to determine the rectangular combination cutter head according to the soil quality of the rectangular pile excavation, and monitor the excavation progress, soil hardness and the amount of soil excavated at each cutterhead position in real time; adjust the rotation speed and torque of each cutterhead by calculation, install a rectangular pile wall shaping device around the rectangular combination cutter head, use a sawtooth chain for cutting and shaping; and install a foldable protective cover; The rectangular pile prefabricated retaining wall installation module is used to transport the cut soil and rocks after excavation to a safe area; the prefabricated retaining wall component storage rack is designed to cooperate with the positioning system to automatically grab the retaining wall structure and install it into the excavated rectangular hole.

Images