Control method and system of vibration immersed tube gravel pile machine

Abstract

The invention discloses a control method and system for a vibration immersed tube gravel pile machine, and the method comprises the steps: extracting the real-time state information of an immersed tube, the real-time state information comprises the reaction force of a foundation, the gravel feeding rate, the verticality deviation of the immersed tube, the vibration acceleration of the immersed tube, and the vibration frequency of the immersed tube; setting an immersed tube length estimation equation, and calculating the pile length of the immersed tube in real time according to the real-time state information; and the pile length of the immersed tube is uploaded to a cloud management platform, and the pile length of the immersed tube is compared with the target length, so that the construction quality is evaluated.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction quality control, and more specifically, relates to a control method and system for a vibrating pipe-sinking stone pile machine. Background Art

[0002] A vibratory stone pile driver is a type of construction equipment used for foundation reinforcement. It combines vibratory tube sinking technology with a gravel filling process to construct stone piles in soft soil or areas requiring increased bearing capacity. It primarily consists of a vibrator (which provides high-frequency vibration to reduce soil resistance), a sinking tube (which forms the pile hole), a feeding system (which transports and fills the pile with gravel), and a crane or crawler chassis (for moving and positioning the equipment). The construction process includes vibratory tube sinking, gravel filling, vibratory tube extraction, and compaction to ensure the stability and bearing capacity of the stone pile.

[0003] However, currently, the pipe sinking stage of the vibrating pipe sinking stone pile machine is generally monitored by manual observation, resulting in low accuracy and efficiency. Therefore, a technical solution is urgently needed to solve the technical problems of low accuracy and efficiency. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention proposes a control method for a vibrating pipe-sinking stone pile machine, comprising:

[0005] Extracting real-time status information of the immersed tube, wherein the real-time status information includes: foundation reaction force, crushed stone feeding rate, vertical deviation of the immersed tube, advancement rate of the immersed tube, vibration acceleration of the immersed tube, and vibration frequency of the immersed tube;

[0006] Setting a submerged pipe length estimation equation and calculating the submerged pipe pile length in real time based on the real-time status information;

[0007] The pile length of the immersed tube is uploaded to the cloud management platform, and the pile length of the immersed tube is compared with the target length to evaluate the construction quality.

[0008] Furthermore, the immersed tube length estimation equation includes:

[0009]

[0010] Where L(t) is the length of the immersed pipe at time t, α1 is the first adjustment factor of the estimated equation for the immersed pipe length, and A v (t) is the vibration acceleration of the immersed tube at time t, β1 is the second adjustment factor of the immersed tube length estimation equation, R c (t) is the foundation reaction force at time t, α2 is the third adjustment factor of the immersed tube length estimation equation, Q s(t) is the gravel feeding rate at time t, γ1 is the fourth adjustment factor of the immersed tube length estimation equation, VerticalityError(t) is the verticality deviation of the immersed tube at time t, κ1 is the fifth adjustment factor of the immersed tube length estimation equation, κ2 is the sixth adjustment factor of the immersed tube length estimation equation, A v (τ) is the vibration acceleration of the immersed tube at time τ, α3 is the seventh adjustment factor of the immersed tube length estimation equation, V sink (t) is the advancement rate of the immersed tube.

[0011] Furthermore, the crushed stone feeding rate Q at time t is calculated s (t) specifically include:

[0012]

[0013] Where λ1 is the first adjustment factor of the gravel feeding rate, λ2 is the second adjustment factor of the gravel feeding rate, N is the number of historical time points, θ n is the weight of the nth historical time point, ρ n is the adjustment factor at the nth historical time point, t n is the nth historical time point, Q s (t n ) is the nth historical time point t n The crushed stone feeding rate.

[0014] Furthermore, the verticality error VerticalityError(t) of the immersed tube at time t is calculated specifically including:

[0015]

[0016] Among them, μ1 is the first adjustment factor of vertical deviation, X t is the GPS horizontal coordinate of the immersed tube at time t, X d is the target horizontal coordinate of the immersed tube, Y t Y is the GPS vertical coordinate of the immersed tube at time t, d is the target vertical coordinate of the immersed tube, v1 is the second adjustment factor of vertical deviation, v2 is the third adjustment factor of vertical deviation, σ1 is the fourth adjustment factor of vertical deviation, σ2 is the fifth adjustment factor of vertical deviation, f v (τ) is the vibration frequency of the immersed tube at time τ, β′ is the sixth adjustment factor of the verticality deviation, and Deviations(t) is the offset of the immersed tube at time t.

[0017] Furthermore, it includes: fitting all adjustment factors by least square method or ant colony algorithm, wherein the pile length L(t) of the immersed pipe at time t is fitted with the true depth until the error between the two is within a preset error threshold.

[0018] Furthermore, the pile length of the pipe sinking is compared with the target length to evaluate the construction quality. Specifically, when the difference between the pile length of the pipe sinking and the target length exceeds a preset threshold, an alarm message is issued, and the construction personnel are prompted to adjust various parts of the vibrating pipe sinking stone pile machine until the difference between the pile length of the pipe sinking and the target length is less than the preset threshold.

[0019] The present invention also provides a control system for a vibrating pipe-sinking stone pile machine, comprising:

[0020] an information extraction module for extracting real-time status information of the immersed tube, wherein the real-time status information includes: foundation reaction force, crushed stone feeding rate, vertical deviation of the immersed tube, advancement rate of the immersed tube, vibration acceleration of the immersed tube, and vibration frequency of the immersed tube;

[0021] A calculation module, configured to set an estimation equation for the length of the immersed pipe and calculate the length of the immersed pipe in real time based on the real-time status information;

[0022] The quality evaluation module is used to upload the pile length of the immersed tube to the cloud management platform, compare the pile length of the immersed tube with the target length, and thus evaluate the construction quality.

[0023] Furthermore, the immersed tube length estimation equation includes:

[0024]

[0025] Where L(t) is the length of the immersed pipe at time t, α1 is the first adjustment factor of the estimated equation for the immersed pipe length, and A v (t) is the vibration acceleration of the immersed tube at time t, β1 is the second adjustment factor of the immersed tube length estimation equation, R c (t) is the foundation reaction force at time t, α2 is the third adjustment factor of the immersed tube length estimation equation, Q s (t) is the gravel feeding rate at time t, γ1 is the fourth adjustment factor of the immersed tube length estimation equation, VerticalityError(t) is the verticality deviation of the immersed tube at time t, κ1 is the fifth adjustment factor of the immersed tube length estimation equation, κ2 is the sixth adjustment factor of the immersed tube length estimation equation, A v (τ) is the vibration acceleration of the immersed tube at time τ, α3 is the seventh adjustment factor of the immersed tube length estimation equation, V sink (t) is the advancement rate of the immersed tube.

[0026] Furthermore, the crushed stone feeding rate Q at time t is calculated s (t) specifically include:

[0027]

[0028] Where λ1 is the first adjustment factor of the gravel feeding rate, λ2 is the second adjustment factor of the gravel feeding rate, N is the number of historical time points, θ n is the weight of the nth historical time point, ρ n is the adjustment factor at the nth historical time point, t n is the nth historical time point, Q s (t n ) is the nth historical time point t n The crushed stone feeding rate.

[0029] Furthermore, the verticality error VerticalityError(t) of the immersed tube at time t is calculated specifically including:

[0030]

[0031] Among them, μ1 is the first adjustment factor of vertical deviation, X t is the GPS horizontal coordinate of the immersed tube at time t, X d is the target horizontal coordinate of the immersed tube, Y t Y is the GPS vertical coordinate of the immersed tube at time t, d is the target vertical coordinate of the immersed tube, v1 is the second adjustment factor of vertical deviation, v2 is the third adjustment factor of vertical deviation, σ1 is the fourth adjustment factor of vertical deviation, σ2 is the fifth adjustment factor of vertical deviation, f v (τ) is the vibration frequency of the immersed tube at time τ, β′ is the sixth adjustment factor of the verticality deviation, and Deciatins(t) is the offset of the immersed tube at time t.

[0032] In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:

[0033] Through the above technical solutions, the present invention can improve construction quality and construction efficiency. By setting the immersed tube length estimation equation, the immersed tube can be accurately monitored, thereby achieving accurate control. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0035] Figure 2 is a system structure diagram of embodiment 2 of the present invention;

[0036] Figure 3 It is a code diagram of the algorithm of the present invention. DETAILED DESCRIPTION

[0037] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0038] The method provided by the present invention can be implemented in the following terminal environment, wherein the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0039] A processor can include one or more processing cores. It connects various components within the terminal using various interfaces and circuits. It executes instructions, programs, code sets, or instruction sets stored in storage media, and accesses data stored in storage media to perform various terminal functions and process data.

[0040] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets, or instructions.

[0041] The display is used to show the user interface of each application.

[0042] In addition, those skilled in the art will appreciate that the structure of the terminal described above does not limit the terminal. The terminal may include more or fewer components, or a combination of certain components, or a different arrangement of components. For example, the terminal may also include a radio frequency circuit, an input unit, a sensor, an audio circuit, a power supply, and other components, which will not be described in detail here.

[0043] Example 1

[0044] In order to make the present invention clearer, this embodiment describes the construction process of vibrating pipe-sunk gravel piles, which specifically includes:

[0045] 1. Pile driver in place

[0046] Move the vibrating pipe pile driver to the marked pile position, and adjust the pile driver's legs and other components to keep the pile driver stable and vertical, align the center of the pile pipe with the center of the pile position, and control the deviation within a small range. At the same time, use the pile driver's own verticality monitoring device (such as a verticality meter, etc.) to ensure that the verticality of the pile pipe meets the requirements.

[0047] 2. Immersed tube

[0048] Start the vibratory hammer of the vibratory pile driver, and allow the pile to slowly sink into the foundation soil under the influence of its own weight and the excitation force. During the sinking process, pay close attention to the sinking speed, penetration depth, and vibration of the pile pipe. If the sinking speed is too fast, there may be hidden dangers such as pile pipe deflection, which require timely adjustment. If the sinking speed is too slow, analyze whether it is due to high ground resistance or equipment problems, and take appropriate measures, such as increasing the excitation force or checking the pile pipe for foreign objects.

[0049] 3. Feeding

[0050] After the pile pipe has sunk to the designed depth, gravel material is added to the pile pipe. This can be done manually or by using a loader with a hopper or other mechanical equipment. Ensure that the material is fed evenly and continuously to avoid local accumulation or insufficient material. Also, control the material volume, determining the amount of material to be added each time based on the pile diameter, length, and the required filling coefficient (generally around 1.1-1.3).

[0051] 4. Extubation

[0052] After the material is added, the pile pipe is slowly pulled out. The speed of pulling out must be strictly controlled, and the appropriate speed is generally determined based on different soil conditions. During the pulling process, the pile pipe must maintain continuous vibration to ensure that the added gravel is continuously compacted by the vibration. At the same time, the vibration squeezes the surrounding soil, achieving a compaction effect on the foundation. Gravel is continuously added through the feeding port while the pile pipe is being pulled out to ensure the density and continuity of the pile body.

[0053] 5. into piles

[0054] As the pile pipe is gradually pulled out of the ground, the construction of a vibrating-sinking gravel compaction pile is completed. The pile is then inspected for quality, such as whether the pile's density, diameter, length, and verticality meet the design requirements. If not, remedial measures are taken promptly. The above steps are then repeated for the next pile until the entire site's pile foundation is complete.

[0055] Generally speaking, the key points of quality control during the construction process of vibration pipe-sinking piles are to control the advance rate, verticality of the pile hole and hole depth during the pipe-sinking process; and to control the feeding rate, feeding amount (to control the filling degree of gravel) and pipe-pulling rate (to prevent diameter shrinkage) during the pipe-pulling process.

[0056] The construction inspection and control items are: pile length, pile diameter, pile position, pile spacing, verticality, and stone filling volume, among which the main control items are pile length and verticality.

[0057] The present invention mainly performs real-time monitoring and control on the pile length so as to make the pile length meet expectations.

[0058] like Figure 1As shown, this embodiment provides a control method for a vibrating tube-sinking stone pile machine, which is used to control the vibrating tube-sinking stone pile machine during the construction process of the vibrating tube-sinking stone pile, and specifically includes:

[0059] Step 101: extracting real-time status information of the immersed tube, wherein the real-time status information includes: foundation reaction force, crushed stone feeding rate, vertical deviation of the immersed tube, advancement rate of the immersed tube, vibration acceleration of the immersed tube, and vibration frequency of the immersed tube;

[0060] Step 102, setting an equation for estimating the length of the immersed pipe, and calculating the length of the immersed pipe in real time based on the real-time status information;

[0061] like Figure 3 As shown, specifically, the immersed tube length estimation equation includes:

[0062]

[0063] Where L(t) is the length of the immersed pipe at time t, α1 is the first adjustment factor of the estimated equation for the immersed pipe length, and A v (t) is the vibration acceleration of the immersed tube at time t, β1 is the second adjustment factor of the immersed tube length estimation equation, R c (t) is the foundation reaction force at time t, α2 is the third adjustment factor of the immersed tube length estimation equation, Q s (t) is the gravel feeding rate at time t, γ1 is the fourth adjustment factor of the immersed tube length estimation equation, VerticalityError(t) is the verticality deviation of the immersed tube at time t, κ1 is the fifth adjustment factor of the immersed tube length estimation equation, κ2 is the sixth adjustment factor of the immersed tube length estimation equation, A v (τ) is the vibration acceleration of the immersed tube at time τ, α3 is the seventh adjustment factor of the immersed tube length estimation equation, V sink (t) is the advancement rate of the immersed tube.

[0064] The main purpose of setting the depth control equation is to control the pile length L(t) of the vibrating stone pile driver in real time, ensuring that the driver sinks the pile at the expected depth and speed, while optimizing the uniformity of the gravel filling and improving the construction quality.

[0065] The depth control equation has the following specific technical effects:

[0066] 1. Ensure the stability of the immersed tube and prevent it from sinking too fast or too slow

[0067] Sinking the pipe too quickly may result in uneven gravel filling and affect the density of the pile.

[0068] Sinking the tube too slowly may reduce construction efficiency and increase equipment energy consumption.

[0069] This equation is obtained by the vibration acceleration A v (t) and foundation reaction force R c Dynamic adjustment of (t) to optimize the tube sinking rate and avoid abnormal situations.

[0070] 2. Dynamically adapt to different strata and improve construction adaptability

[0071] This equation is expressed by the exponential decay term Adaptively adjust the tube sinking rate to enable the equipment to adapt to different soil layers.

[0072] 3. Suppress vertical deviation and improve construction accuracy

[0073] During construction, the immersed tube may experience path deviation (deviate from the designed vertical direction) due to vibration and geological heterogeneity.

[0074] The equation uses VerticalityError(t) deviation feedback to correct the immersed tube direction so that it remains within the set path and improves construction accuracy.

[0075] Specifically, calculate the crushed stone feeding rate Q at time t s (t) specifically include:

[0076]

[0077] Where λ1 is the first adjustment factor of the gravel feeding rate, λ2 is the second adjustment factor of the gravel feeding rate, N is the number of historical time points, θ n is the weight of the nth historical time point, ρ n is the adjustment factor at the nth historical time point, t n is the nth historical time point, Q s (t n ) is the nth historical time point t n The crushed stone feeding rate.

[0078] Specifically, the verticality error VerticalityError(t) of the immersed tube at time t is calculated as follows:

[0079]

[0080] Among them, μ1 is the first adjustment factor of vertical deviation, X t is the GPS horizontal coordinate of the immersed tube at time t, X d is the target horizontal coordinate of the immersed tube, Y t Y is the GPS vertical coordinate of the immersed tube at time t, dis the target vertical coordinate of the immersed tube, v1 is the second adjustment factor of vertical deviation, v2 is the third adjustment factor of vertical deviation, σ1 is the fourth adjustment factor of vertical deviation, σ2 is the fifth adjustment factor of vertical deviation, f v (τ) is the vibration frequency of the immersed tube at time τ, β′ is the sixth adjustment factor of the verticality deviation, and Deviations(t) is the offset of the immersed tube at time t.

[0081] Specifically, it includes: fitting all adjustment factors by least square method or ant colony algorithm, wherein the pile length L(t) of the immersed pipe at time t is fitted with the true depth until the error between the two is within a preset error threshold.

[0082] Step 103 : Upload the pile length of the immersed pipe to the cloud management platform, compare the pile length of the immersed pipe with the target length, and evaluate the construction quality.

[0083] Specifically, the pile length of the pipe sinking is compared with the target length to evaluate the construction quality. Specifically, when the difference between the pile length of the pipe sinking and the target length exceeds a preset threshold, an alarm message is issued, and the construction personnel are prompted to adjust various parts of the vibrating pipe sinking stone pile machine until the difference between the pile length of the pipe sinking and the target length is less than the preset threshold.

[0084] Example 2

[0085] like Figure 2 As shown, an embodiment of the present invention further provides a control system for a vibrating pipe-sinking stone pile machine, comprising:

[0086] an information extraction module for extracting real-time status information of the immersed tube, wherein the real-time status information includes: foundation reaction force, crushed stone feeding rate, vertical deviation of the immersed tube, advancement rate of the immersed tube, vibration acceleration of the immersed tube, and vibration frequency of the immersed tube;

[0087] A calculation module, configured to set an estimation equation for the length of the immersed pipe and calculate the length of the immersed pipe in real time based on the real-time status information;

[0088] Specifically, the immersed tube length estimation equation includes:

[0089]

[0090] Where L(t) is the length of the immersed pipe at time t, α1 is the first adjustment factor of the estimated equation for the immersed pipe length, and A v (t) is the vibration acceleration of the immersed tube at time t, β1 is the second adjustment factor of the immersed tube length estimation equation, R c (t) is the foundation reaction force at time t, α2 is the third adjustment factor of the immersed tube length estimation equation, Q s(t) is the gravel feeding rate at time t, γ1 is the fourth adjustment factor of the immersed tube length estimation equation, VerticalityError(t) is the verticality deviation of the immersed tube at time t, κ1 is the fifth adjustment factor of the immersed tube length estimation equation, κ2 is the sixth adjustment factor of the immersed tube length estimation equation, A v (τ) is the vibration acceleration of the immersed tube at time τ, α3 is the seventh adjustment factor of the immersed tube length estimation equation, V sink (t) is the penetration rate of the immersed tube

[0091] Specifically, calculate the crushed stone feeding rate Q at time t s (t) specifically include:

[0092]

[0093] Where λ1 is the first adjustment factor of the gravel feeding rate, λ2 is the second adjustment factor of the gravel feeding rate, N is the number of historical time points, θ n is the weight of the nth historical time point, ρ n is the adjustment factor at the nth historical time point, t n is the nth historical time point, Q s (t n ) is the nth historical time point t n The crushed stone feeding rate.

[0094] Specifically, the verticality error VerticalityError(t) of the immersed tube at time t is calculated as follows:

[0095]

[0096] Among them, μ1 is the first adjustment factor of vertical deviation, X t is the GPS horizontal coordinate of the immersed tube at time t, X d is the target horizontal coordinate of the immersed tube, Y t Y is the GPS vertical coordinate of the immersed tube at time t, d is the target vertical coordinate of the immersed tube, v1 is the second adjustment factor of vertical deviation, v2 is the third adjustment factor of vertical deviation, σ1 is the fourth adjustment factor of vertical deviation, σ2 is the fifth adjustment factor of vertical deviation, f v (τ) is the vibration frequency of the immersed tube at time τ, β′ is the sixth adjustment factor of the verticality deviation, and Deviations(t) is the offset of the immersed tube at time t.

[0097] Specifically, it includes: fitting all adjustment factors by least square method or ant colony algorithm, wherein the pile length L(t) of the immersed pipe at time t is fitted with the true depth until the error between the two is within a preset error threshold.

[0098] The quality evaluation module is used to upload the pile length of the immersed tube to the cloud management platform, compare the pile length of the immersed tube with the target length, and thus evaluate the construction quality.

[0099] Specifically, the pile length of the pipe sinking is compared with the target length to evaluate the construction quality. Specifically, when the difference between the pile length of the pipe sinking and the target length exceeds a preset threshold, an alarm message is issued, and the construction personnel are prompted to adjust various parts of the vibrating pipe sinking stone pile machine until the difference between the pile length of the pipe sinking and the target length is less than the preset threshold.

[0100] Example 3

[0101] An embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the control method of the vibrating tube-sinking stone pile machine.

[0102] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0103] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps: Step 101, extracting real-time status information of the immersed tube, wherein the real-time status information includes: foundation reaction force, crushed stone feeding rate, vertical deviation of the immersed tube, advancement rate of the immersed tube, vibration acceleration of the immersed tube, and vibration frequency of the immersed tube;

[0104] Step 102, setting an equation for estimating the length of the immersed pipe, and calculating the length of the immersed pipe in real time based on the real-time status information;

[0105] Specifically, the immersed tube length estimation equation includes:

[0106]

[0107] Where L(t) is the length of the immersed pipe at time t, α1 is the first adjustment factor of the estimated equation for the immersed pipe length, and A v (t) is the vibration acceleration of the immersed tube at time t, β1 is the second adjustment factor of the immersed tube length estimation equation, R c (t) is the foundation reaction force at time t, α2 is the third adjustment factor of the immersed tube length estimation equation, Q s (t) is the gravel feeding rate at time t, γ1 is the fourth adjustment factor of the immersed tube length estimation equation, VerticalityError(t) is the verticality deviation of the immersed tube at time t, κ1 is the fifth adjustment factor of the immersed tube length estimation equation, κ2 is the sixth adjustment factor of the immersed tube length estimation equation, A v(τ) is the vibration acceleration of the immersed tube at time τ, α3 is the seventh adjustment factor of the immersed tube length estimation equation, V sink (t) is the penetration rate of the immersed tube

[0108] Specifically, calculate the crushed stone feeding rate Q at time t s (t) specifically include:

[0109]

[0110] Where λ1 is the first adjustment factor of the gravel feeding rate, λ2 is the second adjustment factor of the gravel feeding rate, N is the number of historical time points, θ n is the weight of the nth historical time point, ρ n is the adjustment factor at the nth historical time point, t n is the nth historical time point, Q s (t n ) is the nth historical time point t n The crushed stone feeding rate.

[0111] Specifically, the verticality error VerticalityError(t) of the immersed tube at time t is calculated as follows:

[0112]

[0113] Among them, μ1 is the first adjustment factor of vertical deviation, X t is the GPS horizontal coordinate of the immersed tube at time t, X d is the target horizontal coordinate of the immersed tube, Y t Y is the GPS vertical coordinate of the immersed tube at time t, d is the target vertical coordinate of the immersed tube, v1 is the second adjustment factor of vertical deviation, v2 is the third adjustment factor of vertical deviation, σ1 is the fourth adjustment factor of vertical deviation, σ2 is the fifth adjustment factor of vertical deviation, f v (τ) is the vibration frequency of the immersed tube at time τ, β′ is the sixth adjustment factor of the verticality deviation, and Deviations(t) is the offset of the immersed tube at time t.

[0114] Specifically, it includes: fitting all adjustment factors by least square method or ant colony algorithm, wherein the pile length L(t) of the immersed pipe at time t is fitted with the true depth until the error between the two is within a preset error threshold.

[0115] Step 103 : Upload the pile length of the immersed pipe to the cloud management platform, compare the pile length of the immersed pipe with the target length, and evaluate the construction quality.

[0116] Specifically, the pile length of the pipe sinking is compared with the target length to evaluate the construction quality. Specifically, when the difference between the pile length of the pipe sinking and the target length exceeds a preset threshold, an alarm message is issued, and the construction personnel are prompted to adjust various parts of the vibrating pipe sinking stone pile machine until the difference between the pile length of the pipe sinking and the target length is less than the preset threshold.

[0117] Example 4

[0118] An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, which can be loaded and executed by the processor to enable the processor to execute the control method of a vibrating pipe-driving stone pile machine.

[0119] Specifically, the electronic device of this embodiment may be a computer terminal, which may include: one or more processors, and a storage medium.

[0120] Among them, the storage medium can be used to store software programs and modules, such as a control method for a vibratory pipe-driving stone pile machine in an embodiment of the present invention, and corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned control method for a vibratory pipe-driving stone pile machine. The storage medium may include high-speed random storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely located relative to the processor, and these remote storage media may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0121] The processor can call information and application programs stored in the storage medium through the transmission system to execute the following steps: Step 101: extracting real-time status information of the immersed tube, wherein the real-time status information includes: foundation reaction force, crushed stone feeding rate, vertical deviation of the immersed tube, advancement rate of the immersed tube, vibration acceleration of the immersed tube, and vibration frequency of the immersed tube;

[0122] Step 102, setting an equation for estimating the length of the immersed pipe, and calculating the length of the immersed pipe in real time based on the real-time status information;

[0123] Specifically, the immersed tube length estimation equation includes:

[0124]

[0125] Where L(t) is the length of the immersed pipe at time t, α1 is the first adjustment factor of the estimated equation for the immersed pipe length, and Av (t) is the vibration acceleration of the immersed tube at time t, β1 is the second adjustment factor of the immersed tube length estimation equation, R c (t) is the foundation reaction force at time t, α2 is the third adjustment factor of the immersed tube length estimation equation, Q s (t) is the gravel feeding rate at time t, γ1 is the fourth adjustment factor of the immersed tube length estimation equation, VerticalityError(t) is the verticality deviation of the immersed tube at time t, κ1 is the fifth adjustment factor of the immersed tube length estimation equation, κ2 is the sixth adjustment factor of the immersed tube length estimation equation, A v (τ) is the vibration acceleration of the immersed tube at time τ, α3 is the seventh adjustment factor of the immersed tube length estimation equation, V sink (t) is the penetration rate of the immersed tube

[0126] Specifically, calculate the crushed stone feeding rate Q at time t s (t) specifically include:

[0127]

[0128] Where λ1 is the first adjustment factor of the gravel feeding rate, λ2 is the second adjustment factor of the gravel feeding rate, N is the number of historical time points, θ n is the weight of the nth historical time point, ρ n is the adjustment factor at the nth historical time point, t n is the nth historical time point, Q s (t n ) is the nth historical time point t n The crushed stone feeding rate.

[0129] Specifically, the verticality error VerticalityError(t) of the immersed tube at time t is calculated as follows:

[0130]

[0131] Among them, μ1 is the first adjustment factor of vertical deviation, X t is the GPS horizontal coordinate of the immersed tube at time t, X d is the target horizontal coordinate of the immersed tube, Y t Y is the GPS vertical coordinate of the immersed tube at time t, d is the target vertical coordinate of the immersed tube, v1 is the second adjustment factor of vertical deviation, v2 is the third adjustment factor of vertical deviation, σ1 is the fourth adjustment factor of vertical deviation, σ2 is the fifth adjustment factor of vertical deviation, f v (τ) is the vibration frequency of the immersed tube at time τ, β′ is the sixth adjustment factor of the verticality deviation, and Deviations(t) is the offset of the immersed tube at time t.

[0132] Specifically, it includes: fitting all adjustment factors by least square method or ant colony algorithm, wherein the pile length L(t) of the immersed pipe at time t is fitted with the true depth until the error between the two is within a preset error threshold.

[0133] Step 103 : Upload the pile length of the immersed pipe to the cloud management platform, compare the pile length of the immersed pipe with the target length, and evaluate the construction quality.

[0134] Specifically, the pile length of the pipe sinking is compared with the target length to evaluate the construction quality. Specifically, when the difference between the pile length of the pipe sinking and the target length exceeds a preset threshold, an alarm message is issued, and the construction personnel are prompted to adjust various parts of the vibrating pipe sinking stone pile machine until the difference between the pile length of the pipe sinking and the target length is less than the preset threshold.

[0135] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0136] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0137] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0138] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0139] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0140] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0141] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A control method for a vibrating pipe-sinking stone pile machine, characterized in that: include: Extracting real-time status information of the immersed tube, wherein the real-time status information includes: foundation reaction force, crushed stone feeding rate, vertical deviation of the immersed tube, advancement rate of the immersed tube, vibration acceleration of the immersed tube, and vibration frequency of the immersed tube; Setting a submerged pipe length estimation equation and calculating the submerged pipe pile length in real time based on the real-time status information; The pile length of the immersed tube is uploaded to the cloud management platform, and the pile length of the immersed tube is compared with the target length to evaluate the construction quality.

2. The control method of a vibrating pipe-sinking stone pile machine according to claim 1, characterized in that: The immersed tube length estimation equation includes: Where L(t) is the length of the immersed pipe at time t, α1 is the first adjustment factor of the estimated equation for the immersed pipe length, and A v (t) is the vibration acceleration of the immersed tube at time t, β1 is the second adjustment factor of the immersed tube length estimation equation, R c (t) is the foundation reaction force at time t, α2 is the third adjustment factor of the immersed tube length estimation equation, Q s (t) is the gravel feeding rate at time t, γ1 is the fourth adjustment factor of the immersed tube length estimation equation, VerticalityError(t) is the verticality deviation of the immersed tube at time t, κ1 is the fifth adjustment factor of the immersed tube length estimation equation, κ2 is the sixth adjustment factor of the immersed tube length estimation equation, A v (τ) is the vibration acceleration of the immersed tube at time τ, α3 is the seventh adjustment factor of the immersed tube length estimation equation, V sink (t) is the advancement rate of the immersed tube.

3. The control method of a vibrating pipe-sinking stone pile machine according to claim 2, characterized in that: Calculate the crushed stone feeding rate Q at time t s (t) specifically include: Where λ1 is the first adjustment factor of the gravel feeding rate, λ2 is the second adjustment factor of the gravel feeding rate, N is the number of historical time points, θ n is the weight of the nth historical time point, ρ n is the adjustment factor at the nth historical time point, t n is the nth historical time point, Q s (t n ) is the nth historical time point t n The crushed stone feeding rate.

4. The control method of a vibrating pipe-sinking stone pile machine according to claim 2, characterized in that: The verticality error VericalityError(t) of the immersed tube at time t is calculated as follows: Among them, μ1 is the first adjustment factor of vertical deviation, X t is the GPS horizontal coordinate of the immersed tube at time t, X d is the target horizontal coordinate of the immersed tube, Y t Y is the GPS vertical coordinate of the immersed tube at time t, d is the target vertical coordinate of the immersed tube, v1 is the second adjustment factor of vertical deviation, v2 is the third adjustment factor of vertical deviation, σ1 is the fourth adjustment factor of vertical deviation, σ2 is the fifth adjustment factor of vertical deviation, f v (τ) is the vibration frequency of the immersed tube at time τ, β′ is the sixth adjustment factor of the verticality deviation, and Deviations(t) is the offset of the immersed tube at time t.

5. A control method for a vibrating tube-sinking stone pile machine according to any one of claims 1 to 4, characterized in that: include: All adjustment factors are fitted by the least squares method or ant colony algorithm, wherein the pile length L(t) of the immersed pipe at time t is fitted with the true depth until the error between the two is within a preset error threshold.

6. The control method of a vibrating pipe-sinking stone pile machine according to claim 1, characterized in that: The pile length of the pipe sinking machine is compared with the target length to evaluate the construction quality. Specifically, when the difference between the pile length of the pipe sinking machine and the target length exceeds a preset threshold, an alarm message is issued, prompting construction personnel to adjust various parts of the vibrating pipe sinking stone pile machine until the difference between the pile length of the pipe sinking machine and the target length is less than the preset threshold.

7. A control system for a vibrating pipe-sinking stone pile machine, characterized in that: include: an information extraction module for extracting real-time status information of the immersed tube, wherein the real-time status information includes: foundation reaction force, crushed stone feeding rate, vertical deviation of the immersed tube, advancement rate of the immersed tube, vibration acceleration of the immersed tube, and vibration frequency of the immersed tube; A calculation module, configured to set an estimation equation for the length of the immersed pipe and calculate the length of the immersed pipe in real time based on the real-time status information; The quality evaluation module is used to upload the pile length of the immersed tube to the cloud management platform, compare the pile length of the immersed tube with the target length, and thus evaluate the construction quality.

8. The control system of a vibrating pipe-sinking stone pile machine according to claim 7, characterized in that: The immersed tube length estimation equation includes: Where L(t) is the length of the immersed pipe at time t, α1 is the first adjustment factor of the estimated equation for the immersed pipe length, and A v (t) is the vibration acceleration of the immersed tube at time t, β1 is the second adjustment factor of the immersed tube length estimation equation, R c (t) is the foundation reaction force at time t, α2 is the third adjustment factor of the immersed tube length estimation equation, Q s (t) is the gravel feeding rate at time t, γ1 is the fourth adjustment factor of the immersed tube length estimation equation, VerticalityError(t) is the verticality deviation of the immersed tube at time t, κ1 is the fifth adjustment factor of the immersed tube length estimation equation, κ2 is the sixth adjustment factor of the immersed tube length estimation equation, A v (τ) is the vibration acceleration of the immersed tube at time τ, α3 is the seventh adjustment factor of the immersed tube length estimation equation, V sink (t) is the advancement rate of the immersed tube.

9. The control system of a vibrating pipe-sinking stone pile machine according to claim 8, characterized in that: Calculate the crushed stone feeding rate Q at time t s (t) specifically include: Where λ1 is the first adjustment factor of the gravel feeding rate, λ2 is the second adjustment factor of the gravel feeding rate, N is the number of historical time points, θ n is the weight of the nth historical time point, ρ n is the adjustment factor at the nth historical time point, t n is the nth historical time point, Q s (t n ) is the nth historical time point t n The crushed stone feeding rate.

10. The control system of a vibrating pipe-sinking stone pile machine according to claim 8, characterized in that: The verticality error VerticalityError(t) of the immersed tube at time t is calculated as follows: Among them, μ1 is the first adjustment factor of vertical deviation, X t is the GPS horizontal coordinate of the immersed tube at time t, X d is the target horizontal coordinate of the immersed tube, Y t Y is the GPS vertical coordinate of the immersed tube at time t, d is the target vertical coordinate of the immersed tube, v1 is the second adjustment factor of vertical deviation, v2 is the third adjustment factor of vertical deviation, σ1 is the fourth adjustment factor of vertical deviation, σ2 is the fifth adjustment factor of vertical deviation, f v (τ) is the vibration frequency of the immersed tube at time τ, β′ is the sixth adjustment factor of the verticality deviation, and Deviations(t) is the offset of the immersed tube at time t.

Images