Main bridge inclined pile body inclination control system and method based on multi-sensor fusion

Abstract

The application relates to the technical field of bridge construction, in particular to a main bridge inclined pile body inclination control system and method based on multi-sensor fusion, which comprises the following steps: acquiring geological feature data, surrounding rock stress monitoring data and pile hole design drilling data of a construction area; analyzing karst cave distribution characteristics and coupling characteristics between the karst caves and the pile hole design drilling path based on the geological feature data and the pile hole design drilling data, and evaluating drilling path hole deviation risks under the influence of the karst caves; analyzing surrounding rock stress disturbance characteristics based on the surrounding rock stress monitoring data, combining the karst cave distribution characteristics to determine stress disturbance areas, and evaluating adjacent pile hole deviation risks under the influence of the surrounding rock stress disturbance; and comprehensively evaluating pile body inclination risks and performing pile body inclination risk early warning based on the drilling path hole deviation risks and the adjacent pile hole deviation risks. The application quantifies the drilling path hole deviation risks and the adjacent pile hole deviation risks, realizes accurate evaluation and early warning of the inclined pile body inclination risks.

Description

Technical Field

[0001] This application relates to the field of bridge construction technology, and in particular to a control system and method for the inclination of the inclined pile body of a main bridge based on multi-sensor fusion. Background Technology

[0002] In bridge engineering, the construction quality of the inclined piles of the main bridge directly affects the stability and safety of the bridge structure. Inclined pile construction typically faces more complex geological environments, especially in karst areas. Due to the widespread distribution and varying sizes of underground karst caves, quality problems such as pile hole deviation and pile tilting during drilling are highly likely. Because of their large design angle, inclined piles require high precision in controlling the drilling direction. Once they pass through karst caves or discontinuous structures, the drilling tools are prone to slipping along weak surfaces or experiencing uneven stress, resulting in off-center holes or even tilted piles.

[0003] Meanwhile, multi-hole drilling operations are usually carried out intermittently or concurrently. During the drilling and blasting process, the stress disturbance of the surrounding rock can be transmitted to adjacent pile hole areas through structures such as karst caves and fissures, further causing the adjacent pile holes to shift or deflect their axes. If the stress transmission path and superposition effect are not identified in time, it can easily cause local pile foundation tilting to exceed the standard, and even affect the overall safety of the bridge structure.

[0004] Traditional construction methods for controlling the offset and tilt of inclined piles mainly focus on structural design optimization and attitude adjustment during construction. They lack effective quantitative means to assess the risk of pile tilting under the influence of karst cave distribution characteristics, rock stratum structure characteristics, and stress redistribution caused by karst cave damage. This results in insufficient comprehensiveness and reliability of pile tilting risk assessment, failing to meet the high-precision control requirements of inclined pile construction under complex geological conditions. Summary of the Invention

[0005] To overcome the defects and shortcomings of existing technologies, this application provides a main bridge inclined pile tilt control system and method based on multi-sensor fusion. By quantifying the drilling path deviation risk and the adjacent pile hole offset risk, it achieves accurate assessment and early warning of the inclined pile tilt risk.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, this application provides a method for controlling the inclination of the inclined piles of a main bridge based on multi-sensor fusion, comprising the following steps:

[0008] Obtain geological feature data, surrounding rock stress monitoring data, and pile hole design drilling data of the construction area;

[0009] Based on geological feature data and pile hole design drilling data, the distribution characteristics of karst caves and the coupling characteristics between karst caves and pile hole design drilling paths are analyzed to assess the risk of drilling path deviation under the influence of karst caves.

[0010] Based on the analysis of surrounding rock stress monitoring data, the characteristics of surrounding rock stress disturbance are analyzed and the distribution characteristics of karst caves are combined to determine the stress disturbance area and assess the risk of adjacent pile hole displacement under the influence of surrounding rock stress disturbance.

[0011] The risk of pile tilting is assessed by combining the risks of borehole deviation along the drilling path and the risk of offset of adjacent pile holes, and an early warning of pile tilting risk is issued.

[0012] Optionally, the assessment of the drilling path deviation risk under the influence of karst caves includes:

[0013] Obtain geological feature data and pile hole design drilling data for the construction area. The geological feature data includes the rock stratum dip angle, rock stratum elastic modulus, number of karst caves, volume of karst caves, and location of karst caves. The pile hole design drilling data includes the pile hole design drilling angle, pile hole design drilling path, and drill bit design operating parameters.

[0014] The designed drilling path for the pile hole is divided into different rock strata sections, and the drilling is based on the dip angle of the rock strata in each section. Drilling angle of pile hole design Determine the drilling slip coefficient for each rock stratum section. :

[0015] ;

[0016] Determine the probability of karst cave failure due to vibration in each rock stratum section. And calculate the uniformity of the distribution of karst cave locations on the drilling surface. Determine the influence coefficient of karst caves in each rock stratum section. :

[0017] ;

[0018] in, This serves as a benchmark value for the uniformity of cave distribution.

[0019] The product of the drilling slip coefficient and the karst cave influence coefficient of each rock stratum section is used as the deviation risk coefficient of each rock stratum section.

[0020] The deviation risk coefficient of the drilling path is obtained by weighted summation of the deviation risk coefficients of each rock stratum section, where the weight value is the ratio of the section length of each rock stratum section to the designed drilling path length of the pile hole.

[0021] Optionally, the determination of the probability of karst cave damage due to vibration in each rock stratum section... ,include:

[0022] Based on the drill bit design and operating parameters and the elastic modulus of the rock strata corresponding to each rock stratum section, a finite element model is constructed, and the vibration energy density distribution cloud map of each rock stratum section is output.

[0023] Based on the vibration energy density distribution cloud map, the vibration energy density at different locations of karst caves within each rock stratum section was extracted, and the probability of karst cave damage due to vibration was calculated. :

[0024] ;

[0025] in, rock strata section Inner Vibration energy density at the location of each cave rock strata section Inner The critical energy density at which a cave is destroyed. rock strata section Inner The morphological correction factor for each cave. rock strata section The number of caves within.

[0026] Optionally, the calculation of the uniformity of the distribution of karst cave locations on the drilling surface... ,include:

[0027] Extract the center point of the projection of the karst cave on the drilling surface based on the location of the karst cave in each rock stratum section;

[0028] Determine the standard deviation of the coordinate distribution of the projection center point in the X-axis and Y-axis directions respectively, and calculate the uniformity of the distribution of the karst cave locations on the drilling surface. :

[0029] ;

[0030] in, Let be the standard deviation of the coordinate distribution of the projection center point along the X-axis. This represents the standard deviation of the coordinate distribution of the projection center point along the Y-axis.

[0031] Optionally, the assessment of the risk of adjacent pile hole displacement under the influence of surrounding rock stress disturbance includes:

[0032] Obtain stress monitoring data of the surrounding rock in the construction area and extract stress changes during construction to determine the stress disturbance intensity. ,in, For the first The maximum stress value monitored at each stress monitoring point. For the first Initial stress values ​​at each stress monitoring point This refers to the number of stress monitoring points;

[0033] The area where the stress disturbance intensity is greater than the average stress disturbance intensity during the construction of each pile hole is taken as the stress disturbance area of ​​each pile hole, and the overlapping area of ​​the stress disturbance areas of adjacent pile holes is taken as the stress disturbance superposition area of ​​adjacent pile holes.

[0034] The stress conductivity coefficient of the karst cave is determined based on the distribution characteristics of the karst cave in the stress disturbance superposition area;

[0035] The product of the stress fluctuation coefficient and the karst cave conductivity coefficient is used as the adjacent pile hole offset risk coefficient, where the stress fluctuation coefficient is the ratio of the maximum stress disturbance intensity to the average stress disturbance intensity within the stress disturbance superposition area.

[0036] Optionally, determining the conductivity coefficient of the karst cave includes:

[0037] Geological characteristic data of the construction area were obtained, and the volume and location of karst caves in the stress disturbance superposition area were extracted to determine the karst cave conductivity coefficient. :

[0038] ;

[0039] in, For the stress disturbance superposition region, the first The volume of the cave For the stress disturbance superposition region, the first The distance between the location of each karst cave and the axis of the pile hole. This represents the number of karst caves within the area where stress disturbances are superimposed.

[0040] Optionally, the assessment of the tilting risk of the inclined pile and the early warning of the tilting risk include:

[0041] Obtain the drilling path deviation risk coefficient and the adjacent pile hole offset risk coefficient, and then perform a weighted summation to obtain the pile body tilt risk coefficient;

[0042] When the pile tilt risk coefficient is greater than or equal to the preset inclined pile tilt risk threshold, a pile tilt risk warning is issued and the pile hole drilling position is adjusted until the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold. When the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold, no pile tilt risk warning is issued and pile hole drilling is carried out.

[0043] Secondly, this application provides a main bridge inclined pile inclination control system based on multi-sensor fusion, including:

[0044] The data acquisition module is used to acquire geological feature data, surrounding rock stress monitoring data, and pile hole design drilling data of the construction area;

[0045] The deviation risk assessment module is used to analyze the distribution characteristics of karst caves and the coupling characteristics between karst caves and the designed drilling path of pile holes based on geological feature data and pile hole design drilling data, and to assess the deviation risk of drilling path under the influence of karst caves.

[0046] The offset risk assessment module is used to analyze the characteristics of surrounding rock stress disturbance based on surrounding rock stress monitoring data and combine the characteristics of karst cave distribution to determine the stress disturbance area and assess the offset risk of adjacent pile holes under the influence of surrounding rock stress disturbance.

[0047] The tilt risk warning module is used to comprehensively assess the tilt risk of the pile body by combining the drilling path deviation risk and the adjacent pile hole offset risk, and to issue a tilt risk warning for the pile body.

[0048] Thirdly, this application provides an electronic device, including a processor and a memory, wherein the memory stores a computer program that can be called by the processor, and the processor executes a method for controlling the inclination of the main bridge inclined pile body based on multi-sensor fusion by calling the computer program stored in the memory.

[0049] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform a method for controlling the inclination of the main bridge inclined piles based on multi-sensor fusion.

[0050] Compared with the prior art, this application has the following advantages and beneficial effects:

[0051] This application, based on the coupled analysis of karst cave distribution characteristics and pile hole drilling path, effectively quantifies the risk of borehole deviation through rock stratum inclination angle and karst cave influence coefficient. By identifying the stress disturbance area of ​​the surrounding rock and determining the karst cave conductivity coefficient, it assesses the deviation risk caused by the construction of adjacent pile holes. Furthermore, by integrating borehole deviation risk and deviation risk, it establishes a pile tilt risk early warning mechanism, realizing accurate assessment and early warning of the tilt risk of inclined piles, effectively improving the accuracy and safety of inclined pile construction. Attached Figure Description

[0052] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0053] Figure 1 This is a schematic diagram of the overall process of the main bridge inclined pile inclination control method based on multi-sensor fusion provided in the embodiments of this application;

[0054] Figure 2 This is a schematic diagram of the process for assessing the risk of borehole deviation in the drilling path under the influence of karst caves, provided in an embodiment of this application.

[0055] Figure 3This is a schematic diagram of the main bridge inclined pile inclination control system based on multi-sensor fusion provided in the embodiments of this application;

[0056] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0057] The technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of this application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0058] Please see Figure 1 , Figure 1 This is a schematic diagram of the overall process of the main bridge inclined pile inclination control method based on multi-sensor fusion provided in the embodiments of this application, which specifically includes the following steps:

[0059] S110: Acquire geological feature data, surrounding rock stress monitoring data, and pile hole design drilling data for the construction area. Among them, the geological feature data includes the rock layer dip angle, rock layer elastic modulus, number of karst caves, volume of karst caves, and location of karst caves, which can be obtained through core drilling surveys and geophysical exploration technologies such as high-density electrical resistivity tomography and transient electromagnetic methods. The pile hole design drilling data includes the pile hole design drilling angle, pile hole design drilling path, and drill bit design operating parameters, which can be obtained through engineering design documents. The surrounding rock stress monitoring data is a record of stress changes caused by drilling and blasting and other construction processes, which is acquired by multi-point stress sensors and microseismic monitoring arrays deployed in the rock mass.

[0060] S120: Based on geological feature data and pile hole design drilling data, analyze the distribution characteristics of karst caves and the coupling characteristics between karst caves and pile hole design drilling paths, and assess the risk of drilling path deviation under the influence of karst caves.

[0061] When there is an angle between the rock stratum's dip angle and the designed drilling angle for the pile hole, the drill bit is prone to slipping along the inclined rock surface, causing the drilling direction to deviate from the designed path, resulting in a deviated hole. The number, location, and uniformity of the distribution of cavities in the plane perpendicular to the drilling direction (drill face) directly affect the drill bit's stress stability and drilling posture. Entering an area with unevenly distributed cavities can easily induce drill bit deviation or local instability. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic flowchart illustrating the process for assessing the risk of borehole deviation in a drilling path under the influence of karst caves, as provided in an embodiment of this application.

[0062] Obtain geological feature data and pile hole design drilling data for the construction area. The geological feature data includes the rock stratum dip angle, rock stratum elastic modulus, number of karst caves, volume of karst caves, and location of karst caves. The pile hole design drilling data includes the pile hole design drilling angle, pile hole design drilling path, and drill bit design operating parameters.

[0063] The drilling slip coefficient can accurately reflect the deviation trend between the rock stratum dip angle and the designed drilling angle of the pile hole, providing a basis for quantitative analysis of rock surface-induced slip risk. The designed drilling path of the pile hole is divided into different rock stratum sections, and the slip coefficient is determined based on the rock stratum dip angle of each section. Drilling angle of pile hole design Determine the drilling slip coefficient for each rock stratum section. :

[0064] ;

[0065] in, This is the absolute difference between the rock stratum dip angle and the designed drilling angle of the pile hole, used to quantify the difference in the angle between the drill bit axis and the rock surface. The tangent function of the absolute difference in angles indicates that the greater the difference between the rock stratum inclination angle and the designed drilling angle of the pile hole, the higher the risk of the drill bit slipping along the rock stratum during drilling.

[0066] The influence coefficient of karst caves reveals the potential impact of cave density and spatial distribution on drilling disturbances, especially the non-uniform distribution of karst caves which exacerbates the risk of drill bit instability. The probability of karst cave vibration damage in each rock stratum section is determined. And calculate the uniformity of the distribution of karst cave locations on the drilling surface. Determine the influence coefficient of karst caves in each rock stratum section. :

[0067] ;

[0068] in, The function of adding 1 is to determine the probability of damage to the cave due to vibration. At the same time, the impact of preserving the distribution of karst caves on the risk of cavitation deviation should be considered. This serves as a benchmark value for the uniformity of cave distribution. This indicates that the more uneven the distribution of caves ( The smaller), then The larger, the better. The purpose of the addition 1 is to ensure that the distribution of karst caves is completely uniform while retaining the influence of the probability of karst cave damage due to vibration on the risk of borehole deviation. At the same time, by multiplying the influence of the probability of karst cave damage due to vibration and the influence of karst cave distribution, the synergistic effect of the two on the risk of borehole deviation is reflected. The benchmark value of karst cave distribution uniformity can be obtained by collecting historical borehole exploration data in the construction area and statistically analyzing the karst cave distribution uniformity revealed by boreholes of unit length, and the 85th percentile of the karst cave distribution uniformity is used as the benchmark value of karst cave distribution uniformity.

[0069] The product of the drilling slip coefficient and the karst cave influence coefficient of each rock stratum section is used as the deviation risk coefficient of each rock stratum section. The deviation risk coefficient is used to achieve a comprehensive characterization of the coupling effect between rock stratum structure and karst cave factors.

[0070] The deviation risk coefficient of the drilling path is obtained by weighted summation of the deviation risk coefficients of each rock stratum section, where the weight value is the ratio of the section length of each rock stratum section to the designed drilling path length of the pile hole.

[0071] By simulating the vibration response generated during the drilling process and analyzing the transmission effect of vibration on the rock strata, the disturbance risk of the drilling process to the karst structure in each rock stratum section is assessed, and the stress redistribution phenomenon induced by karst destruction is identified, thereby improving the accuracy of the drilling path deviation risk assessment. The probability of karst destruction due to vibration in each rock stratum section is determined. ,include:

[0072] Based on the drill bit design and operating parameters and the elastic modulus of the rock strata corresponding to each rock stratum section, a finite element model is constructed, and the vibration energy density distribution cloud map of each rock stratum section is output.

[0073] Based on the vibration energy density distribution cloud map, the vibration energy density at different locations of karst caves within each rock stratum section was extracted, and the probability of karst cave damage due to vibration was calculated. :

[0074] ;

[0075] in, rock strata section Inner The vibration energy density at the location of each cave reflects the impact intensity of the vibration on the cave. rock strata section Inner The critical energy density of a karst cave, that is, the maximum vibration energy that a karst cave can withstand. This reflects the relative impact intensity of vibration energy on the stability of the cave structure. rock strata section Inner The morphological correction factor for each cave is the ratio of its length to its diameter. It is used to correct the influence of cave shape on the sensitivity to damage by using a morphological correction factor. rock strata section The number of caves within the cavern increases slowly at low energy levels, but rapidly approaches 1 at high energy levels. Therefore, an exponential function is used. This describes the phenomenon where the probability of destruction increases sharply when the energy approaches a critical value. Meanwhile, the exponential function part of the formula represents the probability that the cave will not be destroyed. This is converted into the probability of the cave being damaged by vibration.

[0076] The uniformity of the distribution of karst caves on the drilling face directly affects the symmetry and stability of the drill bit's stress during drilling. The more uneven the distribution of karst caves on the drilling face, the more likely the drill bit's stress will be biased towards the side with denser cavities, causing the drilling path to deviate and significantly increasing the risk of borehole deviation. Conversely, if the karst caves are relatively evenly distributed, their disturbance effect on the drill bit is relatively balanced, and the risk of borehole deviation is lower. The uniformity of the distribution of karst caves on the drilling face is calculated accordingly. ,include:

[0077] Based on the location of karst caves in each rock stratum section, the projection center point of the karst caves on the drilling surface is extracted. By mapping the distribution of karst caves in three-dimensional space to the drilling surface, the influence of the spatial heterogeneity of karst cave distribution on the drilling attitude is analyzed in a unified manner.

[0078] The density or deviation of karst caves in different directions is quantified by the standard deviation of coordinate distribution, thereby reflecting whether there are areas of uneven stress during drilling. The standard deviation of coordinate distribution of the projection center point in the X-axis and Y-axis directions is determined respectively, and the uniformity of karst cave location distribution on the drilling surface is calculated. :

[0079] ;

[0080] in, Let be the standard deviation of the coordinate distribution of the projection center point along the X-axis. Let be the standard deviation of the coordinate distribution of the projection center point along the Y-axis, where The standard deviation of the two-dimensional planar distribution of the center point of the cave projection is used to measure the dispersion of the cave distribution on the drilling surface. The larger the standard deviation of the two-dimensional planar distribution, the more uneven the distribution of the caves. At the same time, by using the sum of squares and the square root, the influence of positive and negative deviations is eliminated, comprehensively reflecting the dispersion of the spatial distribution. When the caves are completely uniformly distributed... Therefore, through To avoid a denominator of 0, and at the same time, through Map "dispersion" to "uniformity".

[0081] S130: Based on the surrounding rock stress monitoring data, analyze the characteristics of surrounding rock stress disturbance and combine the characteristics of karst cave distribution to determine the stress disturbance area, and assess the risk of adjacent pile hole displacement under the influence of surrounding rock stress disturbance.

[0082] In bridge construction with densely distributed inclined piles, surrounding rock stress disturbance is a significant contributing factor to the displacement of adjacent pile holes, especially in karst areas. Stress fluctuations are more easily transmitted and superimposed along cavities, leading to unexpected displacement of the pile body in adjacent holes. The intensity of surrounding rock stress disturbance reflects the local stress field changes caused by construction activities (such as drilling and blasting). Karst cavities, as low-stiffness media, enhance stress concentration and transmission effects. Assessing the risk of adjacent pile hole displacement under the influence of surrounding rock stress disturbance includes:

[0083] Obtain stress monitoring data of the surrounding rock in the construction area and extract stress changes during construction to determine the stress disturbance intensity. ,in, For the first The maximum stress value monitored at each stress monitoring point. For the first Initial stress values ​​at each stress monitoring point This refers to the number of stress monitoring points;

[0084] The area where the stress disturbance intensity is greater than the average stress disturbance intensity during the construction of each pile hole is taken as the stress disturbance area of ​​each pile hole, and the overlapping area of ​​the stress disturbance areas of adjacent pile holes is taken as the stress disturbance superposition area of ​​adjacent pile holes. By using the average stress disturbance intensity as a benchmark, the stress disturbance area corresponding to each pile hole is identified, and the disturbance superposition area between adjacent pile holes is further extracted.

[0085] The stress conductivity coefficient of the karst cave is determined based on the distribution characteristics of the karst cave in the stress disturbance superposition area. The stress conductivity coefficient of the karst cave is used to reveal the influence of the karst cave structure in the area on the stress transmission path and transmission efficiency.

[0086] The product of the stress fluctuation coefficient and the karst cave conductivity coefficient is used as the adjacent pile hole offset risk coefficient, where the stress fluctuation coefficient is the ratio of the maximum stress disturbance intensity to the average stress disturbance intensity in the stress disturbance superposition area.

[0087] The conductivity of karst caves refers to the ability of karst cave structures to transmit stress disturbances to the surrounding rock. It reflects the "guiding" or "amplifying" effect of karst caves on stress fluctuations in areas of superimposed stress disturbances. The larger the volume of the karst cave and the closer it is to the pile hole axis, the stronger its mediating ability for stress disturbances, and the easier it is to form stress concentration zones or disturbance channels. This exacerbates the non-uniform stress on adjacent pile holes, inducing pile hole axis deviation or pile tilting. The conductivity coefficient of karst caves includes:

[0088] Geological characteristic data of the construction area were obtained, and the volume and location of karst caves in the stress disturbance superposition area were extracted to determine the karst cave conductivity coefficient. :

[0089] ;

[0090] in, For the stress disturbance superposition region, the first The volume of the cave For the stress disturbance superposition region, the first The distance between the location of each karst cave and the axis of the pile hole. This indicates that the intensity of stress waves propagating in the rock mass attenuates with distance according to the inverse cubic law, and that stress disturbances diffuse in three-dimensional space. It also serves to eliminate the influence of dimensions. This term describes the contribution of the volume of a karst cave per unit distance cubic meter to stress disturbance. The larger the volume of the karst cave, the stronger its focusing effect on stress waves; conversely, the closer the distance, the more significant the interference of the karst cave on the stress field of the pile hole. This is used to sum the contributions of all karst caves to stress disturbance, with 1 as the baseline value, so that the final calculation result can intuitively reflect the relative amplification factor caused by the karst caves. However, when no karst caves exist... This indicates that the rock mass itself has no additional stress conductivity and is only affected by the original stress field. This represents the number of karst caves within the area where stress disturbances are superimposed.

[0091] S140: Assess the risk of pile tilting by combining the risk of borehole deviation along the drilling path and the risk of adjacent pile hole offset, and issue a warning of pile tilting risk.

[0092] The risk of borehole deviation from the drilling path reflects the possibility of the drilling tool deviating in direction during the drilling process due to factors such as rock strata inclination and karst cave interference. Once the drilling path deviates from the design axis, it will directly lead to pile tilting. The risk of adjacent pile hole deviation considers the impact of surrounding rock stress disturbance during construction and its transmission to adjacent pile holes through karst cave structures. If adjacent pile holes displace or become unstable, it will generate additional loads or disturbances on the pile hole under construction, indirectly causing pile tilting. Assessing the risk of tilting of inclined piles and issuing early warnings for pile tilting risks includes:

[0093] Obtain the drilling path deviation risk coefficient and the adjacent pile hole offset risk coefficient, and then perform a weighted summation to obtain the pile body tilt risk coefficient;

[0094] When the pile tilt risk coefficient is greater than or equal to the preset inclined pile tilt risk threshold, a pile tilt risk warning is issued and the pile hole drilling position is adjusted until the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold. When the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold, no pile tilt risk warning is issued and pile hole drilling is carried out. The steps for adjusting the pile hole drilling position include: (1) establishing a local coordinate system with the current pile hole drilling position as the center point; (2) translating the pile hole drilling position in the local coordinate system with a translation step of 0.5 times the pile diameter to generate candidate drilling positions; (3) recalculating the pile tilt risk coefficient based on the candidate drilling positions; (4) comparing the pile tilt risk coefficient of the candidate drilling positions with the preset inclined pile tilt risk threshold; (5) repeating the above steps until the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold, then adjusting the pile hole drilling position to the corresponding candidate drilling position.

[0095] In this embodiment of the invention, the determination of parameters such as the drilling path deviation risk coefficient, the weighting weight in the calculation process of the pile body tilt risk coefficient, and the preset inclined pile body tilt risk threshold can be as follows: a dataset is constructed by acquiring geological feature data, surrounding rock stress monitoring data, and pile hole design drilling data, and the dataset is substituted into the data to calculate the drilling path deviation risk coefficient and the pile body tilt risk coefficient. At the same time, the judgment results of experts on the drilling path deviation risk and the inclined pile body tilt risk are obtained. The calculated drilling path deviation risk coefficient, the pile body tilt risk coefficient, and the judgment results are imported into the fitting software, and the weighting weight and the preset inclined pile body tilt risk threshold that meet the maximum judgment accuracy are output.

[0096] Please see Figure 3 , Figure 3 This is a schematic diagram of the main bridge inclined pile inclination control system based on multi-sensor fusion provided in this application embodiment. This embodiment provides a main bridge inclined pile inclination control system based on multi-sensor fusion, including:

[0097] Data acquisition module 210 is used to acquire geological feature data, surrounding rock stress monitoring data and pile hole design drilling data of the construction area;

[0098] The deviation risk assessment module 220 is used to analyze the distribution characteristics of karst caves and the coupling characteristics between karst caves and the designed drilling path of pile holes based on geological feature data and pile hole design drilling data, and to assess the deviation risk of drilling path under the influence of karst caves.

[0099] The offset risk assessment module 230 is used to analyze the characteristics of surrounding rock stress disturbance based on surrounding rock stress monitoring data and determine the stress disturbance area in combination with the distribution characteristics of karst caves, and assess the offset risk of adjacent pile holes under the influence of surrounding rock stress disturbance.

[0100] The tilt risk warning module 240 is used to comprehensively assess the tilt risk of the pile body and provide early warning of the tilt risk by combining the risk of borehole deviation in the drilling path and the risk of offset of adjacent pile holes.

[0101] In this embodiment, the borehole deviation risk assessment module 220 is used to analyze the distribution characteristics of karst caves and the coupling characteristics between karst caves and the designed drilling path of the pile hole based on geological feature data and pile hole design drilling data, and to assess the borehole deviation risk of the drilling path under the influence of karst caves, including:

[0102] Obtain geological feature data and pile hole design drilling data for the construction area. The geological feature data includes the rock stratum dip angle, rock stratum elastic modulus, number of karst caves, volume of karst caves, and location of karst caves. The pile hole design drilling data includes the pile hole design drilling angle, pile hole design drilling path, and drill bit design operating parameters.

[0103] The designed drilling path of the pile hole is divided into different rock strata sections, and the drilling slip coefficient of each rock strata section is determined according to the rock strata dip angle and the designed drilling angle of the pile hole.

[0104] Determine the probability of karst cave failure due to vibration in each rock stratum section and calculate the uniformity of karst cave location distribution on the drilling surface to determine the karst cave influence coefficient in each rock stratum section;

[0105] The product of the drilling slip coefficient and the karst cave influence coefficient of each rock stratum section is used as the deviation risk coefficient of each rock stratum section.

[0106] The deviation risk coefficient of the drilling path is obtained by weighted summation of the deviation risk coefficients of each rock stratum section, where the weight value is the ratio of the section length of each rock stratum section to the designed drilling path length of the pile hole.

[0107] In this embodiment, the offset risk assessment module 230 is used to analyze the stress disturbance characteristics of the surrounding rock based on the surrounding rock stress monitoring data and determine the stress disturbance area in combination with the distribution characteristics of karst caves, and to assess the offset risk of adjacent pile holes under the influence of surrounding rock stress disturbance, including:

[0108] Acquire surrounding rock stress monitoring data in the construction area and extract stress changes during construction to determine stress disturbance intensity;

[0109] The area where the stress disturbance intensity is greater than the average stress disturbance intensity during the construction of each pile hole is taken as the stress disturbance area of ​​each pile hole, and the overlapping area of ​​the stress disturbance areas of adjacent pile holes is taken as the stress disturbance superposition area of ​​adjacent pile holes.

[0110] The stress conductivity coefficient of the karst cave is determined based on the distribution characteristics of the karst cave in the stress disturbance superposition area;

[0111] The product of the stress fluctuation coefficient and the karst cave conductivity coefficient is used as the adjacent pile hole offset risk coefficient, where the stress fluctuation coefficient is the ratio of the maximum stress disturbance intensity to the average stress disturbance intensity within the stress disturbance superposition area.

[0112] In this embodiment, the tilt risk warning module 240 is used to comprehensively assess the pile tilt risk and provide a pile tilt risk warning by combining the drilling path deviation risk and the adjacent pile hole offset risk, including:

[0113] Obtain the drilling path deviation risk coefficient and the adjacent pile hole offset risk coefficient, and then perform a weighted summation to obtain the pile body tilt risk coefficient;

[0114] When the pile tilt risk coefficient is greater than or equal to the preset inclined pile tilt risk threshold, a pile tilt risk warning is issued and the pile hole drilling position is adjusted until the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold. When the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold, no pile tilt risk warning is issued and pile hole drilling is carried out.

[0115] The parameters and steps for implementing the corresponding functions of each unit module in the main bridge inclined pile tilt control system based on multi-sensor fusion of this application can be referred to the parameters and steps in the embodiments of the main bridge inclined pile tilt control method based on multi-sensor fusion above, and will not be repeated here.

[0116] Please refer to Figure 4 The embodiments of the present invention also provide an electronic device 300, including a memory 310, a processor 320, and a communication bus 330; the memory 310 and the processor 320 are connected via the communication bus 330. The memory 310 stores a method for controlling the inclination of the main bridge inclined pile based on multi-sensor fusion, which can be loaded and executed by the processor 320, as provided in the above embodiments.

[0117] The memory 310 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 310 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the main bridge inclined pile inclination control method based on multi-sensor fusion provided in the above embodiments, etc. The data storage area may store data involved in the main bridge inclined pile inclination control method based on multi-sensor fusion provided in the above embodiments, etc.

[0118] Processor 320 may include one or more processing cores. Processor 320 executes instructions, programs, code sets, or instruction sets stored in memory 310, and calls data stored in memory 310 to perform various functions and process data as described in this application. Processor 320 may be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Microcontroller, and Microprocessor. It is understood that, for different devices, the electronic devices used to implement the functions of processor 320 may also be other types, and this application embodiment does not specifically limit the specific devices used.

[0119] The communication bus 330 may include a path for transmitting information between the aforementioned components. The communication bus 330 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 330 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double arrow, but this does not mean that there is only one bus or one type of bus.

[0120] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as described in the above embodiments, which is a method for controlling the inclination of inclined piles of a main bridge based on multi-sensor fusion.

[0121] In this embodiment, a computer-readable storage medium can be a tangible device that holds and stores instructions used by an instruction execution device. A computer-readable storage medium can be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, a computer-readable storage medium can be a portable computer disk, a hard disk, a USB flash drive, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), spoofing random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory stick, floppy disk, optical disk, magnetic disk, mechanical encoding device, or any combination thereof.

[0122] The terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0123] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing application concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions claimed in this application.

Claims

1. A method for controlling the inclination of inclined piles in main bridges based on multi-sensor fusion, characterized in that, Includes the following steps: Obtain geological feature data, surrounding rock stress monitoring data, and pile hole design drilling data of the construction area; Based on geological feature data and pile hole design drilling data, the distribution characteristics of karst caves and the coupling characteristics between karst caves and pile hole design drilling paths are analyzed to assess the risk of drilling path deviation under the influence of karst caves. Based on the analysis of surrounding rock stress monitoring data, the characteristics of surrounding rock stress disturbance are analyzed and the distribution characteristics of karst caves are combined to determine the stress disturbance area and assess the risk of adjacent pile hole displacement under the influence of surrounding rock stress disturbance. The risk of pile tilting is assessed by combining the risks of borehole deviation along the drilling path and the risk of offset of adjacent pile holes, and an early warning of pile tilting risk is issued. The assessment of drilling path deviation risk under the influence of karst caves includes: Obtain geological feature data and pile hole design drilling data for the construction area. The geological feature data includes the rock stratum dip angle, rock stratum elastic modulus, number of karst caves, volume of karst caves, and location of karst caves. The pile hole design drilling data includes the pile hole design drilling angle, pile hole design drilling path, and drill bit design operating parameters. The designed drilling path for the pile hole is divided into different rock strata sections, and the drilling is based on the dip angle of the rock strata in each section. Drilling angle of pile hole design Determine the drilling slip coefficient for each rock stratum section. : ； Determine the probability of karst cave failure due to vibration in each rock stratum section. And calculate the uniformity of the distribution of karst cave locations on the drilling surface. Determine the influence coefficient of karst caves in each rock stratum section. : ； in, This serves as a benchmark value for the uniformity of cave distribution. The product of the drilling slip coefficient and the karst cave influence coefficient of each rock stratum section is used as the deviation risk coefficient of each rock stratum section. The deviation risk coefficient of the drilling path is obtained by weighted summation of the deviation risk coefficients of each rock stratum section, where the weight value is the ratio of the section length of each rock stratum section to the designed drilling path length of the pile hole. The assessment of the risk of adjacent pile hole displacement under the influence of surrounding rock stress disturbance includes: Obtain stress monitoring data of the surrounding rock in the construction area and extract stress changes during construction to determine the stress disturbance intensity. ,in, For the first The maximum stress value monitored at each stress monitoring point. For the first Initial stress values ​​at each stress monitoring point This refers to the number of stress monitoring points; The area where the stress disturbance intensity is greater than the average stress disturbance intensity during the construction of each pile hole is taken as the stress disturbance area of ​​each pile hole, and the overlapping area of ​​the stress disturbance areas of adjacent pile holes is taken as the stress disturbance superposition area of ​​adjacent pile holes. The stress conductivity coefficient of the karst cave is determined based on the distribution characteristics of the karst cave in the stress disturbance superposition area; The product of the stress fluctuation coefficient and the karst cave conductivity coefficient is used as the adjacent pile hole offset risk coefficient, where the stress fluctuation coefficient is the ratio of the maximum stress disturbance intensity to the average stress disturbance intensity within the stress disturbance superposition area.

2. The method for controlling the inclination of the inclined pile body of the main bridge based on multi-sensor fusion according to claim 1, characterized in that, The probability of karst cave failure due to vibration in each rock stratum section is determined. ,include: Based on the drill bit design and operating parameters and the elastic modulus of the rock strata corresponding to each rock stratum section, a finite element model is constructed, and the vibration energy density distribution cloud map of each rock stratum section is output. Based on the vibration energy density distribution cloud map, the vibration energy density at different locations of karst caves within each rock stratum section was extracted, and the probability of karst cave damage due to vibration was calculated. : ； in, rock strata section Inner Vibration energy density at the location of each cave rock strata section Inner The critical energy density at which a cave is destroyed. rock strata section Inner The morphological correction factor for each cave. rock strata section The number of caves within.

3. The method for controlling the inclination of the inclined pile body of the main bridge based on multi-sensor fusion according to claim 1, characterized in that, The calculation of the uniformity of the distribution of karst cave locations on the drilling surface ,include: Extract the center point of the projection of the karst cave on the drilling surface based on the location of the karst cave in each rock stratum section; Determine the standard deviation of the coordinate distribution of the projection center point in the X-axis and Y-axis directions respectively, and calculate the uniformity of the distribution of the karst cave locations on the drilling surface. : ； in, Let be the standard deviation of the coordinate distribution of the projection center point along the X-axis. The standard deviation of the coordinate distribution of the projection center point along the Y-axis.

4. The method for controlling the inclination of the inclined pile body of the main bridge based on multi-sensor fusion according to claim 1, characterized in that, The determination of the conductivity coefficient of the karst cave includes: Geological characteristic data of the construction area were obtained, and the volume and location of karst caves in the stress disturbance superposition area were extracted to determine the karst cave conductivity coefficient. : ； in, For the stress disturbance superposition region, the first The volume of the cave For the stress disturbance superposition region, the first The distance between the location of each karst cave and the axis of the pile hole. This represents the number of karst caves within the area where stress disturbances are superimposed.

5. The method for controlling the inclination of the inclined pile body of the main bridge based on multi-sensor fusion according to claim 1, characterized in that, The pile tilt risk warning includes: Obtain the drilling path deviation risk coefficient and the adjacent pile hole offset risk coefficient, and then perform a weighted summation to obtain the pile body tilt risk coefficient; When the pile tilt risk coefficient is greater than or equal to the preset inclined pile tilt risk threshold, a pile tilt risk warning is issued and the pile hole drilling position is adjusted until the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold. When the pile tilt risk coefficient is less than the preset inclined pile tilt risk threshold, no pile tilt risk warning is issued and pile hole drilling is carried out.

6. A main bridge inclined pile inclination control system based on multi-sensor fusion, applied to the main bridge inclined pile inclination control method based on multi-sensor fusion as described in any one of claims 1-5, characterized in that, The system includes: The data acquisition module is used to acquire geological feature data, surrounding rock stress monitoring data, and pile hole design drilling data of the construction area; The deviation risk assessment module is used to analyze the distribution characteristics of karst caves and the coupling characteristics between karst caves and the designed drilling path of pile holes based on geological feature data and pile hole design drilling data, and to assess the deviation risk of drilling path under the influence of karst caves. The offset risk assessment module is used to analyze the characteristics of surrounding rock stress disturbance based on surrounding rock stress monitoring data and combine the characteristics of karst cave distribution to determine the stress disturbance area and assess the offset risk of adjacent pile holes under the influence of surrounding rock stress disturbance. The tilt risk warning module is used to comprehensively assess the tilt risk of the pile body by combining the drilling path deviation risk and the adjacent pile hole offset risk, and to issue a tilt risk warning for the pile body.

7. An electronic device, comprising: A processor and a memory, wherein the memory stores a computer program that can be called by the processor; characterized in that the processor executes the main bridge inclined pile inclination control method based on multi-sensor fusion as described in any one of claims 1-5 by calling the computer program stored in the memory.

8. A computer-readable storage medium, characterized in that, The system stores instructions that, when executed on a computer, cause the computer to perform the main bridge inclined pile inclination control method based on multi-sensor fusion as described in any one of claims 1-5.

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