Method and system for monitoring seismic capacity of pile foundation

Abstract

The invention relates to a pile foundation anti-seismic capacity monitoring method and system, and relates to the field of constructional engineering technology.The method comprises the steps that pile foundation structure drawing information is obtained; detecting path information is determined according to the pile foundation structure drawing information; controlling the flight detection equipment to move and acquiring first distance information of a first positioning point and second distance information of a second positioning point on the foundation pile; determining first included angle information and second included angle information according to the first distance information, the second distance information, the positioning distance and the detection height value; determining bottom included angle information according to the first included angle information and the second included angle information, and determining a deviation angle according to the bottom included angle information and a vertical angle; judging whether the deviation angle is within an allowable range or not; if yes, the foundation pile is defined as an effective foundation pile; if not, the foundation pile is defined as an invalid foundation pile; and according to the capacity matching relation, anti-seismic capacity information corresponding to the pile foundation structure is determined. The device has the effect that the overall anti-seismic capacity of the pile foundation can be conveniently monitored.

Description

Technical Field

[0001] This application relates to the field of building engineering technology, and in particular to a method and system for monitoring the seismic resistance of pile foundations. Background Technology

[0002] A deep foundation consisting of piles and a pile cap connecting the pile tops, or a single-pile foundation connecting a column and piles, is simply called a pile foundation. If the entire pile is embedded in the soil and the bottom of the pile cap is in contact with the soil, it is called a low-pile-cap pile foundation; if the upper part of the pile is exposed above the ground and the bottom of the pile cap is above the ground, it is called a high-pile-cap pile foundation. For high-pile-cap pile foundations, part of the pile is exposed above the ground during use. Exposed piles are more susceptible to external influences, which can alter their physical properties and affect the overall seismic performance of the pile foundation. Therefore, during the use of pile foundations, regular seismic performance monitoring is necessary to reduce the likelihood of changes in physical properties that could lead to failure to meet seismic requirements.

[0003] In related technologies, when monitoring the performance of pile foundations, staff members typically move between the piles and observe their usage to determine whether the piles can provide adequate support for the pile cap, thereby assessing the overall seismic resistance of the pile foundation.

[0004] Regarding the aforementioned technologies, the inventors believe that during the testing of foundation piles, staff need to move under the pile cap and measure various data, which results in a large workload for the staff and is not convenient for regular monitoring of the overall pile foundation. There is still room for improvement. Summary of the Invention

[0005] To facilitate the monitoring of the overall seismic resistance of pile foundations, this application provides a method and system for monitoring the seismic resistance of pile foundations.

[0006] Firstly, this application provides a method for monitoring the seismic resistance of pile foundations, employing the following technical solution: A method for monitoring the seismic resistance of pile foundations, comprising: Obtain pile foundation structure drawing information; Determine the inspection path information based on the pile foundation structure drawings; Control the preset flight detection equipment to move along the path corresponding to the detection path information and obtain the first distance information between the preset first positioning point on the foundation pile and the second distance information between the preset second positioning point; The first included angle information is determined by calculation based on the first distance information, the second distance information, and the preset positioning distance; The second included angle information is determined by calculation based on the second distance information and the preset detection height value; The bottom angle information is determined by summing the first included angle information and the second included angle information, and the deviation angle is determined by calculating the difference between the bottom included angle information and the preset vertical angle. Determine whether the deviation angle is within the preset allowable range; If the deviation angle is within the allowable range, the pile is defined as a valid pile. If the deviation angle is not within the allowable range, the pile is defined as an invalid pile. After the flight detection equipment has moved along the path corresponding to the detection path information, the seismic capacity information of the pile foundation structure is determined according to the preset capacity matching relationship.

[0007] By adopting the above technical solution, the pile foundation drawings are first obtained to determine the pile layout. Then, the flight detection equipment is controlled to determine the first and second distance information to determine whether the pile is tilted. When the pile is tilted, the degree of tilt is judged to determine whether the pile can provide good support for the pile cap. This allows us to know whether the pile is an effective pile or an ineffective pile, so that we can analyze the support force to know the overall seismic resistance of the pile foundation. This facilitates the monitoring of the overall seismic resistance of the pile foundation.

[0008] Optionally, methods for determining the detection path information based on pile foundation structure drawings include: Obtain the location information of each foundation pile and the initial location information of the flight detection equipment; The interval distance information is determined based on the initial location information and the pile location information; According to the preset sorting rules, the interval distance information with the smallest corresponding distance value among all interval distance information is determined, and the pile corresponding to this interval distance information is defined as the nearest pile. The approach direction is determined based on the initial location information and the nearest foundation pile, and the angle between the approach direction and two preset original directions is determined based on the approach direction and the two original directions being opposite. The direction angle with the smaller value is determined according to the sorting rules, and the original direction corresponding to this direction angle is defined as the initial movement direction. The detection path information is determined based on the initial direction of movement and the preset spiral path selection rules.

[0009] By adopting the above technical solution, the pile closest to the flight testing equipment is determined based on the location of the pile, thus identifying the first pile to be tested. The direction of subsequent tests is determined based on the movement direction of the flight testing equipment, thereby determining the overall testing path.

[0010] Optional, also includes: The detection location information for each foundation pile is determined based on the detection path information; When the flight detection equipment moves to the position corresponding to the detection position information, the signal reception status of each positioning point is acquired; Determine whether the signal reception status is consistent with the preset complete reception status; If the signal reception status is consistent with the full reception status, then the first distance information and the second distance information are acquired to determine the subsequent seismic resistance information. If the signal reception status is not consistent with the complete reception status, the flight detection equipment is controlled to continue moving along the detection path, and the auxiliary ranging equipment preset on the flight detection equipment is controlled to move along the direction of the foundation pile and obtain obstacle distance information. When the distance value corresponding to the obstacle distance information is consistent with the preset fixed distance, control the auxiliary ranging device to move a preset fixed distance along the preset vertical direction, and control the auxiliary ranging device to move back to the flight detection device after the movement is completed. The obstacle distance information with the largest and smallest values ​​obtained during the vertical movement is determined according to the sorting rules. The difference distance information is determined by calculating the difference between the obstacle distance information with the largest and the obstacle distance information with the smallest values; Determine whether the distance value corresponding to the difference distance information is within a preset reasonable range; If the distance value corresponding to the difference distance information is within a reasonable range, then the pile is defined as a valid pile. If the distance value corresponding to the difference distance information is not within a reasonable range, then the pile is defined as an invalid pile.

[0011] By adopting the above technical solution, when no corresponding positioning point signal is received, the auxiliary ranging device can be controlled to approach the pile and move vertically to determine whether the pile is set perpendicular to the ground. This allows the overall tilt of the pile to be determined, so as to judge whether the pile can provide good support for the pile cap.

[0012] Optionally, when the signal reception status is not consistent with the complete reception status, the pile foundation seismic capacity monitoring method also includes: Determine the location information of missing signals based on the signal reception status; Obtain detection image information based on the location information of signal loss; Feature recognition is performed in the image corresponding to the detected image information to determine the feature recognition status; Determine whether the feature recognition status is consistent with the preset successful recognition status; If the feature recognition status is consistent with the successful recognition status, a positioning device damage signal is output, and the auxiliary ranging device is controlled to move along the pile direction for detection. If the feature recognition status is not consistent with the successful recognition status, an occlusion signal of the positioning device will be output.

[0013] By adopting the above technical solution, image recognition is performed on the location where the positioning signal cannot be received, so as to determine whether the failure to receive the corresponding signal is due to equipment damage or an object blocking the signal, so that the staff can handle it accordingly.

[0014] Optionally, after the positioning device blocks the signal output, the method for monitoring the seismic resistance of pile foundations also includes: The system controls the flight detection equipment to blow air towards the location corresponding to the missing signal information and controls the countdown to the preset removal time. During the countdown process, it is determined again whether the signal reception status is consistent with the complete reception status. If the signal reception status is consistent with the full reception status, then the first distance information and the second distance information are acquired to determine the subsequent seismic resistance information. If the signal reception status is not consistent with the complete reception status, continue blowing air until the duration is removed and the timer is reset to zero. Then, control the auxiliary ranging device to move along the direction of the foundation pile for detection.

[0015] By adopting the above technical solution, when an object obstructs the equipment, the flight detection equipment can be controlled to blow air onto it to determine whether subsequent personnel intervention is required.

[0016] Optionally, after the auxiliary ranging device has moved a fixed distance, the methods for determining the obstacle distance information with the largest and smallest values ​​include: Based on the fixed travel distance and the distance information of each obstacle, the distance measurement points on the foundation pile are determined by fitting. Connect each ranging point in pairs to determine the ranging connection line, and count the repetition of each ranging connection line to determine the repetition number of each ranging connection line; Based on the sorting rules, determine the repetition information with the largest corresponding value among all repetition information, and define the distance measurement connection line corresponding to this repetition information as the side line; Based on the obstacle distance information of the distance measuring point located on the side line, determine the obstacle distance information with the largest value and the obstacle distance information with the smallest value.

[0017] By adopting the above technical solution, the outline of the foundation pile is determined, thereby reducing the occurrence of pits or protrusions on the foundation pile affecting the distance measurement and detection.

[0018] Optionally, methods for controlling the auxiliary ranging device to move back to the flight detection device include: After the auxiliary ranging device has moved a fixed distance, the first device position information of the flight detection device and the second device position information of the auxiliary ranging device are obtained. The meeting point is calculated and determined on the path corresponding to the detection path information based on the location information of the first device, the location information of the second device, the preset first moving speed, and the preset second moving speed. The return path is determined based on the location information of the second equipment and the convergence point, and the foundation piles on the return path are defined as blocking foundation piles. Determine if there are obstructing foundation piles; If there are no obstructing piles, control the auxiliary ranging equipment to move along the return path until the rendezvous point to move to the flight detection equipment; If there are obstructing piles, a virtual avoidance line is drawn with the center of the obstructing pile as the center and the preset avoidance distance as the radius. The segment of the virtual avoidance line that is on the half of the regression path and has a smaller arc is defined as the avoidance path. This avoidance path replaces the regression path in the virtual avoidance line to update the regression path. The auxiliary ranging device is then controlled to move along the updated regression path until it reaches the rendezvous point to move onto the flight detection device.

[0019] By adopting the above technical solution, the path for the auxiliary ranging device to move to the flight testing device can be rationally planned, so that the auxiliary ranging device can move back to the flight testing device in a timely manner after the testing is completed.

[0020] Secondly, this application provides a pile foundation seismic capacity monitoring system, which adopts the following technical solution: A pile foundation seismic resistance monitoring system includes: The acquisition module is used to acquire pile foundation structure drawing information; The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The processing module determines the detection path information based on the pile foundation structure drawings; The processing module controls the preset flight detection equipment to move along the path corresponding to the detection path information and enables the acquisition module to acquire the first distance information between the preset first positioning point on the foundation pile and the second distance information between the preset second positioning point; The processing module calculates and determines the first included angle information based on the first distance information, the second distance information, and the preset positioning distance; The processing module calculates and determines the second included angle information based on the second distance information and the preset detection height value; The processing module calculates the summation of the first included angle information and the second included angle information to determine the bottom included angle information, and calculates the difference between the bottom included angle information and the preset vertical angle to determine the deviation angle. The judgment module determines whether the deviation angle is within the preset allowable range; If the judgment module determines that the deviation angle is within the allowable range, the processing module defines the pile as a valid pile. If the judgment module determines that the deviation angle is not within the allowable range, the processing module defines the pile as an invalid pile. After the flight detection equipment has moved along the path corresponding to the detection path information, the processing module determines the corresponding seismic capacity information of the pile foundation structure based on the preset capacity matching relationship.

[0021] By adopting the above technical solution, the acquisition module first acquires the pile foundation drawings to determine the pile layout. Then, the processing module controls the flight detection equipment to determine the first and second distance information so that the judgment module can determine whether the pile is tilted. When the pile is tilted, the processing module judges the degree of tilt to determine whether the pile can provide good support for the pile cap. This allows the module to determine whether the pile is a valid or invalid pile, so as to facilitate subsequent analysis of the support force and the overall seismic resistance of the pile foundation. This facilitates the monitoring of the overall seismic resistance of the pile foundation.

[0022] In summary, this application includes at least one of the following beneficial technical effects: Flight detection equipment can be used to replace manual inspection to detect the inclination of foundation piles, in order to determine whether the foundation piles can provide good support for the pile cap, thereby facilitating the monitoring of the overall seismic resistance of the pile foundation. It can analyze and process situations where the corresponding positioning signal cannot be received, so as to ensure that the support status of each foundation pile can be determined; The path of the auxiliary ranging equipment can be effectively and rationally planned, so that the auxiliary ranging equipment can move back to the flight detection equipment while reducing the rendezvous waiting time and improving the overall work efficiency. Attached Figure Description

[0023] Figure 1 This is a flowchart of the method for monitoring the seismic resistance of pile foundations.

[0024] Figure 2 This is a schematic diagram illustrating the process of determining the tilt of the foundation piles.

[0025] Figure 3 This is a flowchart of the detection path determination method.

[0026] Figure 4 This is a schematic diagram of the detection path.

[0027] Figure 5 This is a flowchart of a method for determining the condition of a foundation pile when no signal is received.

[0028] Figure 6 This is a flowchart of the method for determining equipment status.

[0029] Figure 7 This is a flowchart of the air blowing control method.

[0030] Figure 8 This is a flowchart of the interference elimination determination method.

[0031] Figure 9 This is a flowchart of a method for assisting ranging equipment to avoid movement.

[0032] Figure 10 This is a flowchart of the module for monitoring the seismic resistance of pile foundations. Detailed Implementation

[0033] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-10 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0034] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0035] This application discloses a method for monitoring the seismic resistance of pile foundations. When it is necessary to monitor the overall seismic resistance of the pile foundation, the support status of each pile is collected and analyzed using a flight detection device to determine the support force of each pile on the pile cap, thereby knowing the effective support status of the entire pile foundation, so as to determine the overall seismic resistance of the pile foundation.

[0036] Reference Figure 1 The method for monitoring the seismic resistance of pile foundations includes the following steps: Step S100: Obtain pile foundation structure drawing information.

[0037] The drawings corresponding to the pile foundation structure drawings are the drawings of the pile foundations that need to be inspected, and can be obtained from the database of the construction party.

[0038] Step S101: Determine the detection path information based on the pile foundation structure drawings.

[0039] The path corresponding to the detection path information is the path for detecting each pile in the pile foundation. Each different pile foundation has a different detection path. The correspondence between the two can be determined in advance by the staff and a corresponding database can be established for subsequent querying.

[0040] Step S102: Control the preset flight detection equipment to move along the path corresponding to the detection path information and obtain the first distance information between the preset first positioning point on the foundation pile and the second distance information between the preset second positioning point and the foundation pile.

[0041] The flight detection equipment is an instrument with flight capabilities and a signal receiving device, which can be formed by combining a signal receiving device carried on a drone; the first positioning point and the second positioning point are both locations on the foundation pile where a signal transmitting device is installed. The two points are spaced apart along the length of the foundation pile, and each point is located along the circumference of the foundation pile. The second positioning point is located below the first positioning point, as shown in the reference. Figure 2 This allows the flight detection equipment to acquire signals from any angle. However, the signal can only be acquired when the flight detection equipment moves to the position closest to the pile on the detection path and the signal receiving device is facing the pile. Therefore, this application requires at least two signal receiving devices to receive signals from the first and second positioning points respectively. The distance value corresponding to the first distance information is the distance between the flight detection equipment and the first positioning point when the flight detection equipment moves to the position for detecting the pile. The distance value corresponding to the second distance information is the distance between the flight detection equipment and the second positioning point when the flight detection equipment moves to the position for detecting the pile. Both distance values ​​can be obtained by conversion during signal acquisition, a technique commonly used by those skilled in the art and will not be elaborated upon.

[0042] Step S103: Calculate and determine the first included angle information based on the first distance information, the second distance information, and the preset positioning distance.

[0043] Reference Figure 2 The positioning distance is the distance between the first positioning point and the second positioning point. The included angle corresponding to the first included angle information is the included angle between the straight line formed by the second positioning point and the flight detection equipment and the foundation pile. The angle of each angle can be determined by the length of the three sides of the triangle.

[0044] Step S104: Calculate and determine the second included angle information based on the second distance information and the preset detection height value.

[0045] The detection height value is the difference between the height of the pile when the flight detection equipment detects it and the height of the second positioning point. The angle value corresponding to the second angle information is the angle between the straight line formed by the second positioning point and the flight detection equipment and the horizontal line, which can be obtained by trigonometric function calculation using the second distance information and the detection height value.

[0046] Step S105: Summing the first included angle information and the second included angle information to determine the bottom included angle information, and calculating the difference between the bottom included angle information and the preset vertical angle to determine the deviation angle.

[0047] The angle value corresponding to the bottom included angle information is the angle between the straight line of the foundation pile length and the horizontal line, which is determined by adding the angle value corresponding to the first included angle information to the angle value corresponding to the second included angle information; the vertical angle is the angle value set by the staff when the foundation pile is perpendicular to the opposite side, i.e., 90°; the deviation angle is the angle difference between the current bottom angle and the desired vertical angle, which is obtained by subtracting the vertical angle from the angle value corresponding to the bottom included angle information and then calculating the absolute value.

[0048] Step S106: Determine whether the deviation angle is within the preset allowable range.

[0049] The allowable range is the range of deviation angles set by the staff, which indicates that although the pile is tilted, it can still effectively support the pile cap. The purpose of the judgment is to determine whether the pile can provide good support for the pile cap, and thus whether the pile will affect the overall seismic resistance of the pile foundation.

[0050] Step S1061: If the deviation angle is within the allowable range, then the pile is defined as a valid pile.

[0051] When the deviation angle is within the allowable range, it indicates that the pile can effectively support the pile cap. At this time, the pile is defined as a valid pile for identification, so as to distinguish different piles.

[0052] Step S1062: If the deviation angle is not within the allowable range, the pile is defined as an invalid pile.

[0053] When the deviation angle is not within the allowable range, it indicates that the pile cannot effectively support the pile cap. In this case, the pile is defined as an invalid pile for identification, so as to distinguish different piles.

[0054] Step S107: After the flight detection equipment has moved along the path corresponding to the detection path information, determine the seismic capacity information corresponding to the pile foundation structure according to the preset capacity matching relationship.

[0055] The seismic capacity information corresponds to the capacity level of the pile foundation, which is capable of withstanding seismic events. The capacity matching relationship is the relationship between the support force and the seismic capacity that is set in advance by the staff based on the support force analysis. Different support piles have different degrees of influence on the seismic capacity. For example, when all piles can provide good support force, the seismic capacity is level 8. When the pile on the outermost side loses its corresponding support function, the seismic capacity is level 7.8. When the pile in the middle loses its corresponding support function, the seismic capacity is level 5. The specific relationship between the two is determined in advance by the staff.

[0056] Reference Figure 3 Methods for determining the inspection path information based on pile foundation structure drawings include: Step S200: Obtain the pile location information of each pile and the initial position information of the flight detection equipment.

[0057] The location information of the foundation pile corresponds to the coordinate position of the foundation pile relative to the set origin, which can be obtained through the drawings of the foundation pile structure. The location information of the initial position corresponds to the coordinate position of the foundation pile relative to the set origin when the flight detection equipment has not performed the detection.

[0058] Step S201: Determine the interval distance information based on the initial location information and the pile location information.

[0059] The distance value corresponding to the interval distance information is the shortest distance between the flight detection equipment and the foundation pile.

[0060] Step S202: Determine the interval distance information with the smallest corresponding distance value among all interval distance information according to the preset sorting rules, and define the pile corresponding to the interval distance information as the nearest pile.

[0061] The sorting rule is a method that can sort numerical values, such as the bubble sort method. The sorting rule can determine the minimum interval distance information of the numerical value, thereby defining the nearest pile to the flight detection equipment, so as to distinguish different piles and facilitate subsequent analysis.

[0062] Step S203: Determine the entry direction based on the initial position information and the nearest foundation pile, and determine the angle between the entry direction and two preset original directions, wherein the two original directions are opposite.

[0063] Reference Figure 4 The entry direction is from the initial position towards the nearest foundation pile, and the original direction is the direction set by the staff so that the flight inspection equipment can begin to move and inspect. Figure 4 In this context, the original directions are left and right respectively; the direction angle is the vector angle formed by the entering direction and the original direction.

[0064] Step S204: Determine the direction angle with the smaller value according to the sorting rules, and define the original direction corresponding to the direction angle as the initial movement direction.

[0065] Determine the smaller directional angle to determine the corresponding initial direction of movement. This ensures that the flight inspection equipment cannot make significant adjustments when it moves closer to the nearest pile, facilitating subsequent inspections.

[0066] Step S205: Determine the detection path information based on the initial movement direction and the preset spiral path selection rules.

[0067] The spiral path selection rule is as follows: the flight detection equipment starts from the nearest pile and moves along the initial direction to detect the surrounding piles. After detecting the piles in that direction, it rotates 90° in the direction of undetected piles to continue moving and detecting. This detection method is repeated. The overall path corresponding to the detection path information is spiral-shaped. (Refer to...) Figure 4 .

[0068] Reference Figure 5 Methods for monitoring the seismic resistance of pile foundations also include: Step S300: Determine the detection location information of each pile based on the detection path information.

[0069] The location corresponding to the detection location information is the location where the flight detection equipment detects the foundation pile, that is, the point closest to the foundation pile when the foundation pile is detected as mentioned above.

[0070] Step S301: When the flight detection equipment moves to the position corresponding to the detection position information, obtain the signal reception status of each positioning point.

[0071] The signal reception status corresponds to the signal status received by the signal receiving device on the flight detection equipment, including two states: successful reception and no reception.

[0072] Step S302: Determine whether the signal reception status is consistent with the preset full reception status.

[0073] The complete reception state is the state when the signal receiving device successfully receives the signal from the first or second positioning point. The purpose of this judgment is to determine whether the first or second distance information can be determined, so as to determine whether the foundation pile condition can be determined.

[0074] Step S3021: If the signal reception state is consistent with the full reception state, then acquire the first distance information and the second distance information to determine the subsequent seismic resistance information.

[0075] When the signal reception status is consistent with the full reception status, it means that the first distance information and the second distance information can be determined. At this time, the seismic capacity calculation can be performed normally.

[0076] Step S3022: If the signal reception status is not consistent with the complete reception status, control the flight detection equipment to continue moving along the detection path, and control the auxiliary ranging equipment preset on the flight detection equipment to move along the direction of the foundation pile and obtain obstacle distance information.

[0077] When the signal reception status is not consistent with the full reception status, it means that the signal cannot be received to obtain the first distance information or the second distance information. At this time, the distance cannot be determined by the signal to determine the degree of inclination of the foundation pile. Control the flight detection equipment to continue moving along the detection path to continue to detect the remaining foundation piles, and control the auxiliary ranging equipment to move closer to the foundation pile to detect it. The auxiliary ranging equipment is a device with flight function and a ranging device. It can be a distance sensor carried on the UAV. The distance value corresponding to the obstacle distance information is the distance value between the flight detection equipment and the foundation pile in the horizontal direction.

[0078] Step S303: When the distance value corresponding to the obstacle distance information is consistent with the preset fixed distance, control the auxiliary ranging device to move along the preset vertical direction by a preset fixed stroke, and after the movement is completed, control the auxiliary ranging device to move back to the flight detection device.

[0079] The fixed distance is a set distance set by the staff, the vertical direction is perpendicular to the ground and downward, and the fixed stroke is a set stroke distance set by the staff. By controlling the auxiliary ranging device to move along the vertical direction, the distance of each obstacle can be obtained, thereby determining the tilt of the foundation pile.

[0080] Step S304: Determine the obstacle distance information with the largest value and the obstacle distance information with the smallest value obtained during the vertical movement according to the sorting rules.

[0081] The obstacle distance information with the largest and smallest values ​​is determined to distinguish between different obstacle distance information, which facilitates subsequent data analysis.

[0082] Step S305: Calculate the difference between the obstacle distance information with the largest value and the obstacle distance information with the smallest value to determine the difference distance information.

[0083] The distance value corresponding to the difference distance information is the difference between the maximum obstacle distance and the minimum obstacle distance, which is determined by subtracting the minimum obstacle distance from the obstacle distance with the maximum value.

[0084] Step S306: Determine whether the distance value corresponding to the difference distance information is within a preset reasonable range.

[0085] The reasonable range is the allowable difference in distance range set by the staff when the foundation pile can effectively support the pile cap. The purpose of the judgment is to determine whether the current foundation pile affects the overall stability of the pile foundation.

[0086] Step S3061: If the distance value corresponding to the difference distance information is within a reasonable range, then the pile is defined as a valid pile.

[0087] When the distance value corresponding to the difference distance information is within a reasonable range, it indicates that the pile can provide good support for the pile cap. At this time, the pile is defined as an effective pile to identify the pile and facilitate subsequent seismic capacity analysis.

[0088] Step S3062: If the distance value corresponding to the difference distance information is not within a reasonable range, then the pile is defined as an invalid pile.

[0089] When the distance value corresponding to the difference distance information is not within a reasonable range, it indicates that the pile foundation has failed to provide good support for the pile cap. In this case, the pile foundation is defined as an invalid pile to identify the pile foundation and facilitate subsequent seismic capacity analysis.

[0090] Reference Figure 6 When the signal reception status is not consistent with the complete reception status, the monitoring method for the seismic resistance of pile foundations also includes: Step S400: Determine the location information of the missing signal based on the signal reception status.

[0091] The location corresponding to the missing signal location information is the location of the positioning point when the signal cannot be received. The location where the first positioning point and the second positioning point cannot transmit the signal can be determined by the signal reception status.

[0092] Step S401: Obtain detection image information based on the signal missing location information.

[0093] The image corresponding to the detected image information is the image of the location corresponding to the signal missing location information, which is acquired by the imaging device carried on the flight detection equipment.

[0094] Step S402: Perform feature recognition in the image corresponding to the detected image information to determine the feature recognition status.

[0095] The feature recognition status refers to whether the corresponding feature of the signal transmitting device has been recognized, including the successful recognition status when the corresponding feature is recognized and the failed recognition status when the corresponding feature is not recognized. The feature recognition method is a conventional technical means for those skilled in the art and will not be described in detail.

[0096] Step S403: Determine whether the feature recognition status is consistent with the preset successful recognition status.

[0097] Successful recognition is the state when the required feature is identified in the image. The purpose of this judgment is to determine whether the corresponding feature has been identified in order to determine whether there is a device emitting a signal.

[0098] Step S4031: If the feature recognition status is consistent with the successful recognition status, output a positioning device damage signal and control the auxiliary ranging device to move along the pile direction for detection.

[0099] When the feature recognition status is consistent with the successful recognition status, it means that the corresponding signal transmitting device has been detected. If the corresponding signal cannot be received at this time, it is basically because the signal transmitting device at the positioning point is damaged. At this time, a positioning device damage signal is output to mark the situation so that external staff can know the corresponding situation and facilitate subsequent handling by the staff.

[0100] Step S4032: If the feature recognition status is not consistent with the successful recognition status, output a positioning device occlusion signal.

[0101] When the feature recognition status is not consistent with the successful recognition status, it means that the corresponding signal transmitting device has not been detected. At this time, the inability to receive the corresponding signal is basically due to the signal transmitting device at the positioning point being blocked, resulting in signal blockage. In this case, the positioning device blockage signal is output to mark the situation so that external staff can know the corresponding situation and facilitate subsequent handling by staff.

[0102] Reference Figure 7 After the positioning device blocks the signal output, the method for monitoring the seismic resistance of pile foundations also includes: Step S500: Control the flight detection equipment to blow air towards the location corresponding to the missing signal location information, and control the preset removal time to count down.

[0103] The flight detection equipment is controlled to blow air to act on objects that are obstructing the positioning equipment, thereby removing the obstructing objects so that the positioning equipment is not obstructed. The removal time is the duration of the flight detection equipment blowing air, which is set by the operator. The blowing air can be performed by a device installed on the flight detection equipment that can blow air, such as a blower or a fan.

[0104] Step S501: During the countdown process of removing the duration, determine again whether the signal reception status is consistent with the complete reception status.

[0105] The purpose of the judgment is to determine whether the object obstructing the positioning device has been processed.

[0106] Step S5011: If the signal reception state is consistent with the full reception state, then acquire the first distance information and the second distance information to determine the subsequent seismic resistance information.

[0107] When the signal reception status is consistent with the full reception status, it means that the object blocking the positioning device has been processed, and normal detection and confirmation can be performed at this time.

[0108] Step S5012: If the signal reception status is not consistent with the complete reception status, continue blowing air until the duration is removed and the timer is reset to zero, then control the auxiliary ranging device to move along the pile direction for detection.

[0109] When the signal reception status is not consistent with the complete reception status, it means that the object blocking the positioning device has not been processed. At this time, continue blowing air. When the removal time returns to zero, it means that the obstructing device cannot be processed by blowing air. At this time, the auxiliary ranging device can be controlled normally for detection.

[0110] Reference Figure 8 The methods for determining the obstacle distance information with the largest and smallest values ​​after the auxiliary ranging device has moved a fixed distance include: Step S600: Based on the fixed travel distance and the distance information of each obstacle, determine the distance measurement points on the foundation pile by fitting.

[0111] The location of the ranging point on the surface of the foundation pile is determined by the distance the auxiliary ranging device moves downward and the distance to the obstacle.

[0112] Step S601: Connect each ranging point in pairs to determine the ranging connection line, and count the repetition of each ranging connection line to determine the repetition information of each ranging connection line.

[0113] The distance measurement connection line is the straight line connecting two distance measurement points, and the repetition information corresponds to the number of times the line appears.

[0114] Step S602: Determine the repetition information with the largest corresponding value among all repetition information according to the sorting rules, and define the distance measuring connection line corresponding to the repetition information as the side line.

[0115] The line that repeats the most times is the boundary outline of the pile. This line is defined as the side line to determine the outline of the pile along its length, which facilitates further analysis.

[0116] Step S603: Determine the obstacle distance information with the largest value and the obstacle distance information with the smallest value based on the obstacle distance information of the distance measuring point located on the side straight line.

[0117] The obstacle distance information with the largest and smallest values ​​is determined at the distance measurement points on the side straight line, in order to reduce the occurrence of obstacles with pits or protrusions on the pile surface that may form interfering obstacle distance information and interfere with the determination of the pile inclination.

[0118] Reference Figure 9 The method for controlling the auxiliary ranging device to move back to the flight detection device includes: Step S700: After the auxiliary ranging device has moved a fixed distance, obtain the first device position information of the flight detection device and the second device position information of the auxiliary ranging device.

[0119] The first device location information corresponds to the position of the flight detection device on the detection path after the auxiliary ranging device has moved a fixed distance. The second device location information corresponds to the position of the auxiliary ranging device after it has moved a fixed distance. Both positions are planar positions, not three-dimensional spatial positions.

[0120] Step S701: Calculate and determine the rendezvous point on the path corresponding to the detection path information based on the first device location information, the second device location information, the preset first moving speed, and the preset second moving speed.

[0121] The first moving speed is the speed at which the flight detection equipment moves along the detection path, the second moving speed is the speed at which the auxiliary ranging equipment moves, and the meeting point is the position on the detection path where both the flight detection equipment and the auxiliary ranging equipment can reach simultaneously.

[0122] Step S702: Determine the return path based on the location information of the second equipment and the convergence point, and define the piles on the return path as blocking piles.

[0123] The regression path is the path that the auxiliary ranging device needs to move from the second device position to the rendezvous point. The piles on the regression path can block the movement of the auxiliary ranging device. At this time, the piles are defined as blocking piles for identification, so as to facilitate further analysis.

[0124] Step S703: Determine if there are any obstructing piles.

[0125] The purpose of the judgment is to determine whether the auxiliary ranging equipment will encounter obstructing piles when moving along the regression route, that is, whether some piles need to be detoured.

[0126] Step S7031: If there are no obstructing piles, control the auxiliary ranging device to move along the return path until the rendezvous point to move to the flight detection device.

[0127] When there are no obstructing piles, it means that there are no piles blocking the auxiliary ranging equipment on the return path. In this case, the auxiliary ranging equipment can be moved normally.

[0128] Step S7032: If there are obstructing piles, a virtual avoidance line is drawn with the center of the obstructing pile as the center and the preset avoidance distance as the radius.

[0129] When there are obstructing piles, it means that some piles need to be detoured. The detour distance is a distance value set by the staff that is greater than the radius of the pile, and this distance value ensures that the auxiliary ranging equipment will not hit the surface of the pile. The virtual detour line is the route that the auxiliary ranging equipment can take to detour around the pile.

[0130] Step S704: Define the segment of the virtual avoidance line that is on the half side of the return path and has a smaller arc as the avoidance path, and replace the return path in the virtual avoidance line with the avoidance path to update the return path, and control the auxiliary ranging device to move along the updated return path until the meeting point to move to the flight detection device.

[0131] The segment with the smaller arc is defined as the avoidance path to determine the shorter segment of the two avoidance routes. This allows the avoidance path to be updated into a more complete return path after replacing the return path in the virtual avoidance line. This enables the subsequent control auxiliary ranging equipment to effectively bypass the obstructing piles after moving along the updated return path.

[0132] Reference Figure 10 Based on the same inventive concept, embodiments of the present invention provide a pile foundation seismic capacity monitoring system, comprising: The acquisition module is used to acquire pile foundation structure drawing information; The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The processing module determines the detection path information based on the pile foundation structure drawings; The processing module controls the preset flight detection equipment to move along the path corresponding to the detection path information and enables the acquisition module to acquire the first distance information between the preset first positioning point on the foundation pile and the second distance information between the preset second positioning point; The processing module calculates and determines the first included angle information based on the first distance information, the second distance information, and the preset positioning distance; The processing module calculates and determines the second included angle information based on the second distance information and the preset detection height value; The processing module calculates the summation of the first included angle information and the second included angle information to determine the bottom included angle information, and calculates the difference between the bottom included angle information and the preset vertical angle to determine the deviation angle. The judgment module determines whether the deviation angle is within the preset allowable range; If the judgment module determines that the deviation angle is within the allowable range, the processing module defines the pile as a valid pile. If the judgment module determines that the deviation angle is not within the allowable range, the processing module defines the pile as an invalid pile. After the flight detection equipment has moved along the path corresponding to the detection path information, the processing module determines the corresponding seismic capacity information of the pile foundation structure according to the preset capacity matching relationship. The detection path determination module determines a more reasonable detection path based on the location of the foundation piles, so as to facilitate the subsequent mobile detection by the flight detection equipment. The signal anomaly detection module can control the auxiliary ranging module to determine the condition of the foundation pile when the corresponding positioning signal cannot be received. The equipment status analysis module analyzes situations where positioning signals cannot be received to determine whether the equipment is damaged or the signal is blocked, so that subsequent staff can take appropriate action. The obstruction blowing control module blows air when an object obstructs the signal to determine whether the object can be removed by blowing air, thus facilitating the determination of the foundation pile condition. The obstacle distance determination module determines the length contour of the foundation pile to reduce the occurrence of surface depressions or protrusions on the foundation pile that may affect distance detection. The regression path determination module rationally plans the regression path of the auxiliary ranging device back to the flight detection device, which facilitates subsequent control of the movement of the auxiliary ranging device.

[0133] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0134] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for monitoring the seismic capacity of a pile foundation, characterized in that, The method comprises the following steps: Obtaining pile foundation structure drawing information; Determining detection path information according to the pile foundation structure drawing information; Controlling a preset flight detection device to move along a path corresponding to the detection path information and to obtain first distance information of a preset first positioning point on the pile foundation and second distance information of a preset second positioning point; Calculating first angle information according to the first distance information, the second distance information, and a preset positioning distance, and calculating second angle information according to the second distance information and a preset detection height value; Summing the first angle information and the second angle information to determine bottom angle information, and calculating a deviation angle according to the bottom angle information and a preset vertical angle; determining whether the deviation angle is within a preset allowable range; if the deviation angle is within the allowable range, defining the pile foundation as a valid pile foundation; if the deviation angle is not within the allowable range, defining the pile foundation as an invalid pile foundation; after the flight detection device finishes moving along the path corresponding to the detection path information, determining seismic capacity information of the pile foundation structure according to a preset capacity matching relationship.

2. The method of claim 1, wherein, The method for determining detection path information according to pile foundation structure drawing information comprises the following steps: obtaining pile foundation position information of each pile foundation and initial position information of a flight detection device; determining interval distance information according to the initial position information and the pile foundation position information; determining interval distance information with the smallest corresponding distance value among all interval distance information according to a preset sorting rule, and defining the pile foundation corresponding to the interval distance information as a nearest pile foundation; determining an entering direction according to the initial position information and the nearest pile foundation, and determining a directional angle according to the entering direction and two preset original directions, wherein the two original directions are opposite; determining a smaller directional angle according to the sorting rule, and defining the original direction corresponding to the directional angle as an initial moving direction; determining detection path information according to the initial moving direction and a preset spiral path selection rule.

3. The method of claim 1, wherein The method further comprises the following steps: Determining detection position information of each pile foundation according to the detection path information; Obtaining a signal receiving state of each positioning point when the flight detection device moves to a position corresponding to the detection position information; Determining whether the signal receiving state is consistent with a preset complete receiving state; If the signal receiving state is consistent with the complete receiving state, obtaining the first distance information and the second distance information for subsequent seismic capacity information determination; if the signal receiving state is not consistent with the complete receiving state, controlling the flight detection device to continue moving along the detection path, and controlling a preset auxiliary ranging device on the flight detection device to move along the pile foundation direction and to obtain obstacle distance information; when a distance value corresponding to the obstacle distance information is consistent with a preset fixed distance, controlling the auxiliary ranging device to move along a preset vertical direction by a preset fixed stroke, and controlling the auxiliary ranging device to move back to the flight detection device after the movement is completed; determining obstacle distance information with the largest value and obstacle distance information with the smallest value obtained during movement along the vertical direction according to the sorting rule; The difference distance information is determined by difference calculation according to the maximum obstacle distance information and the minimum obstacle distance information; it is judged whether the distance value corresponding to the difference distance information is in a preset reasonable range; if the distance value corresponding to the difference distance information is in the reasonable range, the pile is defined as an effective pile; if the distance value corresponding to the difference distance information is not in the reasonable range, the pile is defined as an invalid pile.

4. The method of claim 3, wherein, When the signal receiving state is not consistent with the complete receiving state, the pile foundation anti-seismic capacity monitoring method further comprises: determining signal missing position information according to the signal receiving state; obtaining detection image information according to the signal missing position information; performing feature recognition in the image corresponding to the detection image information to determine a feature recognition state; judging whether the feature recognition state is consistent with a preset successful recognition state; if the feature recognition state is consistent with the successful recognition state, outputting a positioning device damage signal and controlling the auxiliary ranging device to move along the pile direction for detection; if the feature recognition state is not consistent with the successful recognition state, outputting a positioning device shielding signal.

5. The method of claim 4, wherein, After the positioning device shielding signal is output, the pile foundation anti-seismic capacity monitoring method further comprises: controlling the flying detection device to perform blowing operation at the position corresponding to the signal missing position information, and controlling a preset removal time length to count down; during the count down of the removal time length, it is judged again whether the signal receiving state is consistent with the complete receiving state; if the signal receiving state is consistent with the complete receiving state, the first distance information and the second distance information are obtained for subsequent determination of the anti-seismic capacity information; if the signal receiving state is not consistent with the complete receiving state, the blowing is continued until the removal time length is counted to zero, and then the auxiliary ranging device is controlled to move along the pile direction for detection.

6. The method of claim 3, wherein, After the auxiliary ranging device moves a fixed stroke, the determination method of the maximum obstacle distance information and the minimum obstacle distance information comprises: fitting and determining each ranging point on the pile according to the fixed stroke and each obstacle distance information; connecting each ranging point by two to determine a ranging connection straight line, and counting the number of repetitions of each ranging connection straight line according to the repeated cases of each ranging connection straight line to determine repetition number information of each ranging connection straight line; determining the maximum repetition number information corresponding to the relative values in all repetition number information according to a sorting rule, and defining the ranging connection straight line corresponding to the repetition number information as a side straight line; determining the maximum obstacle distance information and the minimum obstacle distance information according to the obstacle distance information of the ranging points on the side straight line.

7. The method of claim 3, wherein, The method for controlling the auxiliary ranging device to move back to the flight detection device comprises: obtaining the first device position information of the flight detection device and the second device position information of the auxiliary ranging device after the auxiliary ranging device moves a fixed distance; determining the meeting point on the path corresponding to the detection path information according to the first device position information, the second device position information, the preset first moving speed and the preset second moving speed; determining the regression path according to the second device position information and the meeting point, and defining the pegs on the regression path as the blocking pegs; judging whether there is a blocking peg; if there is no blocking peg, controlling the auxiliary ranging device to move along the regression path until the meeting point to move to the flight detection device; if there is a blocking peg, defining the virtual avoidance line with the center of the blocking peg as the center and the preset avoidance distance as the radius; defining the avoidance path as the segment on the virtual avoidance line with smaller curvature and on the half side of the regression path, replacing the regression path in the virtual avoidance line with the avoidance path to update the regression path, and controlling the auxiliary ranging device to move along the updated regression path until the meeting point to move to the flight detection device.

8. A system for monitoring the seismic capacity of a pile foundation, characterized by Comprise: The acquisition module is used for acquiring the pile foundation structure drawing information; The processing module is connected with the acquisition module and the judgment module, and is used for information storage and processing; the judgment module is connected with the acquisition module and the processing module, and is used for information judgment; the processing module determines the detection path information according to the pile foundation structure drawing information; the processing module controls the preset flight detection device to move along the path corresponding to the detection path information and makes the acquisition module acquire the first distance information of the preset first positioning point on the peg and the second distance information of the preset second positioning point; the processing module calculates to determine the first included angle information according to the first distance information, the second distance information and the preset positioning distance; the processing module calculates to determine the second included angle information according to the second distance information and the preset detection height value; The processing module sums the first included angle information and the second included angle information to determine the bottom included angle information, and calculates the deviation angle according to the bottom included angle information and the preset vertical angle; the judgment module judges whether the deviation angle is within the preset allowable range; if the judgment module judges that the deviation angle is within the allowable range, the processing module defines the peg as a valid peg; if the judgment module judges that the deviation angle is not within the allowable range, the processing module defines the peg as an invalid peg; the processing module determines the seismic capacity information corresponding to the pile foundation structure according to the preset ability matching relationship after the flight detection device moves along the path corresponding to the detection path information.

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