Intelligent cast-in-place pipe pile equipment integrated with multi-source sensor and construction method

Abstract

The invention relates to geotechnical engineering pile foundation equipment, in particular to intelligent cast-in-place pipe pile equipment integrated with a multi-source sensor and a construction method. A spiral sleeve; a double-layer sleeve wall protection system; an outer sleeve anti-rotation pressing system; and a pile core soil anti-rising telescopic system and the like. The intelligent PCC pile construction equipment integrates torque, rotating speed, drilling speed, drilling pressure and other multi-source sensors and an artificial intelligence algorithm to achieve intelligent sensing and control over a pile machine, efficient combined soil spinning of a spiral sleeve and a double-layer sleeve wall protection system is achieved through a hollow rotating power equipment system, an annular cavity is rapidly formed, a reinforcement cage is put down, concrete is poured to form a PCC pile, and the construction efficiency of the PCC pile is improved. Finally, the inner sleeve and the outer sleeve of the double-layer sleeve wall protection system are pulled out in a vibrating mode at the same time under the action of the winch up-pulling system, and the inner sleeve and the outer sleeve are in butt joint and reset with the annular rotary excavating soil taking system, the problems that a traditional PCC pile is limited in application in complex stratums and a reinforcement cage cannot be put down are solved, and the construction intelligence is achieved.

Description

Technical Field

[0001] This invention relates to equipment for geotechnical engineering pile foundations, and more particularly to an intelligent cast-in-place pipe pile equipment and construction method that integrates multi-source sensors. Background Technology

[0002] PCC piles, as a type of cast-in-place large-diameter thin-walled pipe pile, are widely used in soft soil foundation treatment projects due to their advantages such as large pile diameter, low concrete consumption, and good reinforcement effect. However, existing PCC pile construction technology still has many limitations, making it difficult to adapt to the construction needs of complex strata such as hard soil layers in the central and western regions, and the level of intelligence in the construction process is relatively low. Specific problems are reflected in the following aspects: Poor geological adaptability: Traditional PCC piles mostly use vibratory pipe driving technology to drive the pipe into a ring hole by squeezing the soil, which can easily lead to problems such as large deviations in the verticality of the pile body; for hard soil layers in the central and western regions, traditional pipe driving equipment cannot achieve effective dynamic pipe driving, resulting in a high rate of construction obstruction.

[0003] Limited pile-forming function: Traditional PCC pile construction equipment is difficult to lower the steel cage after drilling, which limits the tensile and shear strength of PCC piles and cannot meet the pile foundation bearing capacity requirements of large-scale projects such as high-rise buildings and bridges. At the same time, the soil in the pile core is prone to bulging as the double sleeve is pulled up during the drilling process, causing the pile hole diameter to shrink and affecting the quality of concrete pouring.

[0004] Low level of intelligent construction: Existing construction equipment lacks the ability to monitor multi-source parameters in real time. It can only judge key indicators such as drilling depth and soil hardness through manual experience, and cannot achieve dynamic adjustment of construction parameters such as torque, drilling speed and drilling pressure. During construction, it is difficult to collect data such as soil disturbance around the pile and stress and strain of the pile body, resulting in poor traceability and controllability of pile quality.

[0005] Low efficiency in pipe pulling and repositioning: The traditional double-sleeve wall protection system relies on a single winch for pipe pulling, which results in high resistance and easy pipe deviation, seriously affecting construction efficiency.

[0006] In recent years, although some research has attempted to combine rotary drilling technology with traditional PCC pile technology, existing rotary drilling equipment is mostly a solid drill rod structure, which cannot form an annular cavity, and it lacks an intelligent control module with multi-source sensors. Therefore, the core challenges of construction in complex geological formations, rebar cage placement, and intelligent control of construction parameters remain unresolved. Thus, developing a PCC pile construction equipment and method adapted to complex geological formations and possessing intelligent sensing and control capabilities has become an urgent need in the field of geotechnical engineering pile foundations. Summary of the Invention

[0007] The purpose of this invention is to solve the technical problems of current PCC piles being unsuitable for construction of foundations in various complex soil layers and having a low level of intelligence, and to propose an intelligent cast-in-place pipe pile equipment and construction method that integrates multi-source sensors.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides an intelligent cast-in-place pipe pile device integrating multi-source sensors, comprising: The piling machine frame and travel system include the piling machine frame, guide rail system, winch, and PCC pile construction system; The guide rail system is installed on the vertical pile driver frame. The guide rail system is pulled up and down along the pile driver frame by a winch. The PCC pile construction system is fixed on the guide rail system. PCC pile construction system includes hollow rotary power equipment system, spiral sleeve, inner sleeve, outer sleeve, and winch pulling system; The hollow rotary power equipment system includes a horizontal annular platform, which is fixed to a guide rail system. The annular platform is equipped with a spiral sleeve suspended by bearings. The inner ring of the bearing is fixed to the annular platform, and the outer ring has gears and is fixed to the spiral sleeve. A rotary motor is also installed on the annular platform, which drives the outer ring to rotate the spiral sleeve. The spiral sleeve is a vertical hollow tubular structure with spiral blades arranged on the outer ring. Both the inner sleeve and the outer sleeve are tubular structures. The inner sleeve is located inside the outer sleeve. In the mining state, the spiral sleeve is located between the inner sleeve and the outer sleeve. Vibration motors are arranged on both the inner sleeve and the outer sleeve. The winch pulling system is fixed to the top of the pile driver frame, including the winch pulling motor and pulley block. One traction cable of the winch pulling motor passes through the pulley block and through the spiral sleeve to the top of the inner sleeve, and the other traction cable passes through the pulley block to the top of the outer sleeve outside the spiral sleeve. The equipment also includes a GPS system, drilling speed sensor, drilling vibration acceleration sensor, drilling speed sensor, drilling pressure sensor, and drilling current transformer.

[0009] As a further preferred embodiment, the guide rail system includes two vertical slide rails mounted on the pile driver frame and a rectangular steel plate that moves up and down on the two slide rails, as well as a drive motor and a lead screw on the pile driver frame; the rectangular steel plate has screw holes arranged longitudinally to cooperate with the lead screw, the motor drives the rectangular steel plate to move up and down through the lead screw, and the annular platform is fixed on the rectangular steel plate.

[0010] As a further preferred option, the bottom of the spiral sleeve is provided with soil-breaking drill teeth, and the bottom of the spiral blades of the spiral sleeve is also provided with soil-breaking drill teeth. The soil-breaking drill teeth are inclined in the direction of rotation, and the inclination direction is at an angle of 15°-35° with the horizontal line.

[0011] As a further preferred option, the top of the inner sleeve and the top of the spiral sleeve are provided with corresponding wedge-shaped surfaces. When the wedge-shaped surfaces of the inner sleeve and the spiral sleeve are engaged, the spiral sleeve and the inner sleeve rotate synchronously to achieve rapid excavation and drilling, thus avoiding the situation where the inner sleeve is difficult to drill down. The top of the inner sleeve is closed, and a rotating hook for fixing the steel cable is provided in the center. A wedge-shaped surface is provided at a certain connection between the top of the inner sleeve and the side. The top of the spiral sleeve is also closed, and an opening for the steel cable to pass through is provided in the center. A wedge-shaped surface corresponding to the wedge-shaped surface of the top of the inner sleeve is provided at a certain connection between the top of the spiral sleeve and the side. The top of the outer sleeve is provided with a hollow thin-walled cylinder, and the two sides of the thin-walled cylinder are provided with lugs for connecting with steel cables.

[0012] As a further preferred option, the bottom of the annular platform is provided with an outer sleeve anti-rotation and anti-pressure system. The outer sleeve anti-rotation and anti-pressure system includes upper and lower annular plates, which are connected by ribs. The upper annular plate is fixed to the bottom of the annular platform, and the lower annular plate is detachably connected to the thin-walled cylinder at the top of the outer sleeve by bolts.

[0013] As a further preferred option, the bottom of the pile driver frame is equipped with a limiting system. The limiting system consists of three steel bars connected to the bottom of the pile driver frame to form a rectangular limiting structure. The maximum diameter of the inner circle of the hollow rectangle is greater than the outer diameter of the outer sleeve, but smaller than the thin-walled cylinder at the top of the outer sleeve.

[0014] As a further preferred option, the inner sleeve is equipped with a core soil anti-rise expansion system, which includes a chassis, a central counterweight, and an inner support plate. The center counterweight is located at the center of the chassis. The inner support plate is a vertical arc-shaped plate with the same curvature as the inner wall of the inner sleeve. The surface of the inner support plate is an anti-slip surface. Multiple inner support plates are arranged around the center counterweight. The bottom of the inner support plate on the chassis is provided with a sliding groove. The bottom of the inner support plate has a slider that moves along the limited position in the sliding groove. There are two hinged connecting rods between the inner support plate and the central counterweight. After the central counterweight is lifted off the chassis, the inner support plate is pulled towards the central counterweight by the hinged connecting rods. When the inner support plate is in the sliding groove away from the top of the central counterweight, the inner support plate is in contact with the inner wall of the inner sleeve. The top of the inner sleeve is provided with a through hole for the steel cable to pass through. An external crane pulls a steel cable through the spiral sleeve and inner sleeve to connect to the top of the central counterweight, hoisting the pile core soil anti-rise expansion system from the top of the pile core soil to the top of the inner sleeve for resetting. The inner sleeve has a sliding groove, and the pile core soil anti-rise expansion system moves up and down along the sliding groove.

[0015] As a further preferred option, the construction equipment also includes: The GPS system is used to calculate the three-dimensional coordinates of the pile driver in real time. A dual-axis tilt sensor monitors the verticality of the pile body. It is installed at the top of the spiral sleeve. When the verticality deviation of the pile body is detected to be >1%, the PLC controller automatically controls the hydraulic leveling device of the guide rail system to adjust the pile driver body. The leveling accuracy is ≤0.1°. The laser displacement rangefinder consists of two units, one for determining the borehole depth and the other for determining whether the soil in the pile core has risen. They are installed at the top of the outer sleeve and the other at the top of the inner sleeve. Stress sensors, strain sensors, and vibration sensors are used. A steel cage is placed between the outer and inner sleeves, and stress and strain sensors are arranged at equal intervals along the steel cage. A vibration sensor is placed at the top of the pile to monitor the dynamic response of pile stress, strain, and pile top acceleration. A soil pore water pressure sensor, a horizontal displacement sensor, a vertical displacement sensor, a soil pressure sensor, and a vibration sensor are used to monitor the pore water pressure at distances of 2D, 4D, 6D, 12D, and 24D from the pile, where D is the outer diameter of the PCC pile. The sensors monitor horizontal and vertical displacement, radial soil pressure, and the dynamic acceleration response of soil disturbance during construction. The soil pore water pressure sensor, horizontal displacement sensor, vertical displacement sensor, and soil pressure sensor are arranged at equal vertical intervals from the ground, and horizontally arranged at distances of 2D, 4D, 6D, 12D, and 24D from the pile. A vibration sensor is placed vertically at a shallow depth from the ground, and horizontally arranged at distances of 2D, 4D, 6D, 12D, and 24D from the pile. The drilling speed sensor is installed at the top of the outer casing to determine the drilling efficiency, assist in judging soil layer changes, and optimize construction parameters. An encoder is used to monitor the drilling speed. The drilling speed is the depth that the drill bit drills per unit time. It is the most direct indicator of drilling efficiency and is affected by drilling pressure, rotation speed, and torque. The drilling vibration acceleration sensor measures the real-time vibration acceleration changes during the drilling process of the auger sleeve. Its core function is to capture the impact, vibration intensity, and motion state, providing data for judging the hole quality and formation conditions. The drilling vibration acceleration sensor is installed at multiple locations, including the high-frequency vibration point of the hollow rotary power head (i.e., the rotary motor), the top of the auger sleeve, the top of the inner sleeve, the top of the outer sleeve, the winch pull-up motor, and the guide rail motor, to measure acceleration, vibration, and other parameters. The drilling speed sensor is installed parallel to the side of the outer ring gear of the bearing in the hollow rotary power equipment system. It uses an encoder to monitor the rotation speed and the number of rotations of the rotary motor per minute, which affects the number of cuts made by the spiral sleeve per unit time. The drilling pressure sensor is installed at the connection between the auger sleeve and the outer ring gear of the hollow rotary power equipment system to measure the pressure applied to the auger sleeve and the soil lifting force. The drilling current transformer is installed at the rotary motor to analyze the changes in resistance during drilling the annular hole, the torque required to drive the spiral sleeve to rotate, and can reflect the hardness of the formation. The torque is calculated based on the current. The current transformer is installed on the main cable of the motor for monitoring. T =9.55 UIβ / n n —The unit for rotational speed (r / min); T —The unit of torque (Nm); U —V is the unit of voltage; I —A is the unit of current. β The motor drive efficiency is set at 0.85–0.92, dynamically corrected based on motor load: when the load rate is <50%, β =0.85, when the load rate is 50% to 80%, β =0.90, when the load rate is >80%, β= The correction factor is 0.92, which is automatically matched through the load rate-efficiency mapping table built into the PLC controller, improving the accuracy of torque conversion under different operating conditions.

[0016] The PLC controller has a built-in torque-current linkage algorithm. When the current exceeds the rated value by 10%, it automatically reduces the speed of the rotating motor by 5% to 10% and increases the pressure on the guide rail system by 15% to 20% to avoid motor overload. The current transformer samples the operating current of the rotating motor every 50ms. I The speed sensor synchronously collects the motor speed ( n The data is transmitted to the PLC controller via the industrial bus. The controller filters the collected data (using a moving average filtering algorithm to eliminate errors caused by current fluctuations, with the filtering window width set to 5 sampling points).

[0017] The PLC controller calculates the real-time torque based on the above torque conversion model. T ), and corresponding thresholds for preset soil layers, namely soft soil layer, conventional soil layer, and hard soil layer. T 0、 T 1. T 2. Comparison: T < T 0 The current cutting condition is determined to be stable. The current speed of the rotary motor and the pressure on the guide rail are kept constant, and real-time monitoring continues. T 0 <T<T2. Trigger the early warning adjustment and execute the "speed reduction + pressure increase" coordinated action. Reduce the motor speed by 5% to 10% through the frequency converter, and at the same time control the hydraulic valve of the guide rail system (8) to increase the downward pressure by 15% to 20%. Balance the torque by "reducing the cutting frequency + increasing the cutting thrust". T 2 ＜T The overload protection is triggered, and the motor speed is immediately reduced to 50% of the rated speed. The pressure output of the guide rail system (8) is cut off, and the message "Torque overload, check the formation or tool wear" is displayed until the torque drops to 50%. T 0 Only after this can you manually reset the device and continue construction.

[0018] After each parameter adjustment, the PLC controller continuously collects the adjusted current, speed, and torque data, and calculates the torque change rate. If the torque change rate after adjustment is <5% / s, the adjustment is considered effective, and the current parameters are maintained; if the torque continues to rise (change rate ≥5% / s), the "deceleration + boost" adjustment is repeated until the torque stabilizes. T 0 Within the specified range, ensure that the torque remains within a safe and controllable range throughout the entire tunneling process to avoid motor overload or cutter damage.

[0019] As a further preferred embodiment, this invention also introduces the PINN model embedded in the spiral sleeve's soil-rotating dynamics mechanism and the motor energy transfer law as prior physical constraints. Torque and soil-rotating resistance are correlated with formation strength, spiral blade distance, and drill tooth inclination angle to ensure that the output torque satisfies the physical correlation between formation strength, spiral blade distance, and drill tooth inclination angle. Furthermore, the motor voltage ( U ), current ( I ), speed ( n ) and transmission efficiency ( β The relationship between the two terms is used as the regularization term in the loss function, constraining the model calculation error to ≤1%; Secondly, the model is trained using historical data from over 1000 multi-source sensors covering typical soft soil foundations, conventional foundations, and hard soil layers. It employs a fully connected network structure with a 6-dimensional input layer, 3 hidden layers, and a 2-dimensional output layer. The 3 hidden layers can accurately fit the high-order nonlinear relationship between the 6-dimensional input and 2-dimensional output through progressive learning ("input layer—hidden layer 1—hidden layer 2—hidden layer 3—output layer"), keeping the torque prediction error within 1%, perfectly meeting the accuracy requirements of "real-time parameter adjustment" during construction. The 64 neurons used are more than 10 times the dimension of the input features. Through the "sparse activation characteristics" of the ReLU activation function, it accurately captures the parameter correlation patterns under different geological strata while avoiding neuron redundancy. The data loss and physical loss are minimized by the Adam optimizer with an adaptive learning rate. The initial learning rate is 0.001, which decays by 10% every 100 iterations. The training set contains more than 1,000 sets of construction data covering soft soil, conventional foundation and hard soil layers. The mean square error is used for data loss and the weight coefficient of physical loss is set to 0.3. During construction, multi-source sensors collect real-time data every 100ms and input it into the PINN model. The model outputs a predicted torque within 50ms, which is then fused and corrected with the measured torque calculated by the formula using a weighted ratio of 0.7:0.3 to obtain the final reliable torque. If this torque exceeds the corresponding threshold of the formation... T 0、 T 1. T 2. The optimal adjustment parameters are output synchronously and executed directly by the PLC controller.

[0020] The present invention discloses a construction method for an intelligent cast-in-place pipe pile device integrating multi-source sensors, comprising the following steps: S1. The three-dimensional coordinates of the pile driver are calculated in real time through the GPS system. The pile driver moves to the designated construction position. The tilt sensor monitors the verticality of the pile body. The hollow rotating power equipment system and the guide rail system drive the spiral sleeve, inner sleeve and outer sleeve to synchronously rotate and excavate soil at 8-15 r / min. The vibration motor of the inner sleeve adopts a vibration frequency of 20-50 Hz, and the vibration motor of the outer sleeve adopts a vibration frequency of 15-35 Hz. The vibration frequency is adjusted once every 1m of sinking based on the feedback of the laser displacement rangefinder to ensure that the drilling speed is stable at 1.0-1.5m / h until the designated design depth is reached. Throughout the construction process, the outer sleeve anti-rotation and downward pressure system is connected and fixed to the outer sleeve. The wedge-shaped surface at the top of the inner sleeve and the wedge-shaped surface at the top of the inner sleeve engage with each other and rotate synchronously. The drilling current transformer analyzes the changes in the resistance of the drilling annular hole and determines the torque required to drive the rotation of the spiral sleeve. The torque is increased when drilling hard soil layers and decreased when drilling soft soil layers. Combined with multiple feedback indicators measured by drilling speed sensors, drilling vibration acceleration sensors, drilling speed sensors, drilling pressure sensors, pile body sensors, concrete pouring sensors, and soil disturbance sensors around the construction pile, the drilling speed, rotation speed, drilling pressure, and torque are dynamically adjusted throughout the entire process to achieve optimal PCC pile formation efficiency. Simultaneously, through the PLC controller's built-in torque-current linkage algorithm and combined with the PINN control algorithm model, the system adjusts the drilling speed, rotation speed, drilling pressure, and torque according to the corresponding threshold of the strata. T 0、 T 1. T 2. Synchronously output the optimal adjustment parameters, which are then directly executed by the PLC controller; S2, Hollow Rotary Power Equipment System, the guide rail system drives the spiral sleeve to pull up, and after forming an annular cavity, the inner sleeve and outer sleeve are temporarily left in the soil layer to protect the wall. Remove the steel bar at the front end of the limiting system, disassemble the steel cables on the inner and outer sleeves, move the pile driver body backward in time, arrange the pile stress sensor and strain sensor along the reinforcing cage and lower the reinforcing cage. The reinforcing cage is located between the inner and outer sleeves. The pile driver body returns to its original position, the steel cables on the inner and outer sleeves are installed, and the steel bar at the front end of the limiting system is installed. Throughout the entire process, from the movement of the pile driver to the lowering of the reinforcing cage, the pile core soil protection rising and expansion system is always at the top of the inner sleeve and remains in an open state. S3. Before the winch-assisted upward pulling system simultaneously pulls up the inner sleeve and the outer sleeve, the pile core soil anti-rising expansion system contracts, detaches from the inner sleeve, and remains at the top of the pile core soil. It uses its own weight to press down the pile core soil and simultaneously vibrates and pulls up the inner sleeve and the outer sleeve under the action of the vibrating motor. The upward pulling speed of the winch-assisted upward pulling system is controlled at 0.3-0.5 m / min. The vibration motor frequencies of the inner sleeve and the outer sleeve are adjusted to 30-60 Hz and 25-50 Hz, respectively. The reset pressure of the inner support plate of the pile core soil anti-rising expansion system in the contracted state is 0.8-1.2 MPa. S4. When the bottom of the inner sleeve reaches the top of the pile core soil, the pile core soil anti-rising expansion system opens and rises along the inner slide rail until its inner top is reset. Then, the inner sleeve and outer sleeve continue to vibrate and pull upward simultaneously. The inner sleeve and the spiral sleeve are reconnected and reset. The laser displacement rangefinder at the top of the inner sleeve determines whether the pile core soil has risen. The outer sleeve and the outer sleeve anti-rotation and downward pressing system are connected and bolted together.

[0021] Compared with the prior art, the present invention has the following advantages: (1) The present invention provides an intelligent cast-in-place pipe pile equipment and construction method that integrates multiple source sensors. The adjustable angle of the spiral sleeve advances the soil breaking drill bit, and the double-layer sleeve vibrates and sinks, which significantly improves the excavation speed of hard soil layers and reduces the verticality deviation of the hole, thus breaking through the bottleneck of traditional technology.

[0022] (2) This invention utilizes multi-source sensor monitoring to accurately determine the strata, dynamically optimize construction parameters, and trace the quality of pile formation throughout the entire process. The level of intelligence is improved, which can effectively reduce the damage to the core soil of the pile and the vibration interference to the surrounding soil during the entire construction process, and effectively improve the quality of pile formation.

[0023] (3) This invention expands the engineering application scenarios, allowing for the lowering of the steel reinforcement cage, thus solving the problem that traditional PCC piles cannot lower the steel reinforcement cage. The modular design adapts to construction of different pile diameters, improving equipment reuse rate and reducing engineering costs. Attached Figure Description

[0024] Figure 1 This is a diagram showing the components of the piling machine of the present invention; Figure 2 This is a flowchart illustrating the construction process of this invention. Figure 3This is a cross-sectional view of the construction process of the present invention; Figure 4 This is a diagram of the inner sleeve of the piling machine of the present invention; Figure 5 This is a diagram of the outer sleeve of the piling machine of the present invention; Figure 6 This is a diagram of the annular rotary drilling auger sleeve of the present invention; Figure 7 This is a diagram of the three-sleeve assembly of the piling machine of the present invention; Figure 8 A schematic diagram of the expansion and contraction state of the soil-pile core anti-rising expansion and contraction system; Figure 9 This is a cross-sectional view of the piling machine; Figure 10 Figure: Release the limiting bar for the pile driver and lower the steel cage; Figure 11 Diagram of a hollow rotary power equipment system; 1 is the hollow rotating power equipment system; 2 is the spiral sleeve; 3 is the inner sleeve; 4 is the limiting system; 5 is the outer sleeve; 6 is the outer sleeve anti-rotation and downward pressure system; 7 is the winch upward pulling system; 8 is the guide rail system; 9 is the pile driver frame and walking system; 10 is the pile core soil anti-rising telescopic system. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0026] The present invention provides an intelligent cast-in-place pipe pile equipment integrating multi-source sensors, comprising the following systems: The hollow rotary power equipment system 1 consists of a rotary motor, a pinion, a bearing, and an outer ring gear. The outer ring gear is mounted on and parallel to the annular platform, and is perpendicularly connected to the center of the rectangular steel plate of the guide rail system 8. The rectangular steel plate is connected to two slide rails of the guide rail system 8, and the lateral width of the rectangular steel plate is the distance between the two slide rails. The rectangular steel plate drives the hollow rotary power equipment system 1 to move up and down via the two slide rails.

[0027] The diameter of the hollow circle of the annular platform is smaller than the diameter of the inner sleeve 3. A rotary motor is placed on the side of the outer ring gear, at the upper right corner of the rectangular steel plate, driving the small gear to rotate, which in turn drives the large hollow outer ring gear to rotate, ultimately rotating the spiral sleeve 2. The outer ring gears are connected to the annular platform via a composite bearing assembly consisting of alternating double-row angular contact ball bearings and thrust cylindrical roller bearings.

[0028] The spiral sleeve 2 is a hollow sleeve with equidistant spiral blades on its outer ring. The width of the spiral blades is the difference between the inner diameter of the outer sleeve 5 and the outer diameter of the inner sleeve 3. The spiral sleeve 2 is fixedly connected to the large hollow rotating outer gear, and the diameter of the spiral sleeve is the same as the diameter of the large hollow rotating outer gear. Two identical wedges, at an inclination angle of 45 degrees, are symmetrically arranged at the top of the inner spiral sleeve, engaging with the top of the outer sleeve 3.

[0029] The spiral sleeve is equipped with 10 advanced soil-breaking drill teeth, all inclined in the direction of soil rotation. The inclination angle can be adjusted according to different strata conditions, ranging from 15 to 35 degrees, to quickly rotate and sink the soil. Among them, two sets of advanced soil-breaking drill teeth are set at the tail end of the spiral blade, with two in each set, and six sets of advanced soil-breaking drill teeth are set at equal angles along the circular cross-section at the very end of the spiral sleeve.

[0030] The double-layer sleeve wall protection system mainly consists of an inner sleeve 3 and an outer sleeve 5. The inner sleeve 3 has two identical inclined grooves at its outer top end, with an inclination angle of 45 degrees. This allows the inner sleeve 3 and the two identical wedges at the inner top end of the spiral sleeve 2 to rotate synchronously after full engagement. The clearance between the wedges and the grooves is 0.5–1 mm, achieving efficient torque transmission and preventing disengagement. This facilitates more efficient soil settling and also prevents the inner sleeve 3 from exceeding the top of the hollow rotating power equipment system 1 when the winch is pulling it up.

[0031] Both the inner top of the inner sleeve 3 and the outer top of the outer sleeve 5 are equipped with vibration motors, which can adjust the vibration frequency according to different strata conditions for vibration sinking and pulling, thereby improving the efficiency of vibration sinking and pulling, and also playing a role in vibrating the concrete and protecting the soil in the pile core. A steel cable hook for winch pulling is set at the center of the top of the inner sleeve 3.

[0032] The outer sleeve 5 has a hollow, thin-walled cylinder at its top. Two identical circular ring plates are fixed to the upper and lower ends of the outer circumference of the thin-walled cylinder. Between the two ring plates are connecting rectangular cross-section ribs and two symmetrical steel cable hooks for hoisting upwards. The diameter of the thin-walled cylinder is the same as the diameter of the outer sleeve 5, and its height is one-tenth of the diameter of the outer sleeve 5.

[0033] The outer sleeve anti-rotation and downward pressure system 6 is a hollow, thin-walled cylinder with a diameter equal to that of the outer sleeve 5 and a height half the diameter of the outer sleeve 5. Two thin annular plates of different sizes are fixed to the upper and lower ends of the outer circumference of the thin-walled cylinder. The outermost diameter of the lower annular plate is larger than that of the upper annular plate. The width of the lower annular plate is slightly larger than that of the upper annular plate, equal to the width of the annular plate at the top of the outer sleeve 5. A trapezoidal rib is provided between the two annular plates. Rectangular soil discharge holes are evenly excavated between each pair of ribs around the thin-walled cylinder. Connecting circular holes are provided between each pair of ribs on the two annular plates. The upper annular plate is fixedly connected to the outer ring of the bearing of the hollow rotary power equipment system 1 through the circular hole, while the lower annular plate is detachably and movably connected to the outer sleeve 5 through the circular hole, simultaneously preventing the outer sleeve 5 from rotating during rotary excavation and thus preventing the steel cable from tangling.

[0034] The limiting system 4 consists of three steel bars connected to the bottom of the pile driver's guide rail, forming a rectangular limiting device. The maximum inscribed circle diameter of the hollow rectangle inside is slightly larger than the outer diameter of the outer sleeve 5, effectively preventing the verticality of the spiral sleeve 2, inner sleeve 3, and outer sleeve 5 from shifting during rotary drilling, thus ensuring the quality of pile formation. Simultaneously, the foremost steel bar of the limiting system 4 can be easily disassembled and installed. After forming the annular cavity, removing the foremost steel bar allows the pile driver to promptly move backward to lower the reinforcing cage and reposition the steel bar.

[0035] The winch-up system 7 is equipped with one winch-up motor and three pulley blocks, all located at the top of the pile driver. When the winch-up motor rotates, the steel cable passes through the cable hooks of the inner sleeve 3 and the central pulley block to lift the inner sleeve 3. Similarly, it passes through the two symmetrical cable hooks of the outer sleeve 5 and the two edge pulley blocks to lift the outer sleeve 5. The center-to-center distance between the two edge pulley blocks is the same as the distance between the two symmetrical cable hooks of the outer sleeve 5, ensuring that the two symmetrical steel cables remain perpendicular to the ground.

[0036] The guide rail system 8 consists of a guide rail motor, two slide rails, a "W"-shaped guide rail chain, and four chain drive gears. When the guide rail motor rotates, it drives the "W"-shaped guide rail chain, which is fixed to the hollow rotary power equipment system 1, through the four chain drive gears, thereby controlling the vertical lifting of the hollow rotary power equipment system 1.

[0037] The pile driver frame and walking system 9 consists of the pile driver frame and the tracked walking vehicle.

[0038] The pile core soil anti-rising expansion and contraction system 10 is mainly located at the top of the inner sleeve 3. It consists of a fixed disc base, four identical inner support plates, and linkage rods connected to control their expansion and contraction. Under the control of the linkage rods, when the four identical inner support plates are in the extended state, the outermost diameter of the cylinder formed by the four identical inner support plates is slightly larger than the inner diameter of the inner sleeve 3 by 1mm to 2mm, ensuring complete tightness and fixation with the inner sleeve 3. When retracted, the outermost diameter of the cylinder formed by the four identical inner support plates is smaller than the inner diameter of the inner sleeve 3, allowing for loosening and sliding with the inner sleeve 3. The pile core soil anti-rising expansion and contraction system 10 prevents the inner sleeve and outer sleeve from being pulled out and damaging the pile core soil, thus affecting the pile formation quality.

[0039] The concrete pouring system, used in conjunction with an intelligent cast-in-place pipe pile equipment that integrates multiple sensors, is used to pour the annular cavity of PCC piles.

[0040] The present invention provides an intelligent cast-in-place pipe pile equipment integrating multi-source sensors, which also includes a GPS system and multi-source sensors. The multi-source sensors mainly include: The GPS system is used to calculate the three-dimensional coordinates of the pile driver in real time. A dual-axis tilt sensor monitors the verticality of the pile body and is installed at the top of the spiral sleeve 2. When the verticality deviation of the pile body is detected to be >1%, the PLC controller automatically controls the hydraulic leveling device of the guide rail system to adjust the pile driver body with a leveling accuracy of ≤0.1°. The laser displacement rangefinder consists of two units, which are used to determine the drilling depth and whether the soil in the pile core has risen. They are installed at the top of the outer sleeve 5 and the top of the inner sleeve 3. Concrete pouring flow meter, pouring pressure sensor, concrete temperature sensor, and pile top liquid level sensor are arranged on the concrete pouring system to realize pouring control and automatically stop when the design elevation is reached. The pile body is equipped with stress sensors, strain sensors and vibration sensors. A steel cage is placed between the outer sleeve 5 and the inner sleeve 3. Stress sensors and strain sensors are arranged at equal intervals along the steel cage. A vibration sensor is arranged at the top of the pile to monitor the pile body stress, strain and pile top acceleration dynamic response respectively. The pile-peripheral soil pore water pressure sensor, horizontal displacement sensor, vertical displacement sensor, pile-peripheral earth pressure sensor, and vibration sensor monitor the pore water pressure, horizontal and vertical displacement, radial earth pressure, and dynamic acceleration response of soil disturbance during construction at distances of 2D, 4D, 6D, 12D, and 24D from the pile (D is the outer diameter of the PCC pile), respectively. The pile-peripheral soil pore water pressure sensor, horizontal displacement sensor, vertical displacement sensor, and pile-peripheral earth pressure sensor are arranged at equal vertical intervals from the ground, and arranged horizontally at distances of 2D, 4D, 6D, 12D, and 24D from the pile. The vibration sensor is arranged vertically at a shallow depth from the ground, and arranged horizontally at distances of 2D, 4D, 6D, 12D, and 24D from the pile. The sensors mentioned above are part of the overall monitoring system to ensure the quality of pile formation during the construction process.

[0041] The drilling speed sensor is installed at the top of the outer casing 5 to determine the hole formation efficiency, assist in judging soil layer changes, and optimize construction parameters. The encoder monitors the drilling speed. The drilling speed is the depth that the drill bit drills per unit time. It is the most direct indicator of drilling efficiency and is affected by drilling pressure, rotation speed, and torque. The drilling vibration acceleration sensor measures the real-time vibration acceleration changes of the auger sleeve 2 during the drilling process. Its core function is to capture the impact, vibration intensity, and motion state, providing data for judging the hole quality and formation conditions. The drilling vibration acceleration sensor is installed at the high-frequency vibration point of the hollow rotary power head (i.e., at the rotary motor), the top of the auger sleeve 2, the top of the inner sleeve 3, the top of the outer sleeve 5, the winch pull-up motor, the guide rail motor, and other locations to measure acceleration, vibration, and other parameters. The drilling speed sensor is installed parallel to the side of the outer ring gear of the bearing in the hollow rotary power equipment system 1. The encoder monitors the rotation speed and the number of rotations of the rotary motor per minute, which affects the number of cuts of the spiral sleeve per unit time. The drilling pressure sensor is installed at the connection between the spiral sleeve 2 and the outer ring gear of the hollow rotary power equipment system 1 to measure the pressure and soil lifting force applied to the spiral sleeve 2. The drilling current transformer is installed at the rotary motor to analyze the changes in resistance of the drilling annular hole, the torque required to drive the spiral sleeve 2 to rotate, and can reflect the hardness of the formation. The torque is calculated based on the current. The current transformer is installed on the main cable of the motor for monitoring. T =9.55 UIβ / n n —The unit for rotational speed (r / min); T —The unit of torque (Nm); U —V is the unit of voltage; I —A is the unit of current. β The motor drive efficiency is set at 0.85–0.92, dynamically corrected based on motor load: when the load rate is <50%, β =0.85, when the load rate is 50% to 80%, β =0.90, when the load rate is >80%, β= The correction factor is 0.92, which is automatically matched through the load rate-efficiency mapping table built into the PLC controller, improving the accuracy of torque conversion under different operating conditions.

[0042] The sensors mentioned above are mainly used for analysis during the construction process of excavating soil to form annular holes. They provide data for PINN algorithm analysis, feedback control of soil excavation effect, and further verification of the PINN algorithm's control effect through sensors on the pile body and surrounding soil. The verification results are then used to retrain the model parameters.

[0043] The PLC controller has a built-in torque-current linkage algorithm. When the current exceeds the rated value by 10%, it automatically reduces the speed of the rotary motor by 5% to 10% and increases the pressure on the guide rail system by 15% to 20% to avoid motor overload. The current transformer samples the operating current of the rotating motor every 50ms. I The speed sensor synchronously collects the motor speed ( n The data is transmitted to the PLC controller via the industrial bus. The controller filters the collected data (using a moving average filtering algorithm to eliminate errors caused by current fluctuations, with the filtering window width set to 5 sampling points).

[0044] The PLC controller calculates the real-time torque based on the above torque conversion model. T ), and corresponding thresholds for preset soil layers, namely soft soil layer, conventional soil layer, and hard soil layer. T 0、 T 1. T 2. Comparison: T < T 0 The current cutting condition is determined to be stable. The current speed of the rotary motor and the pressure on the guide rail are kept constant, and real-time monitoring continues. T 0 <T<T 2. Trigger early warning adjustment and execute the "speed reduction + pressure increase" coordinated action. Reduce the motor speed by 5% to 10% through the frequency converter, and at the same time control the hydraulic valve of the guide rail system 8 to increase the downward pressure by 15% to 20%. Balance the torque by "reducing the cutting frequency + increasing the cutting thrust". T 2 ＜T The overload protection is triggered, and the motor speed is immediately reduced to 50% of the rated speed. The pressure output of the guide rail system (8) is cut off, and the message "Torque overload, check the formation or tool wear" is displayed until the torque drops to 50%. T 0 Only after this can you manually reset the device and continue construction.

[0045] After each parameter adjustment, the PLC controller continuously collects the adjusted current, speed, and torque data, and calculates the torque change rate. If the torque change rate after adjustment is <5% / s, the adjustment is considered effective, and the current parameters are maintained; if the torque continues to rise (change rate ≥5% / s), the "deceleration + boost" adjustment is repeated until the torque stabilizes. T 0 Within the specified range, ensure that the torque remains within a safe and controllable range throughout the entire tunneling process to avoid motor overload or cutter damage.

[0046] This invention also features intelligent sensing control, which, as a predictive control module, collects data from multiple sensors and then provides feedback analysis and control. The intelligent sensing control includes the following: Combining the PINN model with the soil-rotating dynamics mechanism of the embedded spiral sleeve 2 and the energy transfer law of the motor as a priori physical constraints, the torque and soil-rotating resistance are correlated with parameters such as formation strength, spiral blade distance, and drill tooth inclination angle to ensure that the output torque meets the physical correlation of formation strength, spiral blade distance, and drill tooth inclination angle, and the motor voltage ( U ), current ( I ), speed ( n ) and transmission efficiency ( β The relationship between the two terms is used as the regularization term in the loss function, constraining the model calculation error to ≤1%; Secondly, the model is trained using over 1000 sets of historical data from multiple sensors covering typical soft soil foundations, conventional foundations, and hard soil layers. The input features include real-time current, rotational speed, soil strength, drilling depth, vibration frequency, and downforce; the output targets are predicted cutting torque, optimal rotational speed correction, and downforce correction. A fully connected network structure with a 6-dimensional input layer, 3 hidden layers (64 ReLU neurons per layer), and a 2-dimensional output layer is employed. The 3 hidden layers can accurately fit the high-order nonlinear relationship between the 6-dimensional input and 2-dimensional output through progressive learning: "input layer—hidden layer 1 (feature extraction)—hidden layer 2 (nonlinear transformation)—hidden layer 3 (feature fusion)—output layer." This keeps the torque prediction error within 1%, fully meeting the accuracy requirements of "real-time parameter adjustment" during construction. The 64 neurons used are more than 10 times the input feature dimension (6-dimensional). By leveraging the "sparse activation property" of the ReLU activation function (only some neurons respond to specific input features), the parameter correlation patterns under different strata are accurately captured (such as the strong positive correlation between "torque and current" in hard soil and the negative correlation between "torque and vibration frequency" in soft soil), while avoiding neuron redundancy.

[0047] The data loss and physical loss are minimized using the Adam optimizer with an adaptive learning rate. The initial learning rate is 0.001, which decays by 10% every 100 iterations. The training set contains more than 1,000 sets of construction data covering soft soil, conventional foundation, and hard soil layers. The mean squared error (MSE) is used for data loss, and the weight coefficient for physical loss is set to 0.3. During construction, multi-source sensors collect real-time data every 100ms and input it into the PINN model. The model outputs a predicted torque within 50ms, which is then fused and corrected with the measured torque calculated by the formula using a weighted ratio of 0.7:0.3 to obtain the final reliable torque. If this torque exceeds the corresponding threshold of the formation... T 0、 T 1. T 2. Synchronously output optimal adjustment parameters (speed correction Δ) n Downforce correction Δ F This is executed directly by the PLC controller.

[0048] The present invention discloses an intelligent cast-in-place pipe pile equipment and construction method integrating multi-source sensors, the construction steps of which mainly include: S1. The three-dimensional coordinates of the pile driver are calculated in real time through the GPS system. The pile driver moves to the designated construction position. The tilt sensor monitors the verticality of the pile body. The hollow rotating power equipment system 1 and the guide rail system 8 drive the spiral sleeve 2, inner sleeve 3 and outer sleeve 5 to synchronously rotate and excavate soil at 8-15 r / min. The vibration motor of the inner sleeve 3 adopts a vibration frequency of 20-50 Hz, and the vibration motor of the outer sleeve 5 adopts a vibration frequency of 15-35 Hz. The vibration frequency is adjusted once every 1m of sinking based on the feedback from the laser displacement rangefinder to ensure that the drilling speed is stable at 1.0-1.5m / h until the designated design depth is reached. Throughout the construction process, the outer sleeve anti-rotation and downward pressure system 6 is connected and fixed to the outer sleeve 5. The wedge-shaped surface at the top of the inner sleeve 3 and the wedge-shaped surface at the top of the inner sleeve 2 engage with each other and rotate synchronously. The drilling current transformer analyzes the changes in the resistance of the drilling annular hole and determines the torque required to drive the rotation of the spiral sleeve 2. The torque is increased when drilling hard soil layers and decreased when drilling soft soil layers. In conjunction with various feedback indicators measured by drilling speed sensors, drilling vibration acceleration sensors, drilling speed sensors, drilling pressure sensors, pile body sensors, concrete pouring sensors, and soil disturbance sensors around the construction pile, the drilling speed, rotation speed, drilling pressure, and torque are dynamically adjusted throughout the process to achieve optimal PCC pile formation efficiency. At the same time, through the built-in torque-current linkage algorithm of the PLC controller and combined with the PINN control algorithm model, the torque is adjusted according to the corresponding threshold of the stratum. T 0、 T 1. T 2. Synchronously output the optimal adjustment parameters, which are then directly executed by the PLC controller; S2, Hollow Rotary Power Equipment System 1, Guide Rail System 8 drives the spiral sleeve 2 to pull upward, forming an annular cavity. After that, the inner sleeve 3 and the outer sleeve 5 are temporarily left in the soil layer to protect the wall. Remove the steel bar at the front end of the limiting system 4, remove the steel cables on the inner sleeve 3 and the outer sleeve 5, move the pile driver body backward in time, arrange the pile stress sensor and strain sensor along the reinforcing cage and lower the reinforcing cage. The reinforcing cage is located between the inner sleeve 3 and the outer sleeve 5. The pile driver body returns to its original position, install the steel cables on the inner sleeve 3 and the outer sleeve 5, and install the steel bar at the front end of the limiting system 4. Throughout the process, from the movement of the pile driver to the completion of lowering the reinforcing cage, the pile core soil protection rising expansion system 10 is always at the top of the inner sleeve 3 and remains in an open state. S3. Just before the winch-assisted lifting system 7 is about to simultaneously lift the inner sleeve 3 and the outer sleeve 5, the pile core soil anti-rising expansion system 10 retracts, detaches from the inner sleeve 3, and remains at the top of the pile core soil. It uses its own weight to press down the pile core soil and simultaneously vibrates to lift the inner sleeve 3 and the outer sleeve 5 under the action of the vibrating motor. The lifting speed of the winch-assisted lifting system 7 is controlled at 0.3 to 0.5 m / min. The vibration motor frequencies of the inner sleeve 3 and the outer sleeve 5 are adjusted to 30 to 60 Hz and 25 to 50 Hz, respectively. The reset pressure of the inner support plate of the pile core soil anti-rising expansion system 10 in the retracted state is 0.8 to 1.2 MPa. S4. When the bottom of the inner sleeve 3 reaches the top of the pile core soil, the pile core soil anti-rising expansion system 10 is opened and rises along the inner slide rail of the inner sleeve 3 until its inner top is reset. Then, the inner sleeve 3 and the outer sleeve 5 continue to vibrate and pull upward simultaneously. The inner sleeve 3 and the spiral sleeve 2 are reconnected and reset. The laser displacement rangefinder at the inner top of the inner sleeve 3 determines whether the pile core soil has risen. The outer sleeve 5 is connected to the outer sleeve anti-rotation and downward pressing system 6 and bolted in place.

[0049] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent cast-in-place pipe pile equipment integrating multi-source sensors, characterized in that, include: The pile driver frame and walking system include the pile driver frame (9), guide rail system (8), winch, and PCC pile construction system; The guide rail system (8) is installed on the vertical pile driver frame (9). The guide rail system (8) is pulled up and down along the pile driver frame (9) by a winch. The PCC pile construction system is fixed on the guide rail system (8). PCC pile construction system includes a hollow rotary power equipment system (1), a spiral sleeve (2), an inner sleeve (3), an outer sleeve (5), and a winch pulling system (7). The hollow rotating power equipment system (1) includes a horizontal annular platform, which is fixed to the guide rail system (8). The annular platform is equipped with a spiral sleeve (2) suspended by a bearing. The inner ring of the bearing is fixed to the annular platform, and the outer ring has a gear. The outer ring is fixed to the spiral sleeve (2). A rotary motor is also provided on the annular platform. The rotary motor drives the outer ring to rotate the spiral sleeve (2). The spiral sleeve (2) is a vertical hollow tubular structure with spiral blades arranged on the outer ring. Both the inner sleeve (3) and the outer sleeve (5) are tubular structures. The inner sleeve (3) is located inside the outer sleeve (5). In the tunneling state, the spiral sleeve (2) is located between the inner sleeve (3) and the outer sleeve (5). Vibration motors are arranged on both the inner sleeve (3) and the outer sleeve (5). The hoisting upward pulling system (7) is fixed to the top of the pile driver frame (9), including the hoisting upward pulling motor and the pulley block. One traction steel cable of the hoisting upward pulling motor passes through the pulley block and passes through the spiral sleeve (2) to connect to the top of the inner sleeve (3). The other traction steel cable passes through the pulley block and connects to the top of the outer sleeve (5) outside the spiral sleeve (2). The equipment also includes a GPS system, drilling speed sensor, drilling vibration acceleration sensor, drilling speed sensor, drilling pressure sensor, and drilling current transformer.

2. The intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 1, characterized in that: The guide rail system (8) includes two vertical slide rails installed on the pile driver frame (9) and a rectangular steel plate that moves up and down on the two slide rails, as well as a drive motor and a lead screw on the pile driver frame (9); the rectangular steel plate has screw holes arranged longitudinally to cooperate with the lead screw, the motor drives the rectangular steel plate to move up and down through the lead screw, and the annular platform is fixed on the rectangular steel plate.

3. The intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 1, characterized in that: The bottom of the spiral sleeve (2) is arranged with soil-breaking drill teeth. The bottom of the spiral blade of the spiral sleeve (2) is also provided with soil-breaking drill teeth. The soil-breaking drill teeth are inclined towards the direction of rotation, and the angle between the inclined direction and the horizontal line is 15°-35°.

4. The intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 1, characterized in that: The top of the inner sleeve (3) and the top of the spiral sleeve (2) are provided with corresponding wedge-shaped surfaces. When the wedge-shaped surfaces of the inner sleeve (3) and the spiral sleeve (2) are engaged, the spiral sleeve (2) and the inner sleeve (3) rotate synchronously. The top of the inner sleeve (3) is closed, and a rotating hook for fixing the steel cable is provided in the center. A wedge-shaped surface is provided at a certain connection between the top and the side of the inner sleeve (3). The top of the spiral sleeve (2) is also closed, and an opening for the steel cable to pass through is provided in the center. A wedge-shaped surface corresponding to the wedge-shaped surface at the top of the inner sleeve (3) is provided at a certain connection between the top and the side of the spiral sleeve (2). The top of the outer sleeve (5) is provided with a hollow thin-walled cylinder, and the two sides of the thin-walled cylinder are provided with lugs for connecting with the steel cable.

5. The intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 4, characterized in that: The bottom of the annular platform is provided with an outer sleeve anti-rotation and downward pressure system (6). The outer sleeve anti-rotation and downward pressure system (6) includes an upper and a lower circular thin plate. The two circular thin plates are connected by ribs. The upper circular thin plate is fixed to the bottom of the annular platform, and the lower circular thin plate is detachably connected to the thin-walled cylinder at the top of the outer sleeve (5) by bolts.

6. The intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 5, characterized in that: The bottom of the pile driver frame (9) is equipped with a limiting system (4). The limiting system (4) consists of three steel bars connected to the bottom of the pile driver frame (9) to form a rectangular limiting structure. The maximum inner diameter of the hollow rectangle inside the rectangle is greater than the outer diameter of the outer sleeve (5) and smaller than the thin-walled cylinder at the top of the outer sleeve (5).

7. The intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 6, characterized in that: The inner sleeve (3) is equipped with a core soil anti-rising expansion system (10), which includes a chassis (101), a central counterweight (102), and an inner support plate (103). The center counterweight (102) is located at the center of the chassis (101). The inner support plate (103) is a vertical arc-shaped plate with the same curvature as the inner wall of the inner sleeve (3). The surface of the inner support plate (103) is a non-slip surface. Multiple inner support plates (103) are arranged around the center counterweight (102). The bottom of the inner support plate (103) on the chassis (101) is provided with a sliding groove. The bottom of the inner support plate (103) has a slider that moves along the sliding groove. There are two hinged connecting rods between the inner support plate (103) and the central counterweight (102). After the central counterweight (102) is lifted off the chassis (101), the inner support plate (103) is pulled towards the central counterweight (102) by the hinged connecting rods. When the inner support plate (103) is in the sliding groove away from the top of the central counterweight (102), the inner support plate (103) is in contact with the inner wall of the inner sleeve (3). The top of the inner sleeve (3) is provided with a through hole for the steel cable to pass through. The pile core soil anti-rise expansion system (10) is hoisted from the top of the pile core soil to the top of the inner sleeve (3) by passing a steel cable through the spiral sleeve (2) and the inner sleeve (3) and connecting it to the top of the central counterweight (102).

8. The intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 7, characterized in that, Construction equipment also includes: The GPS system is used to calculate the three-dimensional coordinates of the pile driver in real time. A dual-axis tilt sensor monitors the verticality of the pile body and is installed at the top of the spiral sleeve (2). When the verticality deviation of the pile body is detected to be >1%, the PLC controller automatically controls the hydraulic leveling device of the guide rail system to adjust the pile driver body. The leveling accuracy is ≤0.1°. The laser displacement rangefinder contains two, which are used to determine the drilling depth and whether the core soil has risen, respectively. They are installed at the top of the outer sleeve (5) and the top of the inner sleeve (3). Stress sensor, strain sensor and vibration sensor, a steel cage is placed between the outer sleeve (5) and the inner sleeve (3), stress sensor and strain sensor are arranged at equal intervals along the steel cage, and vibration sensor is arranged at the top of the pile to realize the monitoring of pile stress, strain and pile top acceleration dynamic response respectively. A soil pore water pressure sensor, a horizontal displacement sensor, a vertical displacement sensor, a soil pressure sensor, and a vibration sensor are used to monitor the pore water pressure at distances of 2D, 4D, 6D, 12D, and 24D from the pile, where D is the outer diameter of the PCC pile. The sensors monitor horizontal and vertical displacement, radial soil pressure, and the dynamic acceleration response of soil disturbance during construction. The soil pore water pressure sensor, horizontal displacement sensor, vertical displacement sensor, and soil pressure sensor are arranged at equal vertical intervals from the ground, and horizontally arranged at distances of 2D, 4D, 6D, 12D, and 24D from the pile. A vibration sensor is placed vertically at a shallow depth from the ground, and horizontally arranged at distances of 2D, 4D, 6D, 12D, and 24D from the pile. The drilling speed sensor is installed at the top of the outer sleeve (5) to determine the drilling efficiency, assist in judging soil layer changes, optimize construction parameters, and use an encoder to monitor the drilling speed. The drilling speed is the depth of drilling per unit time of the drill bit, which is the most direct indicator of drilling efficiency and is affected by drilling pressure, rotation speed and torque. The drilling vibration acceleration sensor measures the real-time vibration acceleration change of the spiral sleeve (2) during the drilling process. The core is to capture the impact, vibration intensity and motion state, and provide data for judging the hole quality and formation conditions. The drilling vibration acceleration sensor is arranged at the high-frequency vibration point of the hollow rotating power head, the top of the spiral sleeve (2), the top of the inner sleeve (3), the top of the outer sleeve (5), the winch pull-up motor, the guide rail motor and other places to measure acceleration, vibration and other parameters. The drilling speed sensor is installed on the side of the outer ring gear of the bearing in the hollow rotary power equipment system (1). The encoder monitors the rotation speed and the number of rotations of the rotary motor per minute, which affects the number of cuts of the spiral sleeve per unit time. The drilling pressure sensor is installed at the connection between the spiral sleeve (2) and the outer ring gear of the hollow rotary power equipment system (1) to apply pressure and soil lifting force to the spiral sleeve (2); The drilling current transformer is installed at the rotating motor to analyze the change in resistance of the drilling annular hole and drive the rotation of the spiral sleeve (2). It can reflect the hardness of the formation. The torque is calculated according to the current. The current transformer is installed on the main cable of the motor for monitoring. T =9.55 UIβ / n n —The unit for rotational speed (r / min); T —The unit of torque (Nm); U —V is the unit of voltage; I —A is the unit of current. β For motor transmission efficiency; The PLC controller has a built-in torque-current linkage algorithm. When the current exceeds the rated value by 10%, it automatically reduces the speed of the rotating motor by 5% to 10% and increases the pressure on the guide rail system (8) by 15% to 20% to avoid motor overload. The current transformer samples the operating current of the rotating motor every 50ms. I The speed sensor synchronously collects the motor speed ( n The data is transmitted to the PLC controller via the industrial bus, and the controller filters the collected data. The PLC controller calculates the real-time torque based on the above torque conversion model. T ), and corresponding thresholds for preset soil layers, namely soft soil layer, conventional soil layer, and hard soil layer. T 0、 T 1. T 2. Comparison: T < T 0 The current cutting condition is determined to be stable. The current speed of the rotary motor and the pressure on the guide rail are kept constant, and real-time monitoring continues. T 0 <T<T 2. Trigger the early warning adjustment and execute the "speed reduction + pressure increase" coordinated action. Reduce the motor speed by 5% to 10% through the frequency converter, and at the same time control the hydraulic valve of the guide rail system (8) to increase the downward pressure by 15% to 20%. Balance the torque by "reducing the cutting frequency + increasing the cutting thrust". T 2 ＜T The overload protection is triggered, and the motor speed is immediately reduced to 50% of the rated speed. The pressure output of the guide rail system (8) is cut off, and the message "Torque overload, check the formation or tool wear" is displayed until the torque drops to 50%. T 0 Only after this can the machine be manually reset to continue construction; After each parameter adjustment, the PLC controller continuously collects the adjusted current, speed, and torque data, and calculates the torque change rate: if the torque change rate after adjustment is <5% / s, the adjustment is deemed effective, and the current parameters are maintained; if the torque continues to rise, the "speed reduction + pressure increase" adjustment is repeated until the torque stabilizes. T 0 Within the specified range, ensure that the torque remains within a safe and controllable range throughout the entire tunneling process to avoid motor overload or cutter damage.

9. The intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 8, characterized in that: Combining the PINN model with the soil rotation dynamics mechanism of the embedded spiral sleeve (2) and the motor energy transfer law as a priori physical constraints, the torque and soil rotation resistance are correlated with the formation strength, spiral blade distance, and drill tooth inclination angle to ensure that the output torque meets the physical correlation of formation strength, spiral blade distance, and drill tooth inclination angle, and the motor voltage ( U ), current ( I ), speed ( n ) and transmission efficiency ( β The relationship between the two terms is used as the regularization term in the loss function, constraining the model calculation error to ≤1%; Secondly, the model is trained using historical data from over 1000 multi-source sensors covering typical soft soil foundations, conventional foundations, and hard soil layers. It employs a fully connected network structure with a 6-dimensional input layer, 3 hidden layers, and a 2-dimensional output layer. The 3 hidden layers can accurately fit the high-order nonlinear relationship between the 6-dimensional input and 2-dimensional output through progressive learning ("input layer—hidden layer 1—hidden layer 2—hidden layer 3—output layer"), keeping the torque prediction error within 1%, fully meeting the accuracy requirements of "real-time parameter adjustment" during construction. The 64 neurons used are more than 10 times the dimension of the input features. Through the "sparse activation characteristics" of the ReLU activation function, the model accurately captures the parameter correlation patterns under different soil layers while avoiding neuron redundancy. The data loss and physical loss are minimized by the Adam optimizer with an adaptive learning rate. The initial learning rate is 0.001, which decays by 10% every 100 iterations. The training set contains more than 1,000 sets of construction data covering soft soil, conventional foundation and hard soil layers. The mean square error is used for data loss and the weight coefficient of physical loss is set to 0.

3. During construction, multi-source sensors collect real-time data every 100ms and input it into the PINN model. The model outputs a predicted torque within 50ms, which is then fused and corrected with the measured torque calculated by the formula using a weighted ratio of 0.7:0.3 to obtain the final reliable torque. If this torque exceeds the corresponding threshold of the formation... T 0、 T 1. T 2. The optimal adjustment parameters are output synchronously and executed directly by the PLC controller.

10. The construction method of an intelligent cast-in-place pipe pile equipment integrating multi-source sensors according to claim 9, characterized in that, Includes the following steps: S1. The three-dimensional coordinates of the pile driver are calculated in real time through the GPS system. The pile driver moves to the designated construction position. The tilt sensor monitors the verticality of the pile body. The hollow rotating power equipment system (1) and the guide rail system (8) drive the spiral sleeve (2), inner sleeve (3), and outer sleeve (5) to synchronously rotate and excavate soil at 8-15 r / min. The vibration motor of the inner sleeve (3) adopts a vibration frequency of 20-50 Hz, and the vibration motor of the outer sleeve (5) adopts a vibration frequency of 15-35 Hz. The vibration frequency is adjusted once every 1 m according to the feedback of the laser displacement rangefinder to ensure that the drilling speed is stable at 1.0-1.5 m / h until the designated design depth is reached. Throughout the construction process, the outer sleeve anti-rotation and downward pressure system (6) is connected and fixed to the outer sleeve (5). The wedge-shaped surface at the top of the inner sleeve (3) and the wedge-shaped surface at the top of the inner sleeve (2) are engaged with each other and rotate synchronously. The drilling current transformer analyzes the change in resistance of the drilling annular hole and drives the torque required to rotate the spiral sleeve (2). The torque is increased when drilling hard soil and decreased when drilling soft soil. In conjunction with the drilling speed sensor, drilling vibration acceleration sensor, drilling speed sensor, drilling pressure sensor, pile body sensor, concrete pouring sensor, and soil disturbance sensor around the construction pile, the drilling speed, rotation speed, drilling pressure, and torque are dynamically adjusted throughout the process to achieve the optimal PCC pile formation efficiency. At the same time, the torque-current linkage algorithm built into the PLC controller and the PINN control algorithm model are combined to adjust the drilling speed, rotation speed, drilling pressure, and torque according to the corresponding threshold of the stratum. T 0、 T 1. T 2. The optimal adjustment parameters are output synchronously and executed directly by the PLC controller; S2, Hollow Rotary Power Equipment System (1), Guide Rail System (8) drives Spiral Sleeve (2) to pull up, forming an annular cavity, Inner Sleeve (3) and Outer Sleeve (5) temporarily remain in the soil layer for wall protection; Remove the steel bar at the front end of the limiting system (4), remove the steel cables on the inner sleeve (3) and outer sleeve (5), move the pile driver body backward in time, arrange the pile stress sensor and strain sensor along the reinforcing cage and lower the reinforcing cage. The reinforcing cage is located between the inner sleeve (3) and outer sleeve (5). The pile driver body returns to its original position, install the steel cables on the inner sleeve (3) and outer sleeve (5), and install the steel bar at the front end of the limiting system (4). Throughout the process, from the time the pile driver moves to the time the reinforcing cage is lowered, the pile core soil protection rising expansion system (10) is always at the top of the inner sleeve (3) and remains in an open state. S3. Before the inner sleeve (3) and outer sleeve (5) are simultaneously pulled up by the winch pulling system (7), the pile core soil anti-rising expansion system (10) contracts and separates from the inner sleeve (3), remaining at the top of the pile core soil. It uses its own weight to press down the pile core soil and simultaneously vibrates to pull up the inner sleeve (3) and outer sleeve (5) under the action of the vibrating motor. The pulling speed of the winch pulling system (7) is controlled at 0.3 to 0.5 m / min. The vibration motor frequencies of the inner sleeve (3) and outer sleeve (5) are adjusted to 30 to 60 Hz and 25 to 50 Hz, respectively. The reset pressure of the inner support plate of the pile core soil anti-rising expansion system (10) in the contracted state is 0.8 to 1.2 MPa. S4. When the bottom of the inner sleeve (3) reaches the top of the pile core soil, the pile core soil anti-rising expansion system (10) is opened and rises along the inner slide rail of the inner sleeve (3) until its inner top is reset. Then, the inner sleeve (3) and the outer sleeve (5) continue to vibrate and pull up simultaneously. The inner sleeve (3) and the spiral sleeve (2) are reconnected and reset. The laser displacement rangefinder at the inner top of the inner sleeve (3) determines whether the pile core soil has risen. The outer sleeve (5) is connected to the outer sleeve anti-rotation and downward pressure system (6) and bolted.

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