Cover-excavation top-down station large-scale steel pipe column multi-element technology cooperation verticality control method

Abstract

The invention discloses a cover and excavation top-down station large-scale steel pipe column multi-element technology cooperation verticality control method, which comprises the following steps: hoisting a steel pipe column to a hydraulic adjusting platform carrying a multi-mode sensor section by section, and reducing section butt joint non-concentric difficulty through cooperative lofting of an automatic total station type electronic tacheometer and a laser level meter; an ultrasonic detector is adopted to check the contour of the hole wall before hole forming, deviation is corrected in advance through drilling equipment, and the perpendicularity deviation risk is avoided; after double machines are lifted, an unmanned aerial vehicle flight control system is matched with an ultrasonic ranging system to feed back postures of a steel pipe column body in real time and dynamically adjust the postures; inclination data are analyzed by means of a tool section top tilt angle sensor, and the perpendicularity is finely adjusted through a full-slewing drilling machine hydraulic oil cylinder. Through multi-technology cooperation, advanced pre-judgment, real-time monitoring and accurate regulation and control, the method has the advantages of high operability, high precision and efficient data linkage.

Description

Technical Field

[0001] This invention relates to the field of urban rail transit, specifically to a multi-technology collaborative verticality control method for large steel pipe columns in cut-and-cover reverse construction stations. Background Technology

[0002] As cities continue to develop, a super integrated hub station that links commerce, residence, transportation and other multi-dimensional functions has emerged. Typically, a super integrated hub combines underground space and above-ground property development, with steel pipe central columns serving as the framework of the hub station, bearing permanent vertical support columns and horizontal loads.

[0003] For example, Chinese invention patent application CN202210960353.0 discloses a positioning and plumb adjustment system for permanent steel pipe columns in the cut-and-cover reverse construction method, including a tool section, a positioning platform, a positioning mechanism, a crosshair plate, a laser positioning instrument, and a controller. The upper end of the tool section extends out of the pile hole, and the lower end of the tool section is connected to the upper end of the steel pipe of the steel pipe column, with the lower end of the steel pipe inserted into the bottom drilled pile. The positioning platform is rectangular and fixed on the horizontal ground around the pile hole, coaxially configured with the pile hole, and the lower end of the tool section extends beyond the top of the positioning platform. Multiple positioning mechanisms are arranged circumferentially between the inner edge of the positioning platform and the tool section, with the driving end of the positioning mechanism contacting the outer circumferential surface of the tool section. This invention also discloses a construction method for positioning permanent steel pipe columns in the cut-and-cover reverse construction method.

[0004] For example, Chinese invention patent application number CN201810254073.1 discloses a construction process for precise positioning and rapid installation of steel pipe columns in the cut-and-cover reverse construction method, including the following steps: after the pile foundation reinforcement cage is hoisted, concrete piers are poured in the cross direction of the steel casing and channel steel is installed; the elevation and coordinates of the steel casing are measured to determine the relative elevation and coordinates of the steel pipe column; two supporting steel plates are welded on the steel casing; the steel pipe column is hoisted into the hole, and the initial installation of the steel pipe column is completed with the steel casing as a reference; a platform is built at the hole opening with channel steel and steel plates, and the coordinates of the steel pipe column are laid out and marked; a laser plumb bob is set up, and the steel pipe column is finely adjusted with jacks so that the target center coincides with the laser spot; the steel pipe column and the steel casing are welded together with steel plates. By installing two supporting steel plates inside the steel casing, the steel pipe column can be suspended in mid-air when it is lowered. The center coordinates and verticality of the steel pipe column can be adjusted by using a laser plumb bob and jacks, so that concrete pouring is not required before the steel pipe column is positioned.

[0005] For example, Chinese invention patent application number CN201410350120.4 discloses a vertical positioning device for a reverse-installation steel pipe column and its construction method. This device includes a crane, wire ropes, and a hydraulic press. The upper end of the steel pipe column extends outward from the hydraulic press, while the lower end is open. Vibrators are symmetrically distributed along the axis of the steel pipe column extending from the upper side of the hydraulic press, and all vibrators are evenly distributed around the annular wall of the steel pipe column. A disturbance component is installed on the lower end of the steel pipe column, and a notch is also provided on the lower end of the column. During construction, it is ensured that the two wire ropes are of the same length and are both taut. The clamping device of the hydraulic press is used to accurately position the steel pipe column, and the paired vibrators are used for vertical adjustment until the verticality and positioning of the steel pipe column meet the requirements. The vertical positioning device and construction method of this invention are easy to operate and adjust, and the control is precise, making it particularly suitable for the construction and installation of large-diameter and long-length steel pipe columns.

[0006] Traditional measurement and verification methods are insufficient for assessing the installation accuracy of super-giant steel pipe columns. Ensuring the installation accuracy of ultra-long, ultra-heavy, and ultra-large steel pipe columns is crucial for guaranteeing project safety, functionality, and long-term stability. Installation deviations can lead to uneven stress distribution, causing localized stress concentrations, and in severe cases, structural cracking and instability. Insufficient installation accuracy can even affect the operation of subway lines. Based on the aforementioned technical problems in existing technologies, this invention provides a multi-technology collaborative verticality control method for large steel pipe columns in cut-and-cover reverse construction stations. Summary of the Invention

[0007] To address the aforementioned problems in existing technologies, this invention provides a multi-technology collaborative verticality control method for large steel pipe columns in cut-and-cover reverse construction railway stations. This method perfectly solves the problems caused by insufficient precision control of steel pipe columns during the construction of integrated railway hub stations, which leads to insufficient structural capacity to withstand huge vertical loads and bending moments, and reduced structural seismic performance. At the same time, by utilizing new automated and adjustable equipment and comprehensive monitoring equipment, real-time control of the entire process of steel pipe column assembly and installation is achieved to ensure that the verticality of the steel pipe column installation meets the requirements.

[0008] The present invention adopts the following technical solution: This invention provides a multi-technology collaborative verticality control method for large steel pipe columns in cut-and-cover railway stations, comprising: Step 1: The segmented steel pipe column is hoisted to the multi-mode sensor integrated hydraulic adjustment platform. The automated total station electronic speed measuring instrument and laser level are used for coordinated layout. The fine adjustment function of the hydraulic adjustment platform is used to correct the spatial position of the steel pipe column in real time and control the coaxiality deviation of the segmented connection. Step 2: During the drilling process of the steel pipe column pile foundation, an ultrasonic borehole wall detector is used to perform full-section imaging scanning of the drilled section to obtain borehole wall contour data and analyze verticality deviation. The borehole wall verticality is optimized by pre-adjusting through the guide correction system of the drilling equipment. Step 3: The steel pipe column is lifted by a dual-machine hoist, and the column is straightened in the air. A three-dimensional monitoring network is constructed using a UAV flight control measurement system and an ultrasonic ranging system to collect the verticality deviation and attitude tilt parameters of the steel pipe column in real time, and to dynamically adjust the lowering process of the steel pipe column. Step 4: Install an inclination sensor on the top of the steel pipe column tool section to collect the inclination data of the steel pipe column in real time. Combined with the design allowable verticality deviation value, the verticality of the steel pipe column is precisely adjusted by the hydraulic cylinder of the full-rotation drilling rig.

[0009] Furthermore, in step 1, the hydraulic adjustment platform has vertical lifting and horizontal translation fine adjustment functions. The vertical lifting adjustment stroke is 0-100mm with an adjustment accuracy of ≤±0.05mm, the horizontal translation adjustment accuracy is ≤±0.1mm, and the misalignment deviation of the steel pipe column butt welding is ≤1mm.

[0010] Furthermore, in step 1, the angular measurement accuracy of the automated total station electronic tachometer is ≤ ±0.5″, and the flatness error is ≤ ±0.2mm / m. It is used to locate the azimuth angle and simultaneously detect the axis and end face flatness of the steel pipe column docking port.

[0011] Furthermore, in step 2, the ultrasonic borehole wall verticality detector has a scanning resolution of ≤1mm / point, a scanning speed of ≥0.5m / s, a borehole diameter measurement accuracy of ≤±2mm, and a verticality measurement accuracy of ≤±0.01°. A borehole wall verticality deviation curve is generated by data analysis software, and the drill rod inclination angle, drilling speed, and mud performance parameters are adjusted based on the deviation data to ensure that the borehole verticality deviation is ≤1‰.

[0012] Furthermore, in step 2, the drilling equipment guidance and correction system adjusts the drill rod angle according to the deviation analysis results, controls the drill rod drilling speed at 0.3-0.8 m / min, and adjusts the mud performance parameters to a specific gravity of 1.05-1.15 g / cm³, viscosity of 18-22 s, and sand content of ≤2%, ensuring that the verticality of the hole is ≤1‰.

[0013] Furthermore, in step 3, the dual-machine lifting system straightens the steel pipe column at a speed of 0.5-1m / min, and collects the verticality data of the steel pipe column in real time using an automated total station electronic speed measuring instrument. Observation points are set up at three orthogonal positions of the steel pipe column to collect the verticality data in real time.

[0014] Furthermore, in step 3, the UAV flight control measurement system is equipped with a high-definition camera with ≥20 million pixels and an attitude sensor with a measurement accuracy of ≤±0.02°.

[0015] Furthermore, in step 3, the verticality deviation measurement resolution of the ultrasonic ranging system is ≤0.05‰, the tilt angle measurement accuracy is ≤±0.02°, and the data is transmitted in milliseconds through the wireless image transmission module to dynamically correct the horizontal position and tilt angle of the steel pipe column 1 during the lowering process.

[0016] Furthermore, in step 4, the tilt sensor has a measurement accuracy of ±0.01°, a data transmission frequency of 1 time / 5s, and a design allowable verticality deviation threshold of ≤1‰. The collected data is compared with the design allowable deviation threshold through the data processing system, and the verticality of the steel pipe column is corrected in each direction by using the four sets of independently controlled hydraulic cylinders of the full-rotation drilling rig for graded pressure adjustment and synchronous linkage control.

[0017] Furthermore, in step 4, the four sets of hydraulic cylinders of the full-rotation drilling rig adopt a graded pressure adjustment and synchronous linkage control method to correct the verticality of the steel pipe column in each direction. During the control process, the rig continuously receives sensor feedback data and dynamically optimizes and adjusts the parameters.

[0018] Compared with the prior art, the superior effects of the present invention are as follows: 1. The multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this invention differs from the traditional fixed steel pipe column storage platform. It adopts a dynamic adjustable steel pipe column splicing platform in conjunction with measuring instruments to effectively improve the accuracy and efficiency of steel pipe column docking, and eliminates the problem that the verticality of the steel pipe column cannot be guaranteed after it is lowered due to eccentricity during the steel pipe column docking and extension stage. 2. The multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this invention involves using an ultrasonic borehole wall detector to perform full-section imaging scanning on the completed section before each shift of the steel pipe column pile foundation drilling construction. This collects borehole wall contour data and analyzes verticality deviations. For any potential deviations detected, the drilling equipment's guide and correction system is used to pre-adjust and optimize the borehole wall verticality, ensuring the smooth lowering of the subsequent steel pipe columns. 3. The multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this invention adopts a dual-machine lifting method, lifting the steel pipe column in a balanced manner according to the preset lifting points, and straightening the steel pipe column in the air to ensure the stability of the initial attitude; the UAV flight control and ultrasonic sensor ranging system are activated to build a three-dimensional monitoring network, collect verticality deviation and spatial attitude tilt parameters in real time, and generate adjustment instructions through data terminal analysis to guide the dynamic correction of the position of the steel pipe column during the lowering process; 4. The multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this invention involves installing high-precision tilt sensors on the top of the steel pipe column tool section in the X and Y axis directions, completing the debugging and calibration with the data acquisition system, and after the steel pipe column body enters the hole to the designed depth, the sensors collect tilt data in real time, and derive the deviation angle by combining it with the design allowable deviation threshold. The verticality is gradually corrected by the precise control of four sets of hydraulic cylinders of the full-rotation drilling rig, ensuring that the installation accuracy meets the design and specification requirements. 5. The multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this invention utilizes a multi-technology collaborative approach, including adjustable storage platforms, precise measurement, ultrasonic wall measurement inside the borehole, UAV scanning, high-precision tilt sensors, and full-rotation hydraulic platform fine-tuning. This approach improves docking accuracy and efficiency by addressing four aspects: segmented welding, borehole verification, aerial monitoring, and fine-tuning upon entry into the borehole. Pre-correction ensures smooth lowering, and a three-dimensional monitoring network dynamically corrects the column's posture during hoisting. After entry into the borehole, tilt sensors collect data, and hydraulic cylinders provide precise control, ensuring the installation accuracy of ultra-long, ultra-heavy, and ultra-large steel pipe columns in the integrated construction of the cut-and-cover reverse construction pile system. Attached Figure Description

[0019] Figure 1 This is a flowchart of the multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this embodiment of the invention; Figure 2 This is a cross-sectional schematic diagram of the adjustable steel pipe column splicing platform of the multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this embodiment of the invention. Figure 3 This is a schematic diagram of the full-section imaging cross-section of the ultrasonic borehole wall detector used in the multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this embodiment of the invention. Figure 4 This is a schematic diagram of the cross-section of verticality deviation and spatial attitude collected by UAV flight control for the multi-technology collaborative verticality control method of large steel pipe columns in the cut-and-cover reverse construction station described in this embodiment of the invention. Figure 5 This is a schematic diagram of the cross-section of the steel pipe column verticality control method for large steel pipe columns in the cut-and-cover reverse construction station described in this embodiment of the invention, using a full-rotation drilling rig and high-precision sensors to finely adjust the verticality of the steel pipe column. Figure label: 1. Steel pipe column; 2. Storage platform; 3. Adjustable hydraulic device; 4. Ultrasonic borehole wall verticality detector; 5. Borehole wall measurement data processing platform; 6. Ultrasonic radar; 7. Steel pipe column borehole wall; 8. Full-rotation drilling rig; 9. Hydraulic cylinder; 10. High-precision tilt sensor and data processing platform; 11. Total station; 12. UAV flight control and measurement system. Detailed Implementation

[0020] To better understand the above-mentioned objectives, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Example

[0021] like Figure 1 As shown, the multi-technology collaborative verticality control method for large steel pipe columns in the cut-and-cover reverse construction station includes: Step 1: The segmented steel pipe column 1 is hoisted to the multi-mode sensor integrated hydraulic adjustment platform. The automated total station electronic speed measuring instrument and laser level are used for coordinated layout. The fine adjustment function of the hydraulic adjustment platform is used to correct the spatial position of the steel pipe column 1 in real time and control the coaxiality deviation of the segmented connection. Step 2: During the drilling process of the steel pipe column 1 pile foundation, an ultrasonic borehole wall detector is used to perform full-section imaging scanning of the drilled section to obtain borehole wall contour data and analyze verticality deviation. The borehole wall verticality is optimized by pre-adjusting through the guide correction system of the drilling equipment. Step 3: The steel pipe column 1 is lifted by a dual-machine hoist and straightened in the air. A three-dimensional monitoring network is constructed using the UAV flight control measurement system 12 and the ultrasonic ranging system to collect the verticality deviation and attitude tilt parameters of the steel pipe column 1 in real time and dynamically adjust the lowering process of the steel pipe column 1. Step 4: Install an inclination sensor on the top of the tool section of the steel pipe column 1 to collect the inclination data of the steel pipe column 1 in real time. Combined with the design allowable verticality deviation value, the verticality of the steel pipe column 1 is precisely adjusted by the hydraulic cylinder 9 of the full-rotation drilling rig 8.

[0022] In some specific embodiments, in step 1, after the extra-long steel pipe column 1 is transported to the site in sections, two sections of steel pipe column 1 are smoothly and accurately placed onto the multi-mode sensor integrated hydraulic adjustment platform, which has been tested and adjusted in the early stage, using large lifting equipment. Then, the automated total station electronic speed measuring instrument and high-precision laser level are started. Based on the measurement control network deployed on site, a two-dimensional collaborative measurement system of plane position and vertical elevation is constructed. The azimuth angle is located according to the "four points in a line" principle. The axis, end face flatness and spatial posture of the docking port of the steel pipe column 1 section are accurately laid out and positioned in three-dimensional coordinates. Based on the real-time collected measurement data, the horizontal translation and vertical lifting fine adjustment functions of the hydraulic adjustment platform are used to dynamically and in real time correct the levelness of the steel pipe column 1, so as to achieve a docking welding misalignment deviation of ≤1mm, which lays the foundation for the subsequent welding connection of the steel pipe column 1 and the overall structural stability. In the scenario of installing steel pipe columns in a cut-and-cover station, the core of using the "four points in one line" principle to determine the azimuth angle is to lock the direction of steel pipe column 1 by having two external reference points and two characteristic points of steel pipe column 1 collinear. The specific process is as follows: Two stable measurement reference points are selected in the construction area, denoted as point A and point B. Their precise coordinates are determined in advance using a total station 11, and the azimuth angle of the baseline AB is determined as the global direction reference. On the steel pipe column 1 to be installed, select two symmetrical and easily observable feature points. Usually, select two symmetrical center marking points at the docking port of steel pipe column 1, and denot them as point C and point D. Set up the total station 11 on the reference point A. After centering and leveling, aim at the reference point B, lock the azimuth of the baseline AB, rotate the total station 11, aim at point C on the steel pipe column 1, and record the deviation between the current observation angle and the baseline AB. The horizontal torsion angle of steel pipe column 1 is finely adjusted by the hydraulic adjustment platform. Points C and D on steel pipe column 1 are continuously observed until points B, C, and D fall on the same line of sight when the total station 11 observes from point A. At the same time, the deviation of points C and D from the baseline AB is checked by the total station 11 and controlled within the design allowable range. By ensuring that the external reference point and the characteristic points of the steel pipe column 1 are collinear, the azimuth angle of the steel pipe column 1 is accurately locked, avoiding the twisting of the steel pipe column 1 and the deviation of the segment connection direction, thus ensuring the coaxiality and overall posture accuracy of subsequent installation.

[0023] During the drilling phase of the steel pipe column 1 foundation, in order to ensure the quality of the drilling and the smooth lowering of the steel pipe column 1, it is necessary to strictly implement the pre-drilling quality inspection and dynamic correction mechanism. That is, before each shift, a qualified ultrasonic borehole wall detector must be used to conduct full-section continuous imaging scanning of the completed drilling section, accurately collect the three-dimensional contour data of the borehole wall, the borehole diameter variation parameters, and the real-time value of verticality. Through professional data analysis software, a borehole wall verticality deviation curve is generated to clarify the deviation location, deviation amount, and development trend. For the verticality deviation hazards identified by the detection, the drilling equipment's built-in intelligent guidance and correction system is used to accurately adjust the drill rod angle, drilling speed, and mud performance parameters based on the deviation data analysis results, and to perform targeted optimization and correction of the borehole wall verticality to ensure that the borehole verticality is less than 1‰. This avoids problems such as jamming and collision caused by borehole wall deviation during the subsequent lowering of the steel pipe column 1 from the source, ensuring smooth connection of construction procedures and stable project quality. Based on the structural characteristics and stress analysis results of steel pipe column 1, the lifting points are preset. The steel pipe column 1 is slowly straightened in the air, and the total station 11 is calibrated simultaneously to ensure that the initial attitude of the steel pipe column 1 is vertically stable and free from abnormalities such as torsion or tilting. Then, the UAV flight control measurement system 12 and the ultrasonic sensor ranging system are activated to build an all-round, blind-spot-free aerial three-dimensional ranging network. The UAV, equipped with a high-definition camera and attitude sensor, cruises around the circumference of the steel pipe column 1. The ultrasonic sensor accurately collects the verticality deviation data and spatial attitude tilt parameters of the steel pipe column 1, realizing the real-time transmission, analysis and processing of key data. This guides the operators to accurately control the crane lifting speed, boom angle and auxiliary traction force. During the slow lowering of the steel pipe column 1, the position and angle of the steel pipe column 1 entering the hole are dynamically corrected to ensure that the steel pipe column 1 always sinks vertically along the design axis and ensures that the steel pipe column 1 is accurately installed in place. High-precision tilt sensors are fixedly installed on the top of the tool section of steel pipe column 1 along the orthogonal directions of the X and Y axes. The accuracy of the sensors must meet the measurement requirements of ±0.01°. After steel pipe column 1 is slowly inserted into the hole to the designed elevation depth, the vertical monitoring system is started. The tilt sensors collect the tilt angle data of steel pipe column 1 in the X and Y axis directions in real time, with a transmission frequency of once every 5 seconds. The verticality allowable deviation threshold specified in the design document is called simultaneously, which is less than 1‰. The data processing system compares and analyzes the collected tilt data with the allowable threshold. The platform calculates the deviation amplitude and adjustment amount of steel pipe column 1 in each direction. Relying on the four sets of independently controlled hydraulic cylinders configured in the full-rotation drilling rig 8, the positive precision control operation is implemented. The verticality of steel pipe column 1 is corrected in each direction through graded pressure adjustment and synchronous linkage control. During the control process, the sensor feedback data is continuously received, and the parameters are dynamically optimized and adjusted to ensure that the installation accuracy meets the design and specification requirements.

[0024] In some specific embodiments, in step 1, the hydraulic adjustment platform has vertical lifting and horizontal translation fine adjustment functions. The vertical lifting adjustment stroke is 0-100mm, the adjustment accuracy is ≤±0.05mm, the horizontal translation adjustment accuracy is ≤±0.1mm, and the misalignment deviation of the butt welding of the steel pipe column 1 is ≤1mm.

[0025] In some specific embodiments, unlike traditional fixed assembly platforms, the fully automated adjustable steel pipe column 1 splicing platform uses hydraulic adjustment to vertically lift the platform with an adjustment stroke of 0-100mm and an adjustment accuracy of ≤±0.05mm, and also has a horizontal translation function with an adjustment accuracy of ≤±0.1mm. This ensures that the misalignment deviation of the butt welding is strictly controlled within ≤1mm, realizing free control of the steel pipe column 1 assembly and improving the high precision level of the steel pipe column 1 assembly.

[0026] In some specific embodiments, in step 1, the angle measurement accuracy of the automated total station electronic tachometer is ≤ ±0.5″, the flatness error is ≤ ±0.2mm / m, the azimuth angle is located, and the axis and end face flatness of the docking port of the steel pipe column 1 are detected simultaneously.

[0027] In some specific embodiments, in step 2, the ultrasonic borehole wall verticality detector 4 has a scanning resolution ≤1mm / point, a scanning speed ≥0.5m / s, a borehole diameter measurement accuracy ≤±2mm, and a verticality measurement accuracy ≤±0.01°; a borehole wall verticality deviation curve is generated by data analysis software, and the drill rod inclination angle, drilling speed, and mud performance parameters are adjusted based on the deviation data to ensure that the borehole verticality deviation is ≤1‰; in step 2, the drilling equipment guidance and correction system adjusts the drill rod angle according to the deviation analysis results, the drill rod drilling speed is controlled at 0.3-0.8m / min, and the mud performance parameters are adjusted to a specific gravity of 1.05-1.15g / cm³, viscosity of 18-22s, and sand content ≤2% to ensure that the borehole verticality is ≤1‰.

[0028] In some specific embodiments, in step 2, before each shift, an ultrasonic borehole wall verticality detector 4 is used to perform full-section continuous imaging scanning on the completed borehole section. The scanning resolution is ≤1mm / point, the scanning speed is ≥0.5m / s, and the three-dimensional contour coordinate data of the borehole wall, the borehole diameter variation parameters are accurately collected with a measurement accuracy of ≤±2mm, and the real-time verticality value is collected with a measurement accuracy of ≤±0.01°. The collected data is analyzed in real time using professional data analysis software (such as Smartbi software) to generate a borehole wall verticality deviation curve, clarify the deviation location with a positioning accuracy of ≤±5cm, the deviation amount and development trend, and determine whether there are quality hazards such as excessive deviation. Based on the deviation data analysis results, the drill rod inclination angle and drilling speed (control range 0.3-0.8m / min) and mud performance parameters (mud specific gravity 1.05-1.15g / cm³, viscosity 18-22s, sand content ≤2%) are precisely adjusted to ensure that the borehole verticality deviation is strictly controlled within the range of ≤1‰.

[0029] In some specific embodiments, in step 3, the dual-machine lifting system straightens the steel pipe column 1 at a speed of 0.5-1 m / min. An automated total station electronic speed measuring instrument collects the verticality data of the steel pipe column 1 in real time, and observation points are set up at three orthogonal positions on the steel pipe column 1 to collect verticality data in real time. In step 3, the UAV flight control measurement system 12 is equipped with a high-definition camera with ≥20 million pixels and an attitude sensor with a measurement accuracy ≤±0.02°. The ultrasonic ranging system has a verticality deviation measurement resolution ≤0.05‰ and an tilt angle measurement accuracy ≤±0.02°. Data is transmitted in milliseconds via a wireless image transmission module, dynamically correcting the horizontal position and tilt angle of the steel pipe column 1 during its lowering process.

[0030] In some specific embodiments, in step 3, the steel pipe column 1 is lifted off the ground smoothly by dual-machine lifting and coordinated control. The steel pipe column 1 is straightened in the air at a slow speed of 0.5-1m / min. At the same time, the manual preliminary calibration process is started. The angle measurement accuracy of the automated total station electronic tachometer is ≤±0.5″ and the flatness error is ≤±0.2mm / m. Observation points are set up at three orthogonal positions of the steel pipe column 1 to collect the verticality data of the steel pipe column 1 in real time. The UAV flight control and measurement system, combined with the ultrasonic sensor ranging system, constructs a comprehensive, blind-spot-free aerial three-dimensional ranging network. The UAV is equipped with a high-definition camera with ≥20 million pixels and an attitude sensor with a measurement accuracy of ≤±0.01°. It accurately collects data on the verticality deviation of steel pipe column 1 (measurement resolution ≤0.05‰) and spatial attitude tilt parameters (tilt angle measurement accuracy ≤±0.02°). This data is transmitted in milliseconds via a wireless image transmission module. The collected data is analyzed and processed in real time, facilitating precise control of the crane's lifting speed, boom angle, and auxiliary traction force by operators. During the slow descent of steel pipe column 1, the system dynamically corrects the column's entry point position (horizontal adjustment accuracy ≤±0.5mm) and tilt angle, ensuring that steel pipe column 1 is always lowered vertically along the designed axis.

[0031] In some specific embodiments, in step 4, the tilt sensor has a measurement accuracy of ±0.01°, a data transmission frequency of 1 time / 5s, and a design allowable verticality deviation threshold of ≤1‰. The collected data is compared with the design allowable deviation threshold through a data processing system, and the verticality of the steel pipe column 1 is corrected in each direction by using the four sets of independently controlled hydraulic cylinders 9 of the full-rotation drilling rig 8 for graded pressure adjustment and synchronous linkage control. In step 4, the four sets of hydraulic cylinders 9 of the full-rotation drilling rig 8 correct the verticality of the steel pipe column 1 in each direction by using graded pressure adjustment and synchronous linkage control. During the adjustment process, the sensor feedback data is continuously received and the parameters are dynamically optimized and adjusted.

[0032] In a more specific embodiment of steps 1 to 4, the tilt display and the tilt sensor at the top of the steel pipe column 1 are connected to monitor the verticality of the steel pipe column 1 in all directions during the insertion process. The verticality data of the steel pipe column 1 is directly read through the display. If the verticality deviates, the four corner cylinders of the hydraulic system of the full-rotation drilling rig 8 are used for precise fine adjustment.

[0033] like Figure 2As shown, the steel pipe column 1, transported to the site in sections, is hoisted onto a dedicated storage platform 2. The storage platform 2 is not fixed; it integrates an adjustable hydraulic device 3 at its lower part. Subsequently, precision measuring equipment such as an automated total station electronic speed measuring instrument is activated to perform initial measurements on the axis and flatness of the docking port of the steel pipe column 1. Based on the initial measurement data, if any eccentricity or unevenness is found in the docking, the hydraulic system is activated to control the specific adjustable hydraulic device 3 to perform millimeter-level fine adjustments such as horizontal translation or vertical lifting. Through multi-point coordinated adjustment, the spatial posture of the steel pipe column 1 is precisely corrected.

[0034] like Figure 3 As shown, after the pile foundation hole is formed and before the steel pipe column 1 is lowered, the ultrasonic borehole wall verticality detector 4 is lowered into the hole. The ultrasonic radar 6 at the front end of the ultrasonic borehole wall verticality detector 4 performs a full-section, continuous scan of the surrounding steel pipe column borehole wall 7, and collects the three-dimensional contour data of the borehole wall. The scan data is transmitted in real time to the borehole wall verticality detector data processing platform 5 on the ground. The borehole wall verticality detector data processing platform 5 analyzes and processes the data to generate an intuitive borehole wall verticality deviation curve, which clarifies the location and value of the deviation.

[0035] like Figure 4 As shown, the steel pipe column 1 is lifted and straightened in the air using a dual-machine lifting process. Then, the UAV flight control measurement system 12 and the ground total station 11 are started simultaneously. The UAV cruises in the air, providing a macroscopic attitude overview view; the total station 11 provides precise coordinate reference measurement. The two form a ground-to-ground collaborative monitoring network, which collects the verticality deviation, spatial attitude tilt parameters and relative position of the steel pipe column 1 to the hole wall 7 in real time. After the data is processed and analyzed by the terminal, adjustment instructions are generated.

[0036] like Figure 5 As shown, after the steel pipe column 1 is lowered to the design elevation, the high-precision tilt sensor and data processing platform 10 installed on the top of its tool section begins to work, collecting the tilt data of the steel pipe column 1 in the X and Y directions in real time at an extremely high frequency; the high-precision tilt sensor and data processing platform 10 compares the tilt data with the design allowable deviation threshold, calculates the precise adjustment amount, and the operator remotely controls the four sets of independent hydraulic cylinders 9 on the full-rotation drilling rig 8 to apply a corrective torque to the steel pipe column 1 by controlling the micro-extension and contraction of different cylinders.

[0037] The steel pipe column 1 is temporarily stored on the storage platform 2. It is then hoisted by the hoisting equipment to the top of the completed hole and slowly lowered into the hole wall. During the process, the verticality is adjusted by the verticality detection system to ensure that it is accurately positioned. The storage platform 2 is erected at the designated location before construction. The steel pipe column 1 to be installed is placed stably on the storage platform 2. During hoisting, it serves as a bearing platform before lifting to ensure that the steel pipe column 1 is stacked stably and is easy for the hoisting equipment to lift.

[0038] The adjustable hydraulic unit 3 works in conjunction with the hoisting system to adjust its own extension and retraction based on feedback from the verticality detection system during the lowering of the steel pipe column 1, thereby fine-tuning the horizontal posture of the steel pipe column 1 and assisting the steel pipe column 1 in accurately centering the hole wall and maintaining verticality.

[0039] After the construction of the steel pipe column hole wall 7 is completed, the ultrasonic hole wall verticality detector 4 sends the probe of the ultrasonic hole wall verticality detector 4 into the detection area around the steel pipe column hole wall 7, emits ultrasonic waves and receives reflected signals, calculates the verticality deviation of the steel pipe column hole wall 7 at different positions based on information such as signal propagation time and phase, and transmits the data to the wall measuring instrument data processing platform 5.

[0040] The wall measuring instrument data processing platform 5 receives the raw data from the ultrasonic hole wall verticality detector 4, analyzes the data through built-in algorithms, and intuitively displays the verticality deviation value and distribution of the steel pipe column hole wall 7 in the form of numbers, charts and other formats, providing a basis for construction personnel to make decisions on adjusting the steel pipe column 1 or correcting the steel pipe column hole wall 7.

[0041] During the drilling or steel pipe column borehole wall inspection stage, the ultrasonic radar 6 probe is placed near the drilling equipment or at the borehole opening to emit ultrasonic waves into the ground or steel pipe column borehole wall 7, receive reflected waves from different strata or steel pipe column borehole wall 7 interfaces, analyze the propagation characteristics of the reflected waves, and identify information such as stratum structure, borehole wall integrity, and potential defects.

[0042] After the full-rotation drilling rig 8 drills the hole wall 7 of the steel pipe column to form a borehole, the hole wall 7 of the steel pipe column serves as the installation space for the steel pipe column 1. When the steel pipe column 1 is lowered, it needs to fit closely with the hole wall 7 of the steel pipe column. The verticality, smoothness, and dimensional accuracy of the hole wall 7 of the steel pipe column directly affect the stress performance and verticality of the steel pipe column 1 after installation.

[0043] The full-rotation drilling rig 8 is positioned at the construction site of the pile foundation or steel pipe column 1. It drives the drill bit to rotate through its own rotation mechanism. The drill bit cuts the soil and, in conjunction with the thrust of the hydraulic cylinder 9, drills downward. After reaching the designed hole depth, it reverses and lifts the drill bit to complete the hole-forming operation, providing a hole for the subsequent lowering of the steel pipe column 1.

[0044] Hydraulic cylinder 9, as the power actuator of the full-rotation drilling rig 8, provides axial thrust and rotational torque when the drilling rig rotates. By controlling the pressure, stroke, and speed of the cylinder, the drilling force and speed can be adjusted to meet the drilling needs of different formations.

[0045] The high-precision tilt sensor and data processing platform 10 installs the tilt sensor on the attitude detection parts of key equipment such as the steel pipe column 1 hoisting device and the full-rotation drilling rig 8 to collect the tilt angle of the equipment in real time and transmit the angle signal to the high-precision tilt sensor and data processing platform 10. The high-precision tilt sensor and data processing platform 10 compares the deviation between the designed verticality and the real-time measurement value and outputs adjustment commands to the actuators such as the adjustable hydraulic device 3.

[0046] The total station 11 establishes a measurement control network at the construction site. The total station 11 is set up on the control point with known coordinates, aimed at the prism on the steel pipe column 1, and measures the three-dimensional coordinates of the steel pipe column 1. The coordinates are compared with the design coordinates, and the deviation of the plane position and elevation are calculated. The total station 11 is used to guide the hoisting equipment to adjust the position of the steel pipe column 1 to ensure its accurate placement.

[0047] It should be noted that in the early stages of construction, drones equipped with surveying equipment take aerial photos of the construction site to obtain three-dimensional terrain data and images. Later, during the construction process, drones regularly patrol the site to monitor the terrain changes in the drilling area, the spatial distribution and operating status of construction machinery, and transmit the collected data to the back-end processing system to generate terrain models, construction progress reports, etc.

[0048] This invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims.

Claims

1. A multi-technology collaborative verticality control method for large steel pipe columns in a cut-and-cover railway station, characterized in that, include: Step 1: The segmented steel pipe column is hoisted to the multi-mode sensor integrated hydraulic adjustment platform. The automated total station electronic speed measuring instrument and laser level are used for coordinated layout. The fine adjustment function of the hydraulic adjustment platform is used to correct the spatial position of the steel pipe column in real time and control the coaxiality deviation of the segmented connection. Step 2: During the drilling process of the steel pipe column pile foundation, an ultrasonic borehole wall detector is used to perform full-section imaging scanning of the drilled section to obtain borehole wall contour data and analyze verticality deviation. The borehole wall verticality is optimized by pre-adjusting through the guide correction system of the drilling equipment. Step 3: The steel pipe column is lifted by a dual-machine hoist, and the column is straightened in the air. A three-dimensional monitoring network is constructed using a UAV flight control measurement system and an ultrasonic ranging system to collect the verticality deviation and attitude tilt parameters of the steel pipe column in real time, and to dynamically adjust the lowering process of the steel pipe column. Step 4: Install an inclination sensor on the top of the steel pipe column tool section to collect the inclination data of the steel pipe column in real time. Combined with the design allowable verticality deviation value, the verticality of the steel pipe column is precisely adjusted by the hydraulic cylinder of the full-rotation drilling rig.

2. The method for controlling the verticality of large steel pipe columns in a cut-and-cover reverse construction station according to claim 1, characterized in that, In step 1, the hydraulic adjustment platform has vertical lifting and horizontal translation fine adjustment functions. The vertical lifting adjustment stroke is 0-100mm, the adjustment accuracy is ≤±0.05mm, the horizontal translation adjustment accuracy is ≤±0.1mm, and the misalignment deviation of the steel pipe column butt welding is ≤1mm.

3. The method for controlling the verticality of large steel pipe columns in a cut-and-cover reverse construction station according to claim 1, characterized in that, In step 1, the automated total station electronic tachometer has an angle measurement accuracy of ≤ ±0.5″ and a flatness error of ≤ ±0.2 mm / m. It is used to locate the azimuth angle and simultaneously detect the axis and end face flatness of the steel pipe column docking port.

4. The method for controlling the verticality of large steel pipe columns in a cut-and-cover reverse construction station according to claim 1, characterized in that, In step 2, the ultrasonic borehole wall verticality detector has a scanning resolution of ≤1mm / point, a scanning speed of ≥0.5m / s, a borehole diameter measurement accuracy of ≤±2mm, and a verticality measurement accuracy of ≤±0.01°. A borehole wall verticality deviation curve is generated by data analysis software, and the drill rod inclination angle, drilling speed, and mud performance parameters are adjusted based on the deviation data to ensure that the borehole verticality deviation is ≤1‰.

5. The method for controlling the verticality of large steel pipe columns in a cut-and-cover reverse construction station according to claim 1, characterized in that, In step 2, the drilling equipment guidance and correction system adjusts the drill rod angle according to the deviation analysis results, the drill rod drilling speed is controlled at 0.3-0.8m / min, and the mud performance parameters are adjusted to specific gravity 1.05-1.15g / cm³, viscosity 18-22s, and sand content ≤2%, ensuring that the verticality of the hole is ≤1‰.

6. The multi-technology collaborative verticality control method for large steel pipe columns in cut-and-cover reverse construction railway stations according to claim 1, characterized in that, In step 3, the dual-machine lifting system straightens the steel pipe column at a speed of 0.5-1 m / min. The verticality data of the steel pipe column is collected in real time by an automated total station electronic speed measuring instrument, and observation points are set up at three orthogonal positions of the steel pipe column to collect verticality data in real time.

7. The method for controlling the verticality of large steel pipe columns in a cut-and-cover reverse construction station according to claim 1, characterized in that, In step 3, the UAV flight control measurement system is equipped with a high-definition camera with ≥20 million pixels and an attitude sensor with a measurement accuracy of ≤±0.02°.

8. The method for controlling the verticality of large steel pipe columns in a cut-and-cover reverse construction station according to claim 1, characterized in that, In step 3, the verticality deviation measurement resolution of the ultrasonic ranging system is ≤0.05‰, the tilt angle measurement accuracy is ≤±0.02°, and the data is transmitted in milliseconds through the wireless image transmission module to dynamically correct the horizontal position and tilt angle of the steel pipe column during the lowering process.

9. The method for controlling the verticality of large steel pipe columns in a cut-and-cover reverse construction station according to claim 1, characterized in that, In step 4, the tilt sensor has a measurement accuracy of ±0.01°, a data transmission frequency of 1 time / 5s, and a design allowable verticality deviation threshold of ≤1‰. The collected data is compared with the design allowable deviation threshold through the data processing system, and the verticality of the steel pipe column is corrected in each direction by using the four sets of independently controlled hydraulic cylinders of the full-rotation drilling rig for graded pressure adjustment and synchronous linkage control.

10. The multi-technology collaborative verticality control method for large steel pipe columns in cut-and-cover reverse construction railway stations according to claim 1, characterized in that, In step 4, the four sets of hydraulic cylinders of the full-rotation drilling rig adopt a graded pressure adjustment and synchronous linkage control method to correct the verticality of the steel pipe column in one direction. During the control process, the rig continuously receives sensor feedback data and dynamically optimizes and adjusts the parameters.

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