A pile sinking position rapid inspection method
By using dimensionless processing and iterative solution of the quaternion rotation error equation, the problems of initial value dependence and gimbal lock in pile driving posture parameter fitting are solved, realizing efficient and accurate acquisition of pile driving posture parameters, which is suitable for various measurement equipment and engineering applications.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CCCC THIRD HARBOR ENGINEERING CO LTD
- Filing Date
- 2026-01-06
- Publication Date
- 2026-07-31
AI Technical Summary
Existing methods for fitting pile driving posture parameters are highly dependent on initial values, easily get trapped in local optima, and suffer from gimbal lock problems. They are also difficult to handle the massive amounts of noisy data from new measurement devices such as UAVs and LiDAR, resulting in insufficient fitting accuracy and efficiency.
By processing pile driving measurement point data with consistent dimensions, determining reasonable initial values using construction design parameters, constructing a rotation error equation, and using quaternion rotation to describe the rotation process, combined with an iterative solution algorithm, the pile driving position and posture parameters are quickly obtained without gimbal lock.
It achieves high-precision and high-efficiency pile driving posture parameter fitting with low dependence on initial values and no universal lock, adapts to the needs of massive data processing, reduces equipment adaptation costs, and is suitable for a variety of measurement equipment.
Smart Images
Figure CN121834098B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to pile foundation testing technology, specifically to a rapid method for verifying the position and posture of driven piles. Background Technology
[0002] The pile driving posture parameters include the direction vector of the pile axis, the coordinates of a point on the axis, and the radius of the pile. Accurate acquisition of these parameters is crucial for evaluating the quality of pile driving construction (such as verticality and cross-sectional integrity) and bearing capacity, and is of great significance in pile foundation engineering for buildings, bridges, and other projects.
[0003] Existing methods for fitting pile driving posture parameters are mainly divided into two categories:
[0004] (1) Direct fitting method: The parameter is solved by minimizing the geometric distance from the measuring point to the cylindrical surface. However, this method is highly dependent on the initial value. If the initial value deviates from the true value, it is easy to fall into the local optimum. Moreover, when there is noise or uneven distribution in the measuring point data, the fitting accuracy decreases significantly.
[0005] (2) Based on coordinate transformation fitting method: By translating and rotating the coordinate system, the pile axis is aligned with the coordinate axis, simplifying the solution of the cylindrical surface equation. However, the traditional coordinate transformation relies on Euler angles to describe the rotation, which has a "universal lock" problem, resulting in discontinuous rotation process and making it impossible to calculate for vertical piles.
[0006] Furthermore, with the application of new measurement equipment such as UAVs and LiDAR, pile driving measurement data exhibits characteristics of being "massive and noisy": on the one hand, a single LiDAR scan can acquire thousands to tens of thousands of measurement points, which is difficult to match the data processing efficiency of traditional methods; on the other hand, in water or complex terrain environments, LiDAR measurement points are easily affected by water vapor and obstruction, resulting in data loss or noise interference. Existing methods lack targeted data preprocessing and error suppression mechanisms, leading to insufficient stability of fitting results.
[0007] To address the aforementioned issues, there is an urgent need for a method for fitting pile driving posture parameters that is low in dependence on initial values, requires no gimbal lock, and is computationally efficient, in order to adapt to the data characteristics of new measuring equipment and meet the high-precision and high-efficiency testing requirements of engineering sites. Summary of the Invention
[0008] Purpose of the invention: The purpose of this invention is to provide a rapid method for verifying the position of driven piles. This method has low dependence on initial values and does not require a universal lock.
[0009] Technical solution: The present invention provides a rapid method for verifying the position and posture of driven piles, comprising:
[0010] Acquire three-dimensional coordinate data of multiple measuring points on the surface of the driven pile, and perform dimension-consistent processing on the three-dimensional coordinate data of multiple measuring points;
[0011] Calculate the initial values of the pose parameters to be estimated using the pile driving construction design parameters required for construction.
[0012] The rotation axis and feature point vector set are calculated using the initial values of the pose parameters to be estimated and the dimensionally consistent 3D coordinate data.
[0013] A rotation error equation is constructed using the rotation axis and the feature point vector set.
[0014] Substitute the initial values of the pose parameters to be estimated into the rotation error equation, and iteratively solve for the optimal estimated values of the pose parameters to be estimated.
[0015] The optimal estimated value of the pose parameters to be estimated is converted into the actual pose parameters of the pile driving.
[0016] The actual axial deviation and planar coordinate offset of the pile are calculated using the actual position parameters of the pile and the pile construction design parameters.
[0017] Furthermore, the acquisition of three-dimensional coordinate data from multiple measuring points on the pile surface, and the processing of the three-dimensional coordinate data from multiple measuring points to ensure dimensional consistency, includes:
[0018] Obtain the three-dimensional coordinate data of multiple measuring points on the surface of the driven pile, denoted as ,in, For the number of measurement points, The original measurement point number is used; the three-dimensional coordinate data is processed for dimensional consistency.
[0019] ;
[0020] ;
[0021] ;
[0022] Get new coordinates , ;in, The coordinate number after dimension consistency processing.
[0023] Furthermore, the initial values of the pose parameters to be estimated are calculated using the pile driving construction design parameters required for construction.
[0024] include:
[0025] by Let be the initial values of the pose parameters to be estimated, where Let the coordinates of a point on the axis be... This represents the X-axis component of the axis direction vector. This represents the Y-axis component of the axis direction vector. The axis direction vector and Angle between axes, Where is the radius of the pile;
[0026] All initial values are set to 0;
[0027] The initial values are respectively taken as ,in, , Design parameters for the pile driving axis vector. The design radius for pile driving.
[0028] Furthermore, the calculation formula for the rotation axis is as follows:
[0029] ;
[0030] in, It is the axis of rotation.
[0031] Furthermore, the calculation formula for the feature point vector set is as follows:
[0032] ;
[0033] in, For the first feature point vector set The feature point vectors corresponding to each measurement point, all Composed of a feature point vector set; For the first The x-coordinates of each measuring point; For the first The y-coordinates of each measuring point; Let X be the x-coordinate component of a point on the axis. Let Y be the coordinate component of a point on the axis.
[0034] Furthermore, the construction of the rotation error equation using the rotation axis and feature point vector set includes:
[0035] Rotate each feature point vector in the feature point vector set counterclockwise around the rotation axis. Angle, expressed as follows:
[0036] ;
[0037] in, They are respectively by After performing a quaternion rotation on the axis of rotation Components in direction; ;
[0038] Construct the following rotational error equation:
[0039] ;
[0040] in, For the first Correction number of observations at each measuring point; For the first The coefficient matrix of the error equation for each measuring point; For the first Observed values at each measuring point; The vector of pose parameters to be estimated; Let be the number of iterations, in the first iteration. =0, That is, the initial value of the parameter to be estimated. .
[0041] Furthermore, the initial values of the pose parameters to be estimated are substituted into the rotation error equation, and the optimal estimated values of the pose parameters are iteratively solved. The solution process is as follows:
[0042] ;
[0043] ;
[0044] in, For the number of iterations, ; This is the parameter correction number for each iteration; , The pose parameters to be estimated are respectively the first... sequence Secondary valuation; when iteration stops The optimal estimate for the pose parameters to be estimated;
[0045] If the absolute values of all the corrections to the pose parameters to be estimated are less than , If the required accuracy is met, stop the iteration; otherwise, use the corrected version. As initial values for the pose parameters to be estimated, the rotation axis and feature point vector set are recalculated, and the subsequent steps are repeated until the iteration converges.
[0046] Furthermore, the optimal estimate of the pose parameters to be estimated is converted into the actual pose parameters of the pile driving, and the calculation formula is as follows:
[0047] Let the optimal estimate of the pose parameters to be estimated be set. ,by This represents the actual positional parameters of the driven pile. .
[0048] Furthermore, the calculation formula for the actual axial deviation of the driven pile is as follows:
[0049]
[0050] in, This refers to the angle between the actual axis of the pile driving and the axis of the construction design.
[0051] Furthermore, the formula for calculating the planar coordinate offset is as follows:
[0052]
[0053] in, This represents the offset between the plane coordinates of the intersection point of the actual pile axis and the XOY plane and the plane coordinates of the intersection point of the designed axis and the XOY plane.
[0054] Beneficial effects: Compared with the prior art, the significant technical effects of the present invention are as follows: (1) Reduce initial value dependence and avoid local optimal solutions: The initial value of the pose parameter to be estimated is determined based on the pile driving construction design parameters, so that the initial value is close to the true value, solving the problem of "initial value deviation and falling into local optimum" in the traditional direct fitting method; (2) Avoid the "universal lock" problem and adapt to vertical pile driving: The rotation process is described by the feature point vector set. Compared with the traditional Euler angle rotation, the rotation matrix is continuous and has no singular points, which completely solves the problem of rotation discontinuity caused by "universal lock"; (3) Fast calculation speed and adapt to massive data processing: The rotation vector rotation calculation speed is fast and occupies less memory, which is suitable for the efficient processing needs of massive data of UAV LiDAR; (4) Wide range of applications and strong engineering practicality: It is compatible with various measuring equipment such as UAV LiDAR, total station, and ground laser scanner, without the need for special data format conversion, reducing equipment adaptation costs. Attached Figure Description
[0055] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation
[0056] The technical solution of the present invention will now be described in detail with reference to specific embodiments and accompanying drawings.
[0057] like Figure 1 As shown, the present invention provides a rapid method for verifying the position of a driven pile, comprising the following steps:
[0058] S1. Obtain the three-dimensional coordinate data of multiple measuring points on the pile surface, and perform dimensional consistency processing on the three-dimensional coordinate data of multiple measuring points. Specifically, this includes the following:
[0059] Obtain the three-dimensional coordinate data of multiple measuring points on the surface of the driven pile, denoted as ,in, For the number of measurement points, The original measurement point number is used; the three-dimensional coordinate data is processed for dimensional consistency.
[0060] ;
[0061] ;
[0062] ;
[0063] Get new coordinates , ;in, The coordinate number after dimension consistency processing.
[0064] S2. Calculate the initial values of the estimated position parameters using the pile driving design parameters required for construction. Details are as follows:
[0065] S2.1, with Let be the initial values of the pose parameters to be estimated, where Let the coordinates of a point on the axis be... This represents the X-axis component of the axis direction vector. Let Y be the component of the axis direction vector in the Y direction. The axis direction vector and Angle between axes, Where is the radius of the pile;
[0066] S2.2, All initial values are set to 0;
[0067] S2.3, The initial values are respectively taken as ,in, , Design parameters for the pile driving axis vector. The design radius for pile driving.
[0068] S3. Calculate the rotation axis and feature point vector set using the initial values of the pose parameters to be estimated and the three-dimensional coordinate data after dimension consistency processing.
[0069] In this embodiment, the formula for calculating the rotation axis is as follows:
[0070] ;
[0071] in, It is the axis of rotation.
[0072] In this embodiment, the formula for calculating the feature point vector set is as follows:
[0073] ;
[0074] in, For the feature point vector corresponding to the i-th measurement point in the feature point vector set, all Composing a feature point vector set, For the first The x-coordinates of the measurement points For the first The y-coordinates of the measurement points Let X be the x-coordinate component of a point on the axis. Let Y be the coordinate component of a point on the axis.
[0075] S4. Construct the rotation error equation using the rotation axis and feature point vector set.
[0076] The specific implementation process of step S4 is as follows:
[0077] S4.1 Rotate each feature point vector in the feature point vector set counterclockwise around the rotation axis. Angle, expressed as follows:
[0078] ;
[0079] in, They are respectively by After performing a quaternion rotation on the axis of rotation Components in direction; ;
[0080] S4.2 Construct the following rotation error equation:
[0081] ;
[0082] in, For the first Correction number of observations at each measuring point; For the first The coefficient matrix of the error equation for each measuring point; For the first Observed values at each measuring point; The vector of pose parameters to be estimated; Let be the number of iterations, in the first iteration. =0, That is, the initial value of the parameter to be estimated. In the above formula,
[0083] S5. Substitute the initial values of the pose parameters to be estimated into the rotation error equation, and iteratively solve for the optimal estimated values of the pose parameters. The specific iterative process is as follows:
[0084] ;
[0085] ;
[0086] in, For the number of iterations, ; This is the parameter correction number for each iteration; , The pose parameters to be estimated are respectively the first... sequence Secondary valuation; when iteration stops This is the optimal estimate for the pose parameters to be estimated.
[0087] If the absolute values of all the corrections to the pose parameters to be estimated are less than , If the required accuracy is not met, stop the iteration; otherwise, repeat steps S3-S5 until the iteration converges, specifically as follows: return to step S3, and use the corrected... As initial values for the pose parameters to be estimated, the rotation axis and feature point vector set are recalculated, and subsequent steps S4~S5 are repeated until the iteration converges.
[0088] S6. Convert the optimal estimated values of the pose parameters to be estimated into the actual pose parameters of the pile driving. The calculation process is as follows:
[0089] Let the optimal estimate of the pose parameters to be estimated be set. ,by This represents the actual positional parameters of the driven pile. .
[0090] S7. Calculate the actual axis deviation and plane coordinate offset of the pile using the actual position parameters of the pile and the pile construction design parameters.
[0091] In this embodiment, the formula for calculating the actual axis deviation of the driven pile is as follows:
[0092]
[0093] in, This refers to the angle between the actual axis of the pile driving and the axis of the construction design.
[0094] In this embodiment, the formula for calculating the planar coordinate offset is as follows:
[0095]
[0096] in, This represents the offset between the plane coordinates of the intersection point of the actual pile axis and the XOY plane and the plane coordinates of the intersection point of the designed axis and the XOY plane.
[0097] This invention describes the rotation process by constructing a feature point vector set, optimizing the initial value setting and iteration strategy, and achieves high-precision calculation of key parameters of pile driving, and outputs the actual axis deviation and plane coordinate offset of the pile driving.
[0098] This invention takes three-dimensional measurement point data on the surface of the driven pile as input, eliminates systematic deviations through dimension consistency processing, determines reasonable initial values based on design parameters, avoids the "universal lock" problem by using rotation vectors, constructs error equations and solves them iteratively, and finally outputs core pose parameters such as the axis direction of the driven pile, axis point coordinates, and cross-sectional radius, as well as the actual axis deviation and plane coordinate offset of the driven pile. It is suitable for the massive data processing needs of equipment such as UAV LiDAR and total station.
[0099] This invention overcomes the shortcomings of existing pile driving posture parameter fitting methods, such as sensitivity to initial values, gimbal lock, poor noise resistance, and low computational efficiency. By constructing a rotation vector for rotation, the "gimbal lock" problem is avoided. Combined with an optimized initial value determination method and iterative solution strategy, high-precision and high-efficiency calculation of pile driving geometric parameters is achieved.
[0100] This invention is particularly suitable for data collected by multi-source measurement equipment such as UAV LiDAR, total station, and ground laser scanner, enabling rapid calculation of key positional parameters such as pile axis direction, axis coordinates, and cross-sectional radius. It can be widely used in water-related or land-based pile foundation projects such as port terminals, bridge foundations, and offshore wind power platforms. It can meet the needs of real-time quality inspection during construction and can also be used for load-bearing performance evaluation after completion. Applicable pile types include reinforced concrete piles and steel pipe piles, making it highly versatile.
Claims
1. A method for quickly checking the pile driving position, characterized in that, include: Acquire three-dimensional coordinate data of multiple measuring points on the pile surface, and perform dimension-consistent processing on the three-dimensional coordinate data of multiple measuring points, including: Obtain the three-dimensional coordinate data of multiple measuring points on the surface of the driven pile, denoted as ,in, For the number of measurement points, The original measurement point number is used; the three-dimensional coordinate data is processed for dimensional consistency. ； ； ； Get new coordinates , ;in, The coordinate number after dimensionless processing; Calculate the initial values of the estimated position parameters using the pile driving design parameters required for construction, including: by Let be the initial values of the pose parameters to be estimated, where Let the coordinates of a point on the axis be... This represents the X-axis component of the axis direction vector. This represents the Y-axis component of the axis direction vector. The axis direction vector and Angle between axes, Where is the radius of the pile; All initial values are set to 0; The initial values are respectively taken as ,in, , Design parameters for the pile driving axis vector. Design radius for pile driving; The rotation axis and feature point vector set are calculated using the initial values of the pose parameters to be estimated and the dimensionally consistent 3D coordinate data; wherein, the calculation formula for the rotation axis is as follows: ； in, It is the axis of rotation; A rotation error equation is constructed using the rotation axis and the feature point vector set. Substitute the initial values of the pose parameters to be estimated into the rotation error equation, and iteratively solve for the optimal estimated values of the pose parameters to be estimated. The optimal estimated value of the pose parameters to be estimated is converted into the actual pose parameters of the pile driving. The actual axial deviation and planar coordinate offset of the pile are calculated using the actual position parameters of the pile and the pile construction design parameters.
2. The rapid pile driving position inspection method according to claim 1, characterized in that, The formula for calculating the feature point vector set is as follows: ； in, For the first feature point vector set The feature point vectors corresponding to each measurement point, all Composed of a feature point vector set; For the first The x-coordinates of each measuring point; For the first The y-coordinates of each measuring point; The X-coordinate component represents the coordinates of a point on the axis. Let Y be the coordinate component of a point on the axis.
3. The rapid pile driving position inspection method according to claim 2, characterized in that, The construction of the rotation error equation using the rotation axis and feature point vector set includes: Rotate each feature point vector in the feature point vector set counterclockwise around the rotation axis. Angle, expressed as follows: ； in, They are respectively by After performing a quaternion rotation on the axis of rotation Components in direction; ; Construct the following rotational error equation: ； in, For the first Correction number of observations at each measuring point; For the first The coefficient matrix of the error equation for each measuring point; For the first Observed values at each measuring point; For the first The vector of pose parameters to be estimated in the next iteration.
4. The rapid pile driving position inspection method according to claim 3, characterized in that, The process of substituting the initial values of the pose parameters to be estimated into the rotation error equation and iteratively solving for the optimal estimated values of the pose parameters is as follows: ； ； in, =0,1,2 ; This is the parameter correction number for each iteration; For the first The vector of pose parameters to be estimated in the next iteration; For the first The vector of pose parameters to be estimated in the next iteration; the vector of pose parameters when the iteration stops. The optimal estimate for the pose parameter vector to be estimated; If the absolute values of all the corrections to the pose parameters to be estimated are less than , If the required accuracy is met, stop the iteration; otherwise, use the corrected version. As initial values for the pose parameters to be estimated, the rotation axis and feature point vector set are recalculated, and the subsequent steps are repeated until the iteration converges.
5. The rapid inspection method for pile driving position according to claim 4, characterized in that, The optimal estimate of the unknown pose parameters is converted into the actual pose parameters of the pile driving using the following formula: Let the optimal estimate of the pose parameters to be estimated be set. ,by This represents the actual positional parameters of the driven pile. .
6. The rapid inspection method for pile driving position according to claim 5, characterized in that, The formula for calculating the actual axis deviation of the driven pile is as follows: ； in, This refers to the angle between the actual axis of the pile driving and the axis of the construction design.
7. The rapid inspection method for pile driving position according to claim 1, characterized in that, The formula for calculating the planar coordinate offset is as follows: ； in, This represents the offset in planar coordinates.