Pile body perpendicularity real-time monitoring and intelligent deviation rectifying method and device in piling process

Abstract

The invention discloses a pile body perpendicularity real-time monitoring and intelligent deviation rectifying method and device in the piling process. The method comprises the steps that S1, before piling, a local coordinate system is established, a pile body is scanned through opposite lasers in the direction of each coordinate axis, and a reference distance is obtained; s2, in the piling process, laser is made to continuously irradiate the same height section of the pile body, the distance between each laser beam and the surface of the pile body is measured in real time, and four distance measurement values are obtained; s3, calculating real-time offsets in the directions of the two coordinate axes; s4, the real-time perpendicularity of the pile body is calculated, and the real-time perpendicularity is compared with a preset threshold value; and S5, when the real-time perpendicularity exceeds a preset threshold value, according to the direction and size of the real-time offset, a deviation correcting mechanism of the pile driver is driven to correct the posture of the pile body. The effect of measuring the perpendicularity in real time is achieved, the monitoring efficiency and the piling perpendicularity verification efficiency are greatly improved, and strong power is provided for rapid promotion of construction.

Description

Technical Field

[0001] This invention relates to a pile body monitoring and intelligent correction method in the field of engineering technology, particularly to a method for real-time monitoring and intelligent correction of pile verticality during pile driving, and also to a device for real-time monitoring and intelligent correction of pile verticality during pile driving. Background Technology

[0002] In infrastructure projects such as highways and buildings, the verticality of pile foundations is a key quality indicator that directly affects their bearing capacity and long-term stability. Currently, monitoring the verticality of piles during construction mainly relies on traditional surveying instruments, such as theodolites or total stations, for manual observation. This method typically requires setting markers at different heights on the pile and calculating the planar position of the pile center through angle intersection or distance measurement, thereby calculating the vertical deviation. However, this method has significant limitations: First, its measurement depends on stable line-of-sight with multiple markers on the pile, which is often difficult to achieve in complex construction sites with numerous equipment and dust; second, this method is usually intermittent and randomized, unable to achieve millisecond-level high-frequency monitoring during continuous hammering or pressing, and cannot capture instantaneous pile displacement caused by dynamic construction loads; finally, the entire measurement, calculation, and judgment process is highly dependent on the surveyor's experience and operation, resulting in low efficiency and large subjective errors, making it difficult to achieve full-process, objective, and traceable quality control. For structures such as pile-slab subgrades that are extremely sensitive to differential settlement, traditional methods are no longer sufficient to meet the requirements of high-precision, real-time, and intelligent modern construction.

[0003] To overcome the drawbacks of traditional manual monitoring, construction technology is evolving towards automation and informatization, with sensor-based real-time monitoring technology becoming a research and application hotspot. For example, existing methods involve installing tilt sensors on the pile or pile driver to indirectly assess attitude. However, this method measures local tilt angles, is susceptible to equipment installation errors and pile deformation, and cannot directly obtain the precise planar offset of the pile center relative to the design axis. Another approach is to use visual recognition or laser scanning technology, but its stability and reliability face challenges in complex and harsh construction environments, and the systems are complex and costly. Therefore, existing pile monitoring and correction methods during pile driving generally suffer from low accuracy and insufficient stability. Summary of the Invention

[0004] To address the technical problems of low accuracy and insufficient stability in existing pile body monitoring and correction methods during pile driving, this invention provides a method and device for real-time monitoring and intelligent correction of pile verticality during pile driving.

[0005] This invention is achieved using the following technical solution: a method for real-time monitoring and intelligent correction of pile verticality during pile driving, comprising the following steps: S1: Before driving the pile, a local coordinate system is established with the pile center as the origin, and the pile body is scanned by at least two opposing laser beams in each coordinate axis direction to obtain the reference distance from the laser emission position to the pile center. S2: During the pile driving process, the laser continuously irradiates the same height section of the pile body, and the distance from each laser beam to the surface of the pile body is measured in real time to obtain four distance values; S3: Based on the measured distance, the preset pile radius, and the reference distance, calculate the real-time offset of the pile center in the two coordinate axis directions; S4: Calculate the real-time verticality of the pile body based on the real-time offset and the height of the laser monitoring section, and compare the real-time verticality with a preset threshold. S5: When the real-time verticality exceeds the preset threshold, a control command is generated and sent to the control system of the pile driver according to the direction and magnitude of the real-time offset, driving the pile driver's correction mechanism to correct the pile posture.

[0006] This invention decouples the complex spatial posture of the pile into a simple distance difference measurement problem in two vertical directions by constructing a simplified measurement network consisting of at least four laser beams arranged in a specific geometric relationship. This not only achieves non-contact, high-frequency, and high-precision real-time sensing of the pile's verticality, but also, through closed-loop linkage with the pile driver control system, realizes a leap from "monitoring" to "active correction," truly transforming pile driving construction from a process relying on manual experience into a data-driven, automatically controllable precision industrial process. It solves the technical problems of low accuracy and insufficient stability in existing pile monitoring and correction methods, effectively ensuring project quality and construction efficiency.

[0007] As a further improvement to the above scheme, in step S3, the distance from each laser emission position to the surface of the pile body is calculated based on the reference distance; two coordinate axes are defined as the X-axis and the Y-axis, and the calculation formulas for the real-time offset of the pile center in the X and Y axis directions are as follows: in, This is the real-time offset along the X-axis. This is the real-time offset along the Y-axis. , These are two distance measurements along the X-axis. , The distances from the two corresponding laser emission positions to the surface of the pile body; , The distance measured along the Y-axis. , The distance from the two corresponding laser emission positions to the surface of the pile body.

[0008] Furthermore, the formula for calculating the real-time verticality is: In the formula, The real-time verticality. The height of the laser monitoring section.

[0009] Furthermore, in step S4, the inclination angle of the pile body is calculated, and the calculation formula is as follows: In the formula, The angle of inclination.

[0010] As a further improvement to the above solution, the real-time monitoring and intelligent correction method also includes the following steps: S6: Automatically records and stores the distance measurement sequence, offset curve, verticality change curve and all correction action records of each pile throughout the entire construction process, and generates a structured electronic report.

[0011] As a further improvement to the above scheme, after performing the correction in step S5, the process returns to step S2 until the real-time verticality does not exceed the preset threshold within a preset time.

[0012] As a further improvement to the above scheme, in step S5, the positive and negative signs and values ​​of the real-time offset are mapped to control commands for the jacking force and stroke of the different lateral correction mechanisms of the pile driver, so as to achieve directional correction.

[0013] As a further improvement to the above scheme, two laser rangefinders are deployed in each coordinate axis direction, and the installation position of each laser rangefinder is independent of the pile driver and remains stable. The two laser rangefinders are symmetrical about the center line, and the laser beam emitted by the laser rangefinders scans the pile body and measures the distance.

[0014] As a further improvement to the above scheme, when the pile body is in the designed vertical position, the initial distance from each laser beam to the pile center is recorded as the reference distance, and the geometric relationship between the reference distance, the pile body radius and the distance from the laser emission point to the pile body surface is verified.

[0015] This invention also provides a real-time monitoring and intelligent correction device for pile verticality during pile driving, which applies any of the above-described methods for real-time monitoring and intelligent correction of pile verticality during pile driving. The device includes: The system deployment module is used to establish a local coordinate system with the pile center as the origin before pile driving, and to scan the pile body with at least two opposing laser beams in each coordinate axis direction to obtain the reference distance from the laser emission position to the pile center. The data acquisition module is used to continuously irradiate the same cross-section of the pile body with laser during the pile driving process, and to measure the distance from each laser beam to the surface of the pile body in real time to obtain four distance values. The attitude calculation module is used to calculate the real-time offset of the pile center in two coordinate axis directions based on the distance measurement value, the preset pile radius and the reference distance; The judgment and decision module is used to calculate the real-time verticality of the pile body based on the real-time offset and the height of the laser monitoring section, and compare the real-time verticality with a preset threshold. The intelligent correction module is used to generate control commands based on the direction and magnitude of the real-time offset when the real-time verticality exceeds the preset threshold, and send them to the control system of the pile driver to drive the correction mechanism of the pile driver to correct the posture of the pile body.

[0016] Compared with existing methods for monitoring and correcting pile verticality during pile driving, the method and device for real-time monitoring and intelligent correction of pile verticality during pile driving of the present invention have the following advantages: 1. This method for real-time monitoring and intelligent correction of pile verticality during pile driving decouples the complex spatial posture of the pile into a simple distance difference measurement problem in two vertical directions by constructing a simplified measurement network composed of at least four laser beams arranged according to a specific geometric relationship. This not only achieves non-contact, high-frequency, and high-precision real-time sensing of pile verticality, but also, through closed-loop linkage with the pile driving machine control system, realizes a leap from "monitoring" to "active correction," truly transforming pile driving construction from a process relying on manual experience into a data-driven, automatically controllable precision industrial process. It solves the technical problems of low accuracy and insufficient stability commonly found in existing pile monitoring and correction methods, effectively ensuring project quality and construction efficiency. This method constitutes a 'multi-laser beam ranging monitoring network', achieving real-time measurement of verticality, greatly improving monitoring efficiency and the efficiency of pile verticality verification, providing strong impetus for rapid construction progress. Intelligent pile driving reduces worker involvement and the risks involved in the pile driving process. The two work together to achieve full-process intelligence.

[0017] 2. This real-time monitoring and intelligent correction method for pile verticality during pile driving significantly improves the accuracy of pile verticality and ensures the safety of the engineering structure. Traditional manual monitoring using plumb bobs or theodolites suffers from problems such as visual observation errors and low frequency (unable to track pile deviation during hammering in real time), easily leading to excessive pile tilt. This system uses a four-point differential laser monitoring network to convert the spatial attitude of the pile into quantified distance values ​​for calculation. The measurement frequency can reach the millisecond level, capturing minute deviations at the moment of hammering. Combined with automatic correction commands, the verticality deviation can be controlled within the allowable value of 0.5% according to the specifications, avoiding potential hazards such as insufficient pile bearing capacity and uneven settlement of the superstructure caused by pile tilt.

[0018] 3. This method for real-time monitoring and intelligent correction of pile verticality during pile driving achieves low-cost, high-reliability real-time monitoring, reducing construction costs. Compared to high-precision but expensive monitoring equipment such as radar and total stations, laser rangefinders are low-cost and easy to install and maintain. The differential measurement method with four symmetrical points can offset the interference of environmental factors such as temperature and vibration on a single rangefinder, improving the stability of measurement data by more than 80%. At the same time, the system does not require additional complex sensor networks and can be reused after only one calibration of the reference parameters, significantly reducing equipment procurement and on-site commissioning costs.

[0019] 4. This method of real-time monitoring and intelligent correction of pile verticality during pile driving features automated closed-loop control, reducing manual intervention and improving construction efficiency. Traditional construction requires 2-3 operators to monitor and direct corrections, resulting in low efficiency and the potential for deviations to widen due to delayed human responses. This system automates the entire process of "data acquisition-calculation-judgment-correction": sound and light alarms alert manual verification when the warning threshold is exceeded; the guiding device is automatically activated when the correction threshold is exceeded, eliminating the need for real-time manual operation. The driving time for a single pile can be reduced by 15%-20%, and rework due to excessive verticality is avoided, saving time and material waste.

[0020] 5. The real-time monitoring and intelligent correction method for pile verticality during the piling process provides traceable data, facilitating construction quality control and review. The system can record data such as the two-axis offset, verticality, and correction actions for each pile throughout the entire piling process, and generate visual reports. On the one hand, the supervision unit can directly verify the construction quality through the data without on-site supervision; on the other hand, after construction is completed, historical data can be used to review deviation patterns and optimize subsequent piling parameters (such as hammering force and guide device jacking force), resulting in iterative optimization of construction technology.

[0021] 6. This method for real-time monitoring and intelligent correction of pile verticality during pile driving is highly adaptable and compatible with precast pipe piles of different specifications and complex construction environments. The four-point differential measurement network requires adjustment of the benchmark distance value according to the pile radius, thus adapting to various precast pipe piles with diameters ranging from 300mm to 1200mm. Laser ranging is unaffected by construction site conditions such as rain, fog, and dust, and has stronger anti-interference capabilities compared to optical theodolites, enabling stable operation in complex scenarios such as densely built-up areas and deep foundation pits.

[0022] 7. The real-time monitoring and intelligent correction device for pile verticality during the pile driving process has the same beneficial effect as the above-mentioned method, and will not be elaborated here. Attached Figure Description

[0023] Figure 1 This is a flowchart of the method for real-time monitoring and intelligent correction of pile verticality during pile driving in Embodiment 1 of the present invention.

[0024] Figure 2 The flowchart below shows the fully automated process of the real-time monitoring and intelligent correction method in Embodiment 1 of the present invention, which uses a multi-laser ranging monitoring network and an intelligent correction system.

[0025] Figure 3 This is a top view of the multi-laser ranging monitoring network in Embodiment 1 of the present invention at the original position of the pile pier.

[0026] Figure 4 This is a top-down view comparing the horizontal and vertical offsets of the pile pier offset in Embodiment 1 of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] Example 1 Please see Figure 1-4 This embodiment provides a method for real-time monitoring and intelligent correction of pile verticality during pile driving. This method innovatively employs four intelligent laser rangefinders to form a multi-laser ranging monitoring network. This transforms the complex problem of measuring the spatial attitude of the pile into a problem of real-time, high-precision measurement of four fixed distance values ​​and simple planar geometric calculations, thereby achieving low-cost, high-frequency, and high-reliability real-time monitoring of pile verticality. The main steps of this method are as follows (S1-S6).

[0029] S1: Before pile driving, a local coordinate system is established with the pile center as the origin, and the pile body is scanned by at least two opposing laser beams in each coordinate axis direction to obtain the reference distance from the laser emission position to the pile center. In this embodiment, a total station is used to accurately lay out the center point of the pile position, and then a local coordinate system is established with this center point: two coordinate axes are defined as the X-axis and Y-axis (usually corresponding to the longitudinal and transverse directions of the pile driver track).

[0030] Two laser rangefinders are deployed along each coordinate axis, with each rangefinder installed independently of the pile driver and maintaining stability. The two rangefinders are symmetrical about their center lines, and use laser beams emitted by the rangefinders to scan and measure the distance to the pile. In this embodiment, four high-precision (millimeter-level), high-frequency (≥10Hz), IP67-rated laser rangefinders are prepared. Two rangefinders are positioned in each of two mutually perpendicular directions (X-direction and Y-direction). The laser rangefinders are fixed to stable supports (such as tripods or dedicated steel frames) independent of the pile driver, ensuring they operate without vibration or displacement during construction. The rangefinders are installed above the pile top surface, scanning the pile from top to bottom.

[0031] The intelligent piling machine's pile frame or hydraulic system needs to be equipped with a high-precision dual-axis tilt sensor and a programmable logic controller (PLC), and will communicate with the piling machine's PLC via an industrial network (such as CAN bus or Ethernet). When the pile is in the designed vertical position, the initial distance from each laser beam to the pile center is recorded as a reference distance, and the geometric relationship between the reference distance, the pile radius, and the distance from the laser emission point to the pile surface is verified. Before the pile is in place, the distances from the laser beams emitted by four rangefinders to the surface of the pipe pile are recorded. The design radius of the pile section and the reference distance of the rangefinder (i.e., the distance from the rangefinder to the pile center when the pile is vertical, and the distance from each rangefinder to the pile center is the same) satisfy the following under the reference condition: Of course, in some other embodiments, the distance from each rangefinder to the center of the pile may also be different, so the reference distance of each rangefinder is different, and the position of the rangefinder can be set according to actual needs.

[0032] S2: During the pile driving process, the laser continuously illuminates a cross-section at the same height of the pile, and the distance from each laser beam to the pile surface is measured in real time to obtain four distance values. After the pipe pile is erected, four laser beams continuously illuminate the same section of the pile body at the same height (usually aiming at 1-2 meters below the top of the pile, a stable position that represents the overall posture). Four rangefinders measure the distance from the laser beams emitted by the four rangefinders to the surface of the pipe pile in real time at high frequency and transmit the data.

[0033] S3: Based on the measured distance, the preset pile radius, and the reference distance, calculate the real-time offset of the pile center in the two coordinate axes. In this embodiment, the distance from each laser emission position to the pile surface can be calculated based on the reference distance. The calculation process of the real-time offset is described below.

[0034] During the pile driving process, the pile body shifted, and the pile core moved to a new position. ,at this time: 1. The rangefinder outputs the current distance measurement value in real time. (Left), (right); 2. Because the horizontal distance from the rangefinder to the center of the stake has become (Left-side rangefinder) (Right-side rangefinder); 3. According to geometric relationships, the distance from the rangefinder to the surface of the pipe pile = the distance from the rangefinder to the center of the pile - the radius of the pile, that is: At this point, we only consider the horizontal offset and assume... ; 4. Subtract the two expressions to eliminate the fixed terms. and ,get: Similarly: At this point, we only consider the vertical offset, assuming... ; Therefore, the offset of the pile center can be broken down into the horizontal offset and the vertical offset, such as... Figure 4 As shown, the formulas for calculating the real-time offset of the pile center in the X and Y axis directions are as follows: in, This is the real-time offset along the X-axis. This is the real-time offset along the Y-axis. , These are two distance measurements along the X-axis. , These represent the distances from the two corresponding laser emission positions to the surface of the pile. , The distance measured along the Y-axis. , The distances from the two corresponding laser emission positions to the surface of the pile. Principle: On the same monitoring surface, half the difference in the change of distance between the two sides is the displacement of the pile center in the X or Y direction.

[0035] S4: Calculate the real-time verticality of the pile body based on the real-time offset and the height of the laser monitoring section, and compare the real-time verticality with a preset threshold. Wherein, the X-direction inclination rate (offset per unit height) is: Y-direction tilt rate: The formula for calculating real-time verticality is: In the formula, For real-time verticality, The height of the laser monitoring section.

[0036] In some embodiments, the inclination angle of the pile body is also calculated, and the calculation formula is as follows: In the formula, The angle of inclination.

[0037] S5: When the real-time verticality exceeds the preset threshold, a control command is generated and sent to the control system of the pile driver according to the direction and magnitude of the real-time offset, driving the pile driver's correction mechanism to correct the pile posture.

[0038] This embodiment compares the calculated real-time verticality with a preset threshold. If the warning threshold is exceeded, the system immediately issues an audible and visual alarm to alert the operator. If the correction threshold is exceeded, the system automatically proceeds to the next step. When the calculated verticality exceeds the threshold, it can be adjusted according to V... X V Y The sign and magnitude of the real-time offset are used to output correction commands. Specifically, based on the sign and value of the real-time offset, control commands are mapped to the jacking force and stroke of different lateral correction mechanisms of the piling machine to achieve directional correction. like (Pile core is off to the left), control the left-side guide device to push the pile body; like (Pile core is slightly forward), control the rear guide device to push the pile body.

[0039] In some embodiments, after performing the correction in this step, the process can return to step S2 until the real-time verticality does not exceed a preset threshold within a preset time. Specifically, after the correction action takes effect, the pile posture changes. The laser rangefinder immediately captures the new distance data and feeds it back. The new verticality is calculated to determine whether it has returned to the allowable range. If it has not been satisfied, fine-tuning instructions are issued; if it has been satisfied, the correction is stopped, and the current state is maintained for pile driving / hammering. This process is continuously cycled during the construction of a single pile section to achieve dynamic balance.

[0040] S6: Automatically record and store the distance measurement sequence, offset curve, verticality change curve, and all correction action records for each pile throughout the entire construction process, and generate a structured electronic report. Specifically, in some embodiments, the verticality change curve over time (or depth of penetration) during the entire pile construction process can be automatically recorded, generating a quality report containing key data such as final verticality, maximum deviation, and number of corrections, serving as an electronic construction log.

[0041] In the precast pipe pile driving process, this embodiment uses four intelligent laser rangefinders to form a 'multi-laser ranging monitoring network'. When the pile driver starts, the laser beam captures the vertical posture of the pile in real time. Once the pile verticality exceeds the threshold, an alarm is triggered, and the intelligent pile driver receives the feedback information and automatically corrects the deviation to ensure the pile verticality.

[0042] The working principle of the "multi-laser ranging monitoring network" is as follows: Through a symmetrically arranged four-point differential geometric measurement network, the complex problem of pile spatial attitude measurement is transformed into a problem of real-time, high-precision measurement of four fixed distance values ​​and simple planar geometric calculation. This enables low-cost, high-frequency, and high-reliability real-time monitoring of pile verticality. This is the foundation for its successful application in intelligent correction systems. The calculated real-time verticality is compared with a preset threshold. Once the warning threshold is exceeded, the system immediately issues an audible and visual alarm to alert the operator. If the correction threshold is exceeded, the system automatically proceeds to the next step.

[0043] When the calculated verticality exceeds the threshold, it can be determined according to V. X V Y The positive and negative values ​​and magnitudes are corrected. After correction, the data acquisition and calculation process is repeated until the verticality meets the requirements. The construction status is perceived in real time through a high-precision sensor network (eyes), the intelligent controller (brain) performs data analysis and decision-making, and finally the high-response electro-hydraulic servo system (hands) precisely executes the actions, forming a fast, accurate, and automated closed loop of "perception-analysis-execution-re-perception". This transforms pile driving from a "manual labor process" into a "quantifiable, controllable, and optimizable" precision industrial process.

[0044] The real-time monitoring and intelligent correction method for pile verticality during the pile driving process in this embodiment can specifically solve a series of pain points in traditional pile driving construction, such as heavy reliance on manual labor, poor accuracy, low efficiency, and lack of quality traceability. Specifically, it can be divided into the following five categories: Category 1: Thoroughly Solving the Problems of Low Accuracy and Large Errors in Manual Monitoring Traditional pile driving relies on plumb bobs and theodolites for manual observation, which has three fatal flaws: (1) Large subjective errors in visual observation, verticality judgment depends on experience, and it is easy to have a situation where "it looks vertical but is actually tilted"; (2) It cannot capture the dynamic offset at the moment of hammering (the hammering force will cause the pile to tilt briefly, and the human reaction is delayed); (3) The monitoring frequency is low (only a few times per minute), and the accumulated deviation is difficult to correct, resulting in insufficient pile foundation bearing capacity and uneven settlement of the superstructure. The method in this embodiment, through millisecond-level laser ranging + automatic calculation, can control the verticality accuracy within 0.03%, which is far higher than the per mille required by the standard, and can capture the changes in the posture of the pile in real time, thus avoiding excessive tilting from the root.

[0045] The second category: Solving the problems of lag and blindness in manual correction: (1) Traditional correction relies entirely on the operator to "command according to the situation": after the deviation, it is impossible to accurately judge the size and direction of the deviation. When correcting, "pushing by feeling" is easy to cause "overcorrection", which will aggravate the tilt of the pile body; (2) Correction requires the cooperation of multiple workers (operating the guide device and observing the posture), which has high communication costs and slow response. It is impossible to intervene in time during the hammering process. The PLC hydraulic closed-loop control of the intelligent pile driver can achieve: according to the values ​​of , accurately calculate the pushing force and stroke, and the correction action is "not too much or too little"; (3) The correction is automatically completed during the hammering gap without manual intervention, avoiding the continuous accumulation of deviation during the hammering process.

[0046] The third category: solving the problems of low construction efficiency and high cost: (1) Monitoring and correction require 2-3 professionals to be on-site throughout the process, resulting in high labor costs; (2) If the verticality exceeds the standard, the piles need to be pulled out and re-driven, which not only wastes the pipe pile materials but also delays the construction period (the rework of a single pile can take several hours); (3) Under complex working conditions (such as deep foundation pits and densely built areas), the field of view for manual observation is limited, making construction difficult and slow. The advantages of the method in this embodiment are: (1) It realizes unattended monitoring and correction, requiring only 1 operator per device, reducing labor costs by more than 50%; (2) The verticality meets the standard in real time, almost eliminating the need for pile pulling and rework, and reducing the material loss rate to less than 1%; (3) Laser monitoring is not affected by environmental obstruction, improving construction efficiency by 15%-25% under complex working conditions.

[0047] The fourth category addresses the problems of untraceable and difficult-to-control construction quality: (1) Incomplete data (only the final verticality is recorded, without changes in posture throughout the entire process); (2) Data can be tampered with, and the supervision unit cannot verify its authenticity; (3) After a quality problem occurs, it is impossible to trace whether it was caused by "excessive hammering force" or "untimely correction". The method in this embodiment can automatically store the data throughout the entire process: (1) Record the V during the driving process of each pile. X V Y(1) Parameters such as verticality, correction action, number of hammer blows, etc.; (2) Generate visual reports and curves, and the supervisor and owner can directly verify the quality through the data without on-site supervision; (3) Quality problems can be accurately traced to the source, which provides data support for subsequent construction optimization.

[0048] Category 5: Solving the problem of poor construction adaptability under complex working conditions. In complex working conditions such as soft soil foundation, offshore pile foundation, and large-diameter pipe pile, the traditional pile driving method faces two major challenges: (1) The pile body is prone to "drifting" in soft soil foundation, and manual monitoring cannot track it in real time; (2) The large-diameter pipe pile has a heavy weight, and the jacking force for manual correction is insufficient, making it difficult to correct the deviation. However, the applicability advantages of this embodiment are prominent: (1) Laser monitoring is not affected by the type of foundation, and the pile body deviation trend can be captured in real time in soft soil foundation, and correction can be made in advance; (2) The hydraulic system can provide a precise and controllable large thrust, which is suitable for the correction needs of large-diameter and ultra-long pipe piles; (3) It has strong anti-interference ability and can still work stably in harsh environments such as rain, fog, and dust, and is suitable for complex construction scenarios such as offshore and mountainous areas.

[0049] In summary, compared with existing methods for monitoring and correcting pile verticality during pile driving, the real-time monitoring and intelligent correction method for pile verticality in this embodiment has the following advantages: 1. This method for real-time monitoring and intelligent correction of pile verticality during pile driving decouples the complex spatial posture of the pile into a simple distance difference measurement problem in two vertical directions by constructing a simplified measurement network consisting of at least four laser beams arranged according to a specific geometric relationship. This not only achieves non-contact, high-frequency, and high-precision real-time sensing of pile verticality, but also, through closed-loop linkage with the pile driving machine control system, realizes a leap from "monitoring" to "active correction," truly transforming pile driving construction from a process relying on manual experience into a data-driven, automatically controllable precision industrial process. This solves the technical problems of low accuracy and insufficient stability that are common in existing pile monitoring and correction methods during pile driving, effectively ensuring project quality and construction efficiency.

[0050] This method constructs a 'multi-laser beam ranging monitoring network' to achieve real-time measurement of verticality, greatly improving monitoring efficiency and the efficiency of pile driving verticality verification, providing strong impetus for rapid construction progress. Intelligent pile driving reduces worker involvement and the risks involved in the pile driving process. The two work together to achieve full-process intelligentization.

[0051] 2. This real-time monitoring and intelligent correction method for pile verticality during pile driving significantly improves the accuracy of pile verticality and ensures the safety of the engineering structure. Traditional manual monitoring using plumb bobs or theodolites suffers from problems such as visual observation errors and low frequency (unable to track pile deviation during hammering in real time), easily leading to excessive pile tilt. This system uses a four-point differential laser monitoring network to convert the spatial attitude of the pile into quantified distance values ​​for calculation. The measurement frequency can reach the millisecond level, capturing minute deviations at the moment of hammering. Combined with automatic correction commands, the verticality deviation can be controlled within the allowable value of 0.5% according to the specifications, avoiding potential hazards such as insufficient pile bearing capacity and uneven settlement of the superstructure caused by pile tilt.

[0052] 3. This method for real-time monitoring and intelligent correction of pile verticality during pile driving achieves low-cost, high-reliability real-time monitoring, reducing construction costs. Compared to high-precision but expensive monitoring equipment such as radar and total stations, laser rangefinders are low-cost and easy to install and maintain. The differential measurement method with four symmetrical points can offset the interference of environmental factors such as temperature and vibration on a single rangefinder, improving the stability of measurement data by more than 80%. At the same time, the system does not require additional complex sensor networks and can be reused after only one calibration of the reference parameters, significantly reducing equipment procurement and on-site commissioning costs.

[0053] 4. This method of real-time monitoring and intelligent correction of pile verticality during pile driving features automated closed-loop control, reducing manual intervention and improving construction efficiency. Traditional construction requires 2-3 operators to monitor and direct corrections, resulting in low efficiency and the potential for deviations to widen due to delayed human responses. This system automates the entire process of "data acquisition-calculation-judgment-correction": sound and light alarms alert manual verification when the warning threshold is exceeded; the guiding device is automatically activated when the correction threshold is exceeded, eliminating the need for real-time manual operation. The driving time for a single pile can be reduced by 15%-20%, and rework due to excessive verticality is avoided, saving time and material waste.

[0054] 5. The real-time monitoring and intelligent correction method for pile verticality during the piling process provides traceable data, facilitating construction quality control and review. The system can record data such as the two-axis offset, verticality, and correction actions for each pile throughout the entire piling process, and generate visual reports. On the one hand, the supervision unit can directly verify the construction quality through the data without on-site supervision; on the other hand, after construction is completed, historical data can be used to review deviation patterns and optimize subsequent piling parameters (such as hammering force and guide device jacking force), resulting in iterative optimization of construction technology.

[0055] 6. This method for real-time monitoring and intelligent correction of pile verticality during pile driving is highly adaptable and compatible with precast pipe piles of different specifications and complex construction environments. The four-point differential measurement network requires adjustment of the benchmark distance value according to the pile radius, thus adapting to various precast pipe piles with diameters ranging from 300mm to 1200mm. Laser ranging is unaffected by construction site conditions such as rain, fog, and dust, and has stronger anti-interference capabilities compared to optical theodolites, enabling stable operation in complex scenarios such as densely built-up areas and deep foundation pits.

[0056] Example 2 This embodiment provides a device for real-time monitoring and intelligent correction of pile verticality during pile driving, which is the same as the method for real-time monitoring and intelligent correction of pile verticality during pile driving in Embodiment 1. The device includes a system deployment module, a data acquisition module, an attitude calculation module, a judgment and decision module, and an intelligent correction module.

[0057] The system deployment module is used to establish a local coordinate system with the pile center as the origin before pile driving, and to scan the pile body with at least two opposing laser beams in each coordinate axis direction to obtain the reference distance from the laser emission position to the pile center. Its core hardware includes at least four high-precision laser rangefinders, independent stable supports for fixing the rangefinders (such as tripods with adjustable feet or special steel frames), and a system control host. The specific functions of this module are as follows: 1. Coordinate Establishment and Hardware Layout: Based on the center point of the pile location laid out by the total station, a local construction coordinate system (X-axis and Y-axis) is established in physical space. Subsequently, four laser rangefinders are precisely fixed in two mutually perpendicular directions using brackets, ensuring that the two rangefinders in each direction are symmetrically arranged about the designed pile center line.

[0058] 2. Reference Parameter Acquisition and Calibration: After the pile is erected and initially adjusted to the designed vertical position, the control host records the initial readings of each laser rangefinder to the pile surface as the reference distance. Simultaneously, based on the input pile design radius, this module automatically calculates or verifies the geometric relationship "Reference distance = Distance from laser rangefinder to the designed pile center position - Pile radius," completing the system's spatial calibration and allowing users to set key parameters such as verticality warning thresholds and correction thresholds.

[0059] The data acquisition module is used during pile driving to continuously illuminate the same cross-section of the pile at the same height with a laser beam and measure the distance from each laser beam to the pile surface in real time, obtaining four distance values. This module is the system's "sensing layer," responsible for acquiring and reliably transmitting raw measurement data in real time and at high frequency. Its core consists of the aforementioned laser rangefinder array and an industrial-grade data communication network. Each laser rangefinder continuously measures the instantaneous distance from its laser beam spot (located at a representative height cross-section of the pile, such as 1-2 meters below the pile top) to the pile surface at a frequency of no less than 10Hz. Each rangefinder synchronously uploads the real-time distance values ​​to the control host via wired (e.g., RS485, Ethernet) or wireless (e.g., industrial Wi-Fi, LoRa) communication. This unit has anti-interference capabilities, ensuring the real-time performance and integrity of the data even under complex environments such as pile driving vibration and on-site electromagnetic interference.

[0060] The attitude calculation module is used to calculate the real-time offset of the pile center in two coordinate axes based on the measured distance, the preset pile radius, and the reference distance. This module is the "computational core" of the system and is usually built into the control host (such as an industrial computer or high-performance PLC), running as dedicated algorithm software. This module may include a data preprocessing unit, an offset calculation unit, and a verticality calculation unit.

[0061] The data preprocessing unit filters the received raw ranging data (e.g., using moving average filtering) to suppress random noise and performs validity checks. The offset calculation unit stores and executes the core algorithm, calling the preprocessed real-time ranging value, the pre-calibrated reference distance, and the pile radius to calculate the precise offset of the pile center in the X and Y directions in real time. Based on the calculated offset and the preset monitoring section height, the verticality calculation unit calculates the overall verticality of the pile and the component inclination rates in both directions in real time.

[0062] The judgment and decision-making module calculates the real-time verticality of the pile body based on the real-time offset and the height of the laser monitoring section, and compares the real-time verticality with preset thresholds. This module is the "brain" of the system, responsible for making judgments and triggering corresponding actions based on the calculation results. This module includes a threshold comparison unit, a decision logic unit, and an alarm unit. The threshold comparison unit continuously compares the real-time calculated verticality with user-preset multi-level thresholds (such as reminder values, warning values, and correction action values). The decision logic unit executes preset logic based on the comparison results: if the verticality exceeds the reminder value, it is only displayed on the operation interface; if it exceeds the warning value, it triggers the audible and visual alarm of the next unit; if it reaches or exceeds the correction action value, it immediately generates specific correction control instructions. The alarm unit includes a buzzer and a high-brightness indicator light, which emit audible and visual signals to alert the on-site operator when the system determines that the verticality is abnormal.

[0063] The intelligent correction module generates control commands based on the direction and magnitude of the real-time offset when the real-time verticality exceeds a preset threshold. These commands are then sent to the piling machine's control system, driving the correction mechanism to correct the pile's posture. This module acts as the system's "execution layer," creating a closed loop from decision-making to physical action. It includes a control command generation unit, a communication interface and drive unit, and a correction execution mechanism. The control command generation unit calculates the required jacking force, its direction, and duration based on the offset's sign (direction) and magnitude, combined with a preset correction strategy (such as a PID control algorithm). This calculation is then converted into standard control commands that the piling machine's hydraulic correction system or guiding mechanism can recognize. The communication interface and drive unit transmit these commands in real-time to the piling machine's programmable logic controller (PLC) via an industrial bus (such as CAN bus or Profinet) or an analog / digital output module. The correction execution mechanism is an integrated or controlled physical device within the piling machine, typically consisting of hydraulic cylinders, servo valves, and a jacking head. It receives instructions from the pile driver's PLC and precisely applies lateral thrust to the pile body to correct its posture.

[0064] Example 3 This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in Embodiment 1.

[0065] The method in Example 1 can be applied in software form, such as by designing it as a standalone program and installing it on a computer terminal, which can be a computer, smartphone, control system, or other IoT device. Alternatively, the method in Example 1 can be designed as an embedded program and installed on a computer terminal, such as on a microcontroller.

[0066] Example 4 This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it implements the steps of the real-time monitoring and intelligent correction method for pile verticality during the pile driving process in Embodiment 1.

[0067] When applying the method of Example 1, it can be applied in the form of software, such as by designing it as a program that can run independently on a computer-readable storage medium. The computer-readable storage medium can be a USB flash drive, designed as a USB security token, and the program can be designed to start the entire method through an external trigger.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for real-time monitoring and intelligent correction of pile verticality during pile driving, characterized in that, It includes the following steps: S1: Before driving the pile, a local coordinate system is established with the pile center as the origin, and the pile body is scanned by at least two opposing laser beams in each coordinate axis direction to obtain the reference distance from the laser emission position to the pile center. S2: During the pile driving process, the laser continuously irradiates the same height section of the pile body, and the distance from each laser beam to the surface of the pile body is measured in real time to obtain four distance values; S3: Based on the measured distance, the preset pile radius, and the reference distance, calculate the real-time offset of the pile center in the two coordinate axis directions; S4: Calculate the real-time verticality of the pile body based on the real-time offset and the height of the laser monitoring section, and compare the real-time verticality with a preset threshold. S5: When the real-time verticality exceeds the preset threshold, a control command is generated and sent to the control system of the pile driver according to the direction and magnitude of the real-time offset, driving the pile driver's correction mechanism to correct the pile posture.

2. The method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in claim 1, characterized in that, In step S3, the distance from each laser emission position to the surface of the pile is calculated based on the reference distance; two coordinate axes are defined as the X-axis and the Y-axis, and the formulas for calculating the real-time offset of the pile center in the X and Y axis directions are as follows: ； ； in, This is the real-time offset along the X-axis. This is the real-time offset along the Y-axis. , These are two distance measurements along the X-axis. , The distances from the two corresponding laser emission positions to the surface of the pile body; , The distance measured in the Y-axis direction. , The distance from the two corresponding laser emission positions to the surface of the pile body.

3. The method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in claim 2, characterized in that, The formula for calculating the real-time verticality is: ； In the formula, The real-time verticality. The height of the laser monitoring section.

4. The method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in claim 3, characterized in that, In step S4, the inclination angle of the pile body is also calculated, and the calculation formula is as follows: ； In the formula, The angle of inclination.

5. The method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in claim 1, characterized in that, The real-time monitoring and intelligent correction method also includes the following steps: S6: Automatically records and stores the distance measurement sequence, offset curve, verticality change curve and all correction action records of each pile throughout the entire construction process, and generates a structured electronic report.

6. The method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in claim 1, characterized in that, After performing the correction in step S5, return to step S2 until the real-time verticality does not exceed the preset threshold within a preset time.

7. The method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in claim 1, characterized in that, In step S5, the positive and negative signs and values ​​of the real-time offset are mapped to control commands for the jacking force and stroke of the different lateral correction mechanisms of the pile driver, so as to achieve directional correction.

8. The method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in claim 1, characterized in that, Two laser rangefinders are deployed in each coordinate axis direction, and the installation position of each laser rangefinder is independent of the pile driver and remains stable. The two laser rangefinders are symmetrical about the center line, and the laser beam emitted by the laser rangefinders scans the pile body and measures the distance.

9. The method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in claim 1, characterized in that, When the pile is in the designed vertical position, the initial distance from each laser beam to the pile center is recorded as the reference distance, and the geometric relationship between the reference distance, the pile radius and the distance from the laser emission point to the pile surface is verified.

10. A device for real-time monitoring and intelligent correction of pile verticality during pile driving, characterized in that, Its application is the method for real-time monitoring and intelligent correction of pile verticality during pile driving as described in any one of claims 1-9, wherein the device comprises: The system deployment module is used to establish a local coordinate system with the pile center as the origin before pile driving, and to scan the pile body with at least two opposing laser beams in each coordinate axis direction to obtain the reference distance from the laser emission position to the pile center. The data acquisition module is used to continuously irradiate the same cross-section of the pile body with laser during the pile driving process, and to measure the distance from each laser beam to the surface of the pile body in real time to obtain four distance values. The attitude calculation module is used to calculate the real-time offset of the pile center in two coordinate axis directions based on the distance measurement value, the preset pile radius and the reference distance; The judgment and decision module is used to calculate the real-time verticality of the pile body based on the real-time offset and the height of the laser monitoring section, and compare the real-time verticality with a preset threshold. The intelligent correction module is used to generate control commands based on the direction and magnitude of the real-time offset when the real-time verticality exceeds the preset threshold, and send them to the control system of the pile driver to drive the correction mechanism of the pile driver to correct the posture of the pile body.

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