Automatic slurry feeding and pile position guiding quality monitoring system and method for cement mixing pile

Abstract

The invention discloses an automatic slurry feeding and pile position guiding quality monitoring system and method for a cement mixing pile, and relates to the technical field of foundation treatment engineering. Comprising the steps of setting construction parameters and calculating target flow; actual guniting flow is collected, flow deviation is calculated, and a control instruction is generated; executing a control action, and repeatedly executing closed-loop adjustment; and the central control unit executes pile-slurry cooperative intelligent regulation and control logic. According to the method, a slurry feeding optimization model based on PID closed-loop control is constructed, and a GNSS-RTK and IMU fusion positioning algorithm is combined, so that precise matching of the slurry spraying amount and real-time calculation of pile position coordinates are automatically realized, and intelligent parameter regulation and control and space positioning are completed; multi-source sensor data are fused, closed-loop control and dynamic response in the construction process are achieved, data collection and quality tracing in the whole process are supported, construction efficiency and pile forming quality are remarkably improved, manual intervention and material waste are reduced, and the method is suitable for various engineering scenes such as soft soil foundation reinforcement, deep foundation pit supporting and roadbed treatment. Good practicability and popularization value are realized.

Description

Technical Field

[0001] This invention relates to the field of foundation treatment engineering technology, specifically to an automatic grout delivery and pile location guidance quality monitoring system and method for cement mixing piles. Background Technology

[0002] Cement mixing piles, as a widely used method for soft soil foundation treatment, rely heavily on the control of water-cement ratio, uniformity of cement content per unit depth, accuracy of pile location, and stability of verticality during construction to ensure pile quality. Traditional construction methods primarily rely on manual operation and experience-based judgment, resulting in prominent problems such as crude grouting control, large pile location errors, lack of system linkage, and untraceable quality. For example, fixed-flow pumping or simple time control is often used, failing to dynamically adjust the grouting volume according to drilling speed, easily leading to under-grouting or over-grouting, affecting pile strength. Pile location layout relies on total stations or steel tapes, followed by visual alignment by operators, making it susceptible to human error, with deviations often exceeding 5cm, failing to meet the high-standard requirements of highways, high-speed railways, and other projects. Furthermore, the grouting system and positioning system are independent, allowing grouting to continue even if the pile location deviates, resulting in material waste and potential quality risks. Incomplete construction parameter records hinder the digital archiving and subsequent evaluation of single-pile quality.

[0003] In recent years, although some studies have attempted to introduce GPS positioning or flow meter monitoring, they generally suffer from the following limitations: they only use single-point GPS and do not consider the impact of pile frame inclination on the coordinates of the drill rod bottom; the grout volume measurement relies on theoretical calculations and lacks independent verification of the actual grout injection volume at the end; and there is no effective human-machine interaction guidance mechanism, requiring operators to adjust based on experience. Therefore, there is an urgent need for an integrated intelligent monitoring system that can deeply integrate high-precision spatial positioning, dynamic grout control, and visual guidance to achieve standardization, automation, and traceability in cement mixing pile construction. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic grout delivery and pile position guidance quality monitoring system and method for cement mixing piles. Through multi-source sensor fusion, closed-loop feedback control and human-machine collaborative guidance, it achieves the high-quality construction goal of "accurate piles, accurate grout, controllability and traceability".

[0005] To achieve the above objectives, the present invention provides the following technical solution: A method for automatic grout delivery and pile location guidance quality monitoring of cement mixing piles, specifically including the following steps: Step 1: Set construction parameters and calculate target flow rate; Step 2: Collect the actual shotcrete flow rate, calculate the flow rate deviation, and generate control commands; Step 3: Execute the control action and repeat the closed-loop adjustment; Step 4: The central control unit executes the pile-grout coordinated intelligent control logic.

[0006] Step 1 includes: Step 11: Before construction, the operator inputs the construction parameters into the central control unit: design unit depth and mortar content. slurry density The drilling speed v is fed back in real time by the depth and speed monitoring unit, with a sampling frequency of 10 Hz; Step 12: The central control unit dynamically calculates the target flow rate based on the current drilling speed v. Where v is in m / min Unit: L / min.

[0007] Step 2 includes: Step 21: The system measures the actual shotcrete flow rate in real time using an electromagnetic flowmeter. , as a feedback signal for closed-loop control; Step 22: The system uses an incremental PID closed-loop control algorithm to adjust the screw pump speed; the flow deviation at time k is defined as: ,in, The target shotcrete flow rate setpoint is obtained from step 12 at time k, in L / min; The actual shotcrete flow rate measurement value fed back by the shotcrete volume monitoring unit at time k, in units of L / min.

[0008] Calculate the inverter frequency increment command based on the deviation: in, These are the PID parameters tuned on-site.

[0009] Step 3 includes: Step 31: Send the calculated frequency increment command Δt(t) into the frequency converter to adjust the screw pump speed and realize dynamic tracking of the shotcrete flow rate; Step 32: The system continuously executes steps 3 to 5 in a loop until the entire pile formation process is completed; during this process, the grouting volume closely follows the drilling speed to ensure a stable cement content per unit length.

[0010] Step 4 includes: Step 41: Initialize pile position and depth status: After the system starts, it acquires the horizontal deviation Δs output by the pile position guidance unit and the current drill rod depth h output by the depth monitoring unit in real time. Step 42: Determine the conditions for pile positioning: The system first determines whether the pile position deviation meets the condition Δs≤2cm. If Δs>2cm, the positioning conditions are not met, the grouting is prohibited, and an audible and visual warning is issued on the operation terminal. Step 43: Determine the validity of the depth interval: The system further determines whether the drill pipe depth is within the designed pile-forming range h∈[h top h bottom ], where h top and h bottom These are the upper and lower effective pile depth boundary values ​​determined based on the specific designed pile length; Grouting is not permitted before entering the effective pile-forming zone; Step 44: Comprehensive judgment and execution control: If neither of the above two conditions is met for grout delivery, the system will determine that the construction is not effective and will automatically shut down the screw pump and lock the grout delivery function to prevent cement waste and quality risks. Step 45: Subsequent construction status update: After the operator adjusts the position of the piling machine, the system re-collects data. If the system simultaneously meets the following conditions: Δs≤2cm and is within the designed piling range, the system releases the grouting lock and allows the automatic grouting and automatic grouting program to be started.

[0011] Step 46: Real-time monitoring during pulp delivery: After the grout delivery begins, the system continuously accumulates the actual grout quality. Theoretical value The deviation is: ,in: This represents the current length of the completed pile; when the deviation reaches 3%, the system immediately triggers the safety interlock mechanism, stopping grout delivery and shutting down the screw pump. Step 47: End this pile driving operation or switch modes: The system decides whether to continue construction or switch to manual intervention mode based on preset rules. All abnormal events are uploaded to the construction management platform for later analysis and tracing.

[0012] An automatic grout delivery and pile location guidance quality monitoring system for cement mixing piles, the system comprising: The high-precision pile positioning guidance unit is used to acquire and calculate the actual spatial coordinates of the bottom contact point of the drill rod in real time, and guide the pile driver to be positioned at the designed pile position. An automated pulping unit is used to continuously prepare cement slurry according to a preset mix ratio; An automatic grout delivery control unit, connected to the automatic grout preparation unit, is used to dynamically adjust the grout flow rate according to drilling parameters; The depth and speed monitoring unit is used to collect the drilling or hoisting depth and movement speed of the drill pipe in real time; The shotcrete volume monitoring unit is used to measure, accumulate, and verify the actual amount of shotcrete injected into the formation in real time. The central control unit is communicatively connected to the high-precision pile position guidance unit, the automated grouting unit, the automatic grout delivery control unit, the depth and speed monitoring unit, and the grout volume monitoring unit. It is used to integrate multi-source sensor data, execute the pile-grout collaborative intelligent control algorithm, realize closed-loop linkage control of grout volume and pile position, and generate a digital archive of single pile construction quality.

[0013] The high-precision pile positioning guidance unit includes GNSS master and slave antennas and an inertial measurement unit (IMU). The GNSS master and slave antennas are fixed on rigid structures symmetrically mounted on the left and right sides of the pile driver body, ensuring that their installation heights are completely consistent. The line connecting the phase centers of the antennas is parallel to the longitudinal central axis of the pile driver, used to calculate the real-time azimuth angle θ of the pile driver using the dual-antenna baseline measurement method. The IMU is installed in the middle of the pile driver column and is used to measure the front-to-back tilt angle α and left-to-right tilt angle β of the pile frame in real time. The central control unit, based on the real-time three-dimensional coordinates of the GNSS master and slave antennas, the tilt angle data measured by the IMU, and the effective length L of the drill rod, calculates the actual three-dimensional coordinates of the bottom center point of the drill rod in real time using a geometric projection model. ; Let the coordinates of the phase center of the GNSS main antenna be... GNSS from the antenna phase center coordinates is The formula for calculating the azimuth angle of the pile driver is: The central control unit further calculates the coordinates of the contact point at the bottom of the drill pipe using the following formula: , , ,in, For the overall tilt angle.

[0014] The central control unit will determine the horizontal coordinate of the center point at the bottom of the drill pipe. Coordinates of the designed pile location The comparison is performed, and two icons are displayed simultaneously on the control room screen: the first icon indicates the current actual contact point position, and the second icon indicates the target designed pile position position; when the operator drives the pile driver to make the two icons coincide, the pile position is accurately positioned. The central control unit calculates the horizontal deviation of the pile position: When Δs > 2cm, the slurry feeding must not be started and a warning will be issued at the operating terminal. The central control unit supports local storage of data throughout the construction process and remote uploading via 4G / 5G, and automatically generates a single pile quality report. The report includes: pile number, design parameters, actual shotcrete curve, cumulative grout volume, pile position deviation, verticality, drilling speed-depth curve, operation log, and quality judgment conclusion. The central control unit executes the following pile-grout coordinated intelligent control algorithm logic: a) Only when the pile position deviation Δs ≤ 2cm, and the drill rod depth is within the designed pile formation interval h ∈ [h top h bottom Automated pulping and automatic pulp delivery are only permitted to be started under these conditions. b) If Δs > 2cm or the cumulative spraying quality deviation exceeds 3% of the theoretical value during construction, stop the grouting immediately and record the abnormal event.

[0015] The automated slurry preparation unit includes: a solidification material weighing module, which uses a dynamic weighing sensor to continuously measure cement, lime or fly ash; a water metering module, which uses an electromagnetic flow meter to accurately control the water inflow; and a high-speed mixing tank, which is used to fully mix solidification materials, water and admixtures according to a preset water-cement ratio. The automated slurry preparation unit operates continuously during the continuous operation of the piling machine, so that slurry preparation continues as long as the piling machine is running. The automatic grouting control unit includes a screw pump, a frequency converter, and grouting pipelines; the central control unit is based on the current drilling speed v (unit: m / min) and the designed grouting amount Q per unit depth. d Units: kg / m³ and slurry density ρ, units: kg / L; calculate the target flow rate: Unit: L / min. The screw pump speed is adjusted using an incremental PID closed-loop control algorithm so that the actual shotcrete flow rate tracks the target flow rate. The incremental PID closed-loop control algorithm uses the measured flow rate output by the shotcrete volume monitoring unit. For feedback, calculate the flow deviation in the k-th sampling period. And generate the inverter frequency increment command according to the formula: The inverter output frequency is updated to ,in These are adjustable control parameters.

[0016] The depth and speed monitoring unit includes a high-resolution rotary encoder, installed on the end of the winch wire rope drum shaft, used to convert the wire rope displacement into pulse signals; the central control unit calculates the real-time drill rod depth h and movement speed based on the number of pulses. , as input parameters for automatic slurry feeding control; The grouting volume monitoring unit uses an electromagnetic flow meter or a mass flow meter, which is installed near the inlet of the pile driver's power head in the grouting pipeline. It is used to independently and in real time monitor the actual grouting flow rate injected into the formation and feed the data back to the central control unit for PID closed-loop correction.

[0017] Compared with the prior art, the beneficial effects of the present invention are: The high-precision pile positioning guidance unit forms a baseline measurement system by symmetrically installing a GNSS main antenna and a GNSS slave antenna. Combined with an inertial measurement unit, it acquires real-time pile frame attitude information and constructs a spatial coordinate model of the drill pipe's bottom contact point, achieving centimeter-level pile positioning guidance. This method effectively solves the problem that traditional single-point positioning cannot accurately reflect the piling machine's heading, significantly improving the accuracy and stability of pile positioning. The automatic grouting control unit dynamically adjusts the grouting flow rate according to the drilling speed. Combined with real-time feedback from the grouting volume monitoring unit, it forms a closed-loop control circuit, achieving precise matching between the grouting volume and drilling conditions. Compared to traditional constant flow or timed grouting methods, it avoids insufficient or excessive grouting caused by drilling speed fluctuations, improving the consistency of pile quality.

[0018] This invention employs a system-wide intelligent control logic for pile-grout coordination, allowing grout delivery only when the pile position deviation meets a preset threshold and the drill rod is within the designed pile formation range. It also monitors the cumulative grouting quality in real time during construction, automatically stopping the pump and triggering an alarm if the deviation exceeds a set range. This safety interlock mechanism eliminates ineffective construction, prevents material waste, and ensures the controllability and reliability of the construction process. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating the process of an automatic grout delivery and pile position guidance quality monitoring method for cement mixing piles as described in this invention. Figure 2 This is a schematic diagram of the automatic slurry feeding control algorithm; Figure 3 This is a flowchart of the algorithm for the high-precision pile positioning guidance unit. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1

[0022] Please see Figures 1-3 This invention provides a technical solution: an integrated quality monitoring system for automatic grout delivery and pile location guidance in cement mixing piles, the system comprising: The high-precision pile positioning guidance unit and module are installed in key parts of the piling machine. They use GPS-RTK dynamic positioning technology to calculate positioning data with centimeter-level accuracy in real time. The tilt sensor (IMU) is installed on the piling machine column to monitor the front-to-back and left-to-right tilt angles (i.e., verticality) of the pile frame in real time. By combining the actual coordinates measured by the GNSS antenna and the tilt angle measured by the IMU with the built-in geometric algorithm, the precise coordinates of the bottom center of the drill rod (i.e., the actual contact point) are calculated in real time. Combined with the two-dimensional plane coordinates of the design drawings, the current position icon of the piling machine and the target pile position icon can be displayed on the visual interface on the operator's screen. The operator only needs to drive the piling machine to make the two icons coincide to complete the precise guidance and positioning.

[0023] The automated slurry preparation unit utilizes an automated control system to thoroughly mix and stir solidification materials (such as cement, lime, fly ash, etc.) with water and admixtures according to the mix proportions designed for construction, forming cement slurry. A weighing module is used to perform real-time and continuous dynamic metering of the solidification materials, and an electromagnetic flow meter is used to precisely control the water flow rate, ultimately achieving "slurry preparation continues as long as the piling machine keeps running".

[0024] The automatic grout delivery control unit delivers the uniformly mixed cement grout to the pile driver's power head at a specific flow rate. This is the key module for automatic grout delivery. The MCU employs a PID closed-loop feedback automatic control algorithm, using the speed of the grout delivery motor (usually a screw pump motor controlled by a frequency converter) as the controlled object. By collecting real-time "construction speed" signals, combined with the amount of cement grout per meter and the density of the cement grout, the MCU automatically and instantly calculates the required motor speed and instructs the frequency converter to execute it, thereby accurately outputting the corresponding "grout volume". The MCU combines real-time flow rate and initial target flow rate data, using the PID closed-loop feedback automatic control algorithm to fine-tune the speed command output to the frequency converter, eliminating the deviation between the real-time flow rate and the initial target flow rate, and achieving high-precision grout volume control.

[0025] The depth and speed monitoring unit integrates a high-precision encoder to convert the movement distance of the wire rope into an electrical signal. The MCU processes the electrical signal data to calculate the drilling depth and speed of the drill rod in real time, providing data support for the automated slurry delivery algorithm.

[0026] The shotcrete volume monitoring unit uses an electromagnetic flow meter or a mass flow meter to monitor the shotcrete flow rate of cement slurry in real time, providing data support for automated slurry delivery algorithms.

[0027] The central control unit receives data in real time from various sensors, including the GNSS main antenna, GNSS slave antenna, inertial measurement unit, depth and velocity monitoring unit, and grout volume monitoring unit. Based on the received multi-source information, it performs spatial coordinate calculation of the drill rod bottom contact point, pile position deviation judgment, and grout delivery control logic. Through a pile-grout collaborative intelligent control algorithm, grout delivery is only allowed when the pile position deviation meets a preset threshold and the drill rod is within the designed pile formation range. The unit also monitors the cumulative grout quality in real time during construction, automatically stopping the pump and triggering an alarm if the deviation exceeds the set range. It supports local storage and 4G / 5G remote upload of data throughout the construction process, facilitating later quality traceability and management. Furthermore, it provides a visual human-machine interface, allowing operators to intuitively view pile position status, grout curves, system alarms, and other information, achieving efficient and precise intelligent construction control.

[0028] Example 2

[0029] This embodiment provides a method for automatic grout delivery and pile location guidance quality monitoring of cement mixing piles using the system described in Embodiment 1, specifically including the following steps: Step 1: Set construction parameters and calculate target flow rate; Step 11: Before construction, the operator inputs the construction parameters into the central control unit: design unit depth and mortar content. slurry density The drilling speed v is fed back in real time by the depth and speed monitoring unit, with a sampling frequency of 10 Hz; Step 12: The central control unit dynamically calculates the target flow rate based on the current drilling speed v. Where v is in m / min Unit: L / min.

[0030] Step 2: Collect the actual shotcrete flow rate, calculate the flow rate deviation, and generate control commands; Step 21: The system measures the actual shotcrete flow rate in real time using an electromagnetic flowmeter. , as a feedback signal for closed-loop control; Step 22: The system uses an incremental PID closed-loop control algorithm to adjust the screw pump speed; the flow deviation at time k is defined as: ,in, The target shotcrete flow rate setpoint is obtained from step 12 at time k, in L / min; The actual shotcrete flow rate measurement value fed back by the shotcrete volume monitoring unit at time k, in units of L / min.

[0031] Calculate the inverter frequency increment command based on the deviation: in, These are the PID parameters tuned on-site.

[0032] Step 3: Execute the control action and repeat the closed-loop adjustment; Step 31: Send the calculated frequency increment command Δt(t) into the frequency converter to adjust the screw pump speed and realize dynamic tracking of the shotcrete flow rate; Step 32: The system continuously executes steps 3 to 5 in a loop until the entire pile formation process is completed; during this process, the grouting volume closely follows the drilling speed to ensure a stable cement content per unit length.

[0033] Assuming that during the construction of a cement mixing pile, the current drilling speed is v = 1.1 m / min, the actual grouting flow rate measured by the electromagnetic flowmeter is: The system calculates the current flow deviation: Assuming the deviation at the previous time step e(k−1) = 2.1 L / min and the time step before that e(k−2) = 2.28 L / min, substituting these values ​​into the incremental PID formula: =1.2×(1.93−2.1)+0.05×1.93+0.1×(1.93−2×2.1+2.28)=−0.1065, the system generates a frequency increment command Δu(k)=−0.1065 for the frequency converter, which means reducing the screw pump speed to reduce the amount of grout sprayed. After the next sampling cycle, the actual flow rate rises to 72.8 L / min, the deviation decreases, and the system continues to adjust until it stabilizes near the target value.

[0034] Step 4: The central control unit executes the pile-grout coordinated intelligent control logic.

[0035] Step 41: Initialize pile position and depth status: After the system starts, it acquires the horizontal deviation Δs output by the pile position guidance unit and the current drill rod depth h output by the depth monitoring unit in real time. At a certain construction moment, assume the system detects: pile position horizontal deviation Δs = 2.5 cm; drill rod depth h = −2.8 m; designed pile formation interval h ∈ [−3.0 m, −15.0 m]; and designed mortar content per unit depth. The current length of piles completed Theoretical shotcrete quality .

[0036] Step 42: Determine the conditions for pile positioning: The system first determines whether the pile position deviation meets the condition Δs≤2cm. If Δs>2cm, the positioning conditions are not met, grouting is prohibited, and an audible and visual warning is issued on the operating terminal. The specific principle behind this step is as follows: The high-precision pile location guidance unit includes a GNSS master antenna, a GNSS slave antenna, and an IMU.

[0037] The GNSS main antenna and slave antenna are symmetrically mounted on the rigid crossbeams on the left and right sides of the top of the pile driver body. The phase center heights are consistent, the horizontal spacing is fixed at D (typical value is 1.2 m), and the connecting line is parallel to the longitudinal centerline of the pile driver. The IMU is installed in the middle of the pile driver column to collect the front-to-back tilt angle α and left-to-right tilt angle β of the pile frame in real time.

[0038] When the system is running, the GNSS master and slave antennas first output their respective three-dimensional coordinates. And calculate the heading angle of the piling machine accordingly: Subsequently, combining the effective length L of the drill pipe (i.e., the geometric length from the GNSS antenna mounting plane to the bottom contact point of the drill pipe) and the attitude angles α and β measured by the IMU, the actual coordinates of the bottom contact point of the drill pipe are calculated using a spatial geometric projection model:

[0039] The solution obtained Coordinates of the designed pile location Compare and calculate the horizontal deviation of the pile position: ,when When the preset positioning threshold (usually 2 cm) is reached, the system determines that the pile position is qualified and allows the grouting preparation state to be entered; otherwise, grouting is prohibited from being started, and an audible and visual warning is issued on the operating terminal, while providing directional guidance prompts (such as "3 cm to the left") to assist the operator in completing the fine adjustment of the pile driver.

[0040] For example: Suppose a Φ600 mm cement mixing pile is being constructed in a soft soil foundation treatment project for a highway. Relevant parameters are set as follows: Design pile location coordinates: Effective drill pipe length: L = 15.0 m; Positioning threshold: .

[0041] In the initial state, the system collected the following sensor data: GNSS main antenna coordinates: GNSS from antenna coordinates: Attitude angles measured by the IMU:

[0042] Calculate the heading angle: ; Solve for the coordinates of the contact point:

[0043] Calculate pile position deviation: ; because The system determined that the pile was not in place and displayed on the touchscreen: "The current pile position is deviated to the left by about 9 cm and to the back by about 6 cm. Please adjust."

[0044] After the operator fine-tuned the pile driver's position according to the prompts, the system re-collected data and calculated the coordinates of the new contact point as follows: ,at this time: When the distance is approximately 0.0014m = 0.14cm < 2cm, the system immediately issues a "Pile position successfully positioned" message and automatically releases the grouting lock, allowing the subsequent pile formation process to begin.

[0045] By using a high-precision pile positioning algorithm, the actual coordinates of the contact point at the bottom of the drill rod are obtained in real time, compared with the target pile position, the deviation is calculated and directional guidance is provided until the positioning accuracy of the pile driver meets the construction requirements, thus achieving efficient and accurate automatic guidance.

[0046] In step 41 of this embodiment, since the current Δs = 2.5cm > 2cm, the positioning conditions are not met. Therefore, grouting is prohibited from being started, and an audible and visual warning is issued on the operating terminal: "Pile position deviation exceeds the limit, please adjust the position".

[0047] Step 43: Determine the validity of the depth interval: The system further determines whether the drill pipe depth is within the designed pile-forming range h∈[−3.0m,−15.0m]; Grouting is not permitted before entering the effective pile-forming zone; In this embodiment, h = −2.8m, which is not within the effective pile formation zone, so grouting is not allowed.

[0048] Step 44: Comprehensive judgment and execution control: Since neither of the above two conditions is met, the system determines that it is in an "ineffective construction state," automatically shuts down the screw pump, and locks the grout delivery function to prevent cement waste and quality risks.

[0049] Step 45: Subsequent construction status update: After the operator adjusted the pile driver position, the system re-collected data: the new pile position deviation Δs = 1.2cm; the drill rod depth h = −3.2m, indicating that the pile has entered the pile formation range. At this time, the system simultaneously satisfies: Δs = 1.2cm ≤ 2cm; h = −3.2m ∈ [−3.0m, −15.0m]; therefore, the system releases the pulping lock, allowing the start of the automated pulping and automatic pulping program.

[0050] Step 46: Real-time monitoring during pulp delivery: After the grout delivery begins, the system continuously accumulates the actual grout quality. and the theoretical value Comparison. For example, in hour, If the cumulative actual shotcrete volume is The deviation is: When the deviation reaches 3%, the system immediately triggers the safety interlock mechanism: stop the slurry delivery; Turn off the screw pump; The recorded abnormal event type is "excessive grouting volume", with a timestamp of 2025-04-05 14:32:15. The current working parameters include: pile position deviation Δs = 1.5cm, drill rod depth h = −8.5m, and drilling speed v = 1.1m / min.

[0051] Step 47: End this pile driving operation or switch modes: The system decides whether to continue construction or switch to manual intervention mode based on preset rules. All abnormal events are uploaded to the construction management platform for later analysis and tracing.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for automatic grout delivery and pile position guidance quality monitoring of cement mixing piles, characterized in that, Specifically, the steps include the following: Step 1: Set construction parameters and calculate target flow rate; Step 2: Collect the actual shotcrete flow rate, calculate the flow rate deviation, and generate control commands; Step 3: Execute the control action and repeat the closed-loop adjustment; Step 4: The central control unit executes the pile-grout coordinated intelligent control logic.

2. The method for automatic grout delivery and pile position guidance quality monitoring of cement mixing piles according to claim 1, characterized in that, Step 1 includes: Step 11: Before construction, the operator inputs the construction parameters into the central control unit: design unit depth and mortar content. slurry density The drilling speed v is fed back in real time by the depth and speed monitoring unit, with a sampling frequency of 10 Hz; Step 12: The central control unit dynamically calculates the target flow rate based on the current drilling speed v. Where v is in m / min Unit: L / min.

3. The method for automatic grout delivery and pile position guidance quality monitoring of cement mixing piles according to claim 1, characterized in that, Step 2 includes: Step 21: The system measures the actual shotcrete flow rate in real time using an electromagnetic flowmeter. , as a feedback signal for closed-loop control; Step 22: The system uses an incremental PID closed-loop control algorithm to adjust the screw pump speed; the flow deviation at time k is defined as: ,in, The target shotcrete flow rate setpoint is obtained from step 12 at time k, in L / min; The actual shotcrete flow rate measured by the shotcrete monitoring unit at time k, in L / min; Calculate the inverter frequency increment command based on the deviation: in, These are the PID parameters tuned on-site.

4. The method for automatic grout delivery and pile position guidance quality monitoring of cement mixing piles according to claim 1, characterized in that, Step 3 includes: Step 31: Send the calculated frequency increment command Δt(t) into the frequency converter to adjust the screw pump speed and realize dynamic tracking of the shotcrete flow rate; Step 32: The system continuously executes steps 3 to 5 in a loop until the entire pile formation process is completed; during this process, the grouting volume closely follows the drilling speed to ensure a stable cement content per unit length.

5. The method for automatic grout delivery and pile position guidance quality monitoring of cement mixing piles according to claim 1, characterized in that, Step 4 includes: Step 41: Initialize pile position and depth status: After the system starts, it acquires the horizontal deviation Δs output by the pile position guidance unit and the current drill rod depth h output by the depth monitoring unit in real time. Step 42: Determine the conditions for pile positioning: The system first determines whether the pile position deviation meets the condition Δs≤2cm. If Δs>2cm, the positioning conditions are not met, the grouting is prohibited, and an audible and visual warning is issued on the operation terminal. Step 43: Determine the validity of the depth interval: The system further determines whether the drill pipe depth is within the designed pile-forming range h∈[h top h bottom ], where h top and h bottom These are the upper and lower effective pile depth boundary values ​​determined based on the specific designed pile length; Grouting is not permitted before entering the effective pile-forming zone; Step 44: Comprehensive judgment and execution control: If neither of the above two conditions is met for grout delivery, the system will determine that the construction is not effective and will automatically shut down the screw pump and lock the grout delivery function to prevent cement waste and quality risks. Step 45: Subsequent construction status update: After the operator adjusts the position of the piling machine, the system re-collects data; if the system simultaneously meets the following conditions: Δs≤2cm and is within the designed piling range, the system releases the grouting lock and allows the automatic grouting and automatic grouting program to be started; Step 46: Real-time monitoring during pulp delivery: After the grout delivery begins, the system continuously accumulates the actual grout quality. Theoretical value The deviation is: ,in: This represents the current length of the completed pile; when the deviation reaches 3%, the system immediately triggers the safety interlock mechanism, stopping grout delivery and shutting down the screw pump. Step 47: End this pile driving operation or switch modes: The system decides whether to continue construction or switch to manual intervention mode based on preset rules. All abnormal events are uploaded to the construction management platform for later analysis and tracing.

6. A quality monitoring system for automatic grout delivery and pile position guidance in cement mixing piles, characterized in that, The system includes: The high-precision pile positioning guidance unit is used to acquire and calculate the actual spatial coordinates of the bottom contact point of the drill rod in real time, and guide the pile driver to be positioned at the designed pile position. An automated pulping unit is used to continuously prepare cement slurry according to a preset mix ratio; An automatic grout delivery control unit, connected to the automatic grout preparation unit, is used to dynamically adjust the grout flow rate according to drilling parameters; The depth and speed monitoring unit is used to collect the drilling or hoisting depth and movement speed of the drill pipe in real time; The shotcrete volume monitoring unit is used to measure, accumulate, and verify the actual amount of shotcrete injected into the formation in real time. The central control unit is communicatively connected to the high-precision pile position guidance unit, the automated grouting unit, the automatic grout delivery control unit, the depth and speed monitoring unit, and the grout volume monitoring unit. It is used to integrate multi-source sensor data, execute the pile-grout collaborative intelligent control algorithm, realize closed-loop linkage control of grout volume and pile position, and generate a digital archive of single pile construction quality.

7. The automatic grout delivery and pile position guidance quality monitoring system for cement mixing piles according to claim 6, characterized in that, The high-precision pile positioning guidance unit includes GNSS master and slave antennas and an inertial measurement unit (IMU). The GNSS master and slave antennas are fixed on rigid structures symmetrically mounted on the left and right sides of the pile driver body, ensuring that their installation heights are completely consistent. The line connecting the phase centers of the antennas is parallel to the longitudinal central axis of the pile driver, used to calculate the real-time azimuth angle θ of the pile driver using the dual-antenna baseline measurement method. The IMU is installed in the middle of the pile driver column and is used to measure the front-to-back tilt angle α and left-to-right tilt angle β of the pile frame in real time. The central control unit, based on the real-time three-dimensional coordinates of the GNSS master and slave antennas, the tilt angle data measured by the IMU, and the effective length L of the drill rod, calculates the actual three-dimensional coordinates of the bottom center point of the drill rod in real time using a geometric projection model. ; Let the coordinates of the phase center of the GNSS main antenna be... GNSS from the antenna phase center coordinates is The formula for calculating the azimuth angle of the pile driver is: The central control unit further calculates the coordinates of the contact point at the bottom of the drill pipe using the following formula: , , ,in, For the overall tilt angle.

8. The automatic grout delivery and pile position guidance quality monitoring system for cement mixing piles according to claim 6, characterized in that, The central control unit will determine the horizontal coordinate of the center point at the bottom of the drill pipe. Coordinates of the designed pile location The comparison is performed, and two icons are displayed simultaneously on the control room screen: the first icon indicates the current actual contact point position, and the second icon indicates the target designed pile position position; when the operator drives the pile driver to make the two icons coincide, the pile position is accurately positioned. The central control unit calculates the horizontal deviation of the pile position: When Δs > 2cm, the slurry feeding must not be started and a warning will be issued at the operating terminal. The central control unit supports local storage of data throughout the construction process and remote uploading via 4G / 5G, and automatically generates a single pile quality report. The report includes: pile number, design parameters, actual shotcrete curve, cumulative grout volume, pile position deviation, verticality, drilling speed-depth curve, operation log, and quality judgment conclusion. The central control unit executes the following pile-grout coordinated intelligent control algorithm logic: a) Only if the pile position deviation Δs ≤ 2cm, and the drill rod depth is within the designed pile formation interval h ∈ [h top h bottom Automated pulping and automatic pulp delivery are only permitted to be started under these conditions. b) If Δs > 2cm or the cumulative grouting quality deviation exceeds 3% of the theoretical value during construction, grouting should be stopped immediately and the abnormal event recorded.

9. The automatic grout delivery and pile position guidance quality monitoring system for cement mixing piles according to claim 6, characterized in that, The automated slurry preparation unit includes: a solidification material weighing module, which uses a dynamic weighing sensor to continuously measure cement, lime or fly ash; a water metering module, which uses an electromagnetic flow meter to accurately control the water inflow; and a high-speed mixing tank, which is used to fully mix solidification materials, water and admixtures according to a preset water-cement ratio. The automated slurry preparation unit operates continuously during the continuous operation of the piling machine, so that slurry preparation continues as long as the piling machine is running. The automatic grouting control unit includes a screw pump, a frequency converter, and grouting pipelines; the central control unit is based on the current drilling speed v (unit: m / min) and the designed grouting amount Q per unit depth. d Units: kg / m³ and slurry density ρ, units: kg / L; calculate the target flow rate: Unit: L / min. An incremental PID closed-loop control algorithm is used to adjust the screw pump speed so that the actual shotcrete flow rate tracks the target flow rate. The incremental PID closed-loop control algorithm uses the measured flow rate output by the shotcrete volume monitoring unit. For feedback, calculate the flow deviation in the k-th sampling period. And generate the inverter frequency increment command according to the formula: The inverter output frequency is updated to ,in These are adjustable control parameters.

10. The automatic grout delivery and pile position guidance quality monitoring system for cement mixing piles according to claim 6, characterized in that, The depth and speed monitoring unit includes a high-resolution rotary encoder, installed on the end of the winch wire rope drum shaft, used to convert the wire rope displacement into pulse signals; the central control unit calculates the real-time drill rod depth h and movement speed based on the number of pulses. The grout volume monitoring unit, which uses an electromagnetic flowmeter or a mass flowmeter, is installed near the inlet of the pile driver's power head in the grout delivery pipeline. It is used to independently and in real time monitor the actual grout flow rate injected into the formation and feed the data back to the central control unit for PID closed-loop correction.

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