Construction guide frame and method special for large-size wall protection pile

Abstract

The invention is suitable for the technical field of construction equipment, and provides a special construction guide frame and method for a large-size wall protection pile, and the special construction guide frame comprises a bottom plate, a fixed seat, an X-axis limiting cylinder, a bearing seat and a Y-axis limiting seat; the two bottom plates are arranged side by side, the fixing base is welded and fixed between one ends of every two adjacent bottom plates, the fixing base and the bottom plates jointly form a [-shaped structure, one end of the X-axis limiting cylinder is fixed to the fixing base, the two X-axis limiting cylinders are arranged side by side and are parallel to the bottom plates, and the bearing base is fixed to the other ends of the X-axis limiting cylinders. And the Y-axis limiting seats are clamped on the two adjacent X-axis limiting cylinders in a sliding manner. According to the scheme, a stable [-shaped foundation is formed by the bottom plate and the fixing seat, the retaining pile is limited by the two X-axis limiting cylinders in the X-axis direction, the Y-axis limiting seat and the sliding rod are matched to abut against the retaining pile in the Y-axis direction, an X-Y double-axis precise guiding and limiting structure is formed, pile body deflection is avoided from the construction source, the overall structure is firm in assembly and convenient to operate, and the construction efficiency is improved. And the perpendicularity of the pile body can be guaranteed without reworking.

Description

Technical Field

[0001] This invention belongs to the field of construction equipment technology, and in particular relates to a special construction guide frame and method for large-size retaining wall piles. Background Technology

[0002] In major engineering projects such as building foundation engineering, slope protection, and foundation pit protection, large-size retaining piles, with their excellent foundation pit sidewall protection capabilities and structural stability, have become the core load-bearing components for resisting slope collapse and ensuring construction safety. They are widely used in scenarios with stringent construction precision requirements, such as high slope treatment and large building foundation pit support. These retaining piles are typically characterized by large pile diameter and long pile body. Their construction quality directly determines the bearing capacity and structural durability of the entire foundation project. Among them, the verticality of the pile body, as a core control indicator, is crucial to the stress balance of the subsequent main structure.

[0003] However, during the construction of large-size retaining wall piles, the existing construction system lacks specialized guiding equipment adapted to large-size retaining wall piles. This makes it difficult to prevent tilting problems, and once they occur, there is a lack of convenient means to correct them. Due to the large volume and high weight of large-size retaining wall piles, once excessive tilting is detected after completion, it is impossible to achieve accurate correction through local repairs. The only solution is to pull out the entire pile, re-drill, and re-pour it. This rework not only causes a serious waste of a large amount of building materials such as concrete and steel bars, but also significantly prolongs the construction period and increases additional costs such as machinery rental and labor input. In addition, the repeated process of pulling out piles and re-drilling may disturb the surrounding strata structure, damage the stability of the borehole wall, and cause secondary problems such as borehole collapse and borehole wall protrusion. This not only further increases the construction difficulty, but may also have a settlement impact on surrounding existing structures and create safety hazards.

[0004] With the expansion of the scale of deep-water and deep-foundation pit projects, the construction environment of large-size retaining piles is becoming increasingly complex, often facing extreme geological conditions such as deep soft and hard interbedded strata; this complexity poses a severe challenge to the attitude control precision and structural integrity during the construction process. Currently, existing construction guide frame control technologies typically rely on PID feedback adjustment based on position deviation, or simple logical judgment based on original sensor values ​​and fixed thresholds. This traditional method mainly focuses on correcting geometric position errors of the pile body, lacking effective monitoring of the internal stress state and micro-damage of the pile body. However, this single-dimensional control strategy has significant limitations. When encountering high-intensity geological resistance, the system often performs forced correction in order to eliminate positional deviation, resulting in excessive lateral shear stress on the pile. This blind mechanical pressure not only easily causes physical damage to the equipment, but also leads to the risk of hidden fatigue fracture inside the pile that is difficult to detect in time by conventional means, and it is impossible to make a dynamic trade-off between construction efficiency and structural safety. Therefore, how to effectively detect and avoid the risk of structural damage caused by stress accumulation while ensuring construction accuracy has become an urgent problem to be solved in this field. Summary of the Invention

[0005] This invention provides a special construction guide frame for large-size retaining wall piles, aiming to solve the problems that the construction of large-size retaining wall piles is prone to tilting due to the lack of special guiding equipment and the lack of convenient means to correct the tilt. After tilting, the piles need to be pulled out and reconstructed, which leads to material waste, extended construction period, increased costs and increased safety risks.

[0006] The present invention is implemented as follows: a special construction guide frame for large-size retaining wall piles includes: a base plate, a fixed seat, an X-axis limiting cylinder, a support seat, and a Y-axis limiting seat; Two base plates are arranged side by side. The fixing seat is welded and fixed between one end of the two adjacent base plates and together with the base plates, they form a U-shaped structure. One end of the X-axis limiting cylinder is fixed to the fixing seat, and two of them are arranged side by side and parallel to the base plate. The support seat is fixed to the other end of the X-axis limiting cylinder. The Y-axis limiting seat is slidably engaged with the two adjacent X-axis limiting cylinders. The top of the support is fixed with a limiting frame, which is parallel to the X-axis limiting cylinder and located at the center between two adjacent X-axis limiting cylinders. A sliding rod is slidably connected inside the limiting frame. The Y-axis limiting seat and the sliding rod abut against the retaining wall pile along the Y-axis direction. Two adjacent X-axis limiting cylinders abut against the retaining wall pile along the X-axis direction.

[0007] Preferably, a first cylinder is fixed to the top of the limiting frame, the telescopic part of the first cylinder is fixed to the sliding rod, and a second cylinder is fixed to the fixed seat, the telescopic part of the second cylinder is fixed to the Y-axis limiting seat.

[0008] Preferably, the Y-axis limiting seat and the sliding rod are respectively rotatably connected to a first abutting roller and a second abutting roller at their respective ends, and both the first abutting roller and the second abutting roller roll into contact with the retaining wall pile.

[0009] Preferably, the support seat has an i-shaped structure, and the i-shaped groove is located between two adjacent X-axis limiting cylinders. Reference rods are symmetrically fixed on both sides of the support seat. The reference rods are located at the top of the i-shaped groove and abut against the top of the retaining wall pile after construction.

[0010] Preferably, a movable roller is provided at the bottom of the base plate, the movable roller rolls against the ground and the base plate, and a hanging lug is fixed at both ends of the top of the Y-axis limiting seat, the Y-axis limiting seat is connected to an external towing steel wire rope through the hanging lug.

[0011] Preferably, a guide hole is provided through the Y-axis limiting seat, the X-axis limiting cylinder is slidably fitted in the guide hole, and a snap-fit ​​groove is provided recessed on both sides of the Y-axis limiting seat. The snap-fit ​​groove has a C-shaped structure, and the base plate is slidably fitted in the snap-fit ​​groove.

[0012] Preferably, a method for adjusting a special construction guide frame for large-size retaining wall piles includes: Using a multi-dimensional sensing and state mapping unit, real-time sensing data of the guide frame and pile are collected, and the real-time sensing data is reconstructed to map environmental state feature vectors. Using the stress accumulation risk assessment unit, the lateral shear stress accumulation index is calculated based on the historical stress data sequence and high-frequency vibration characteristic data in the environmental state characteristic vector. Using the stress accumulation risk assessment unit, the lateral shear stress accumulation index is compared with the dynamic safety threshold to generate a stress safety margin signal; Using a dynamic game strategy generation unit, the environmental state feature vector and the stress safety margin signal are received, and a comprehensive objective function is constructed based on multi-objective optimization theory. Using the dynamic game strategy generation unit, the weighting coefficients in the comprehensive objective function are dynamically adjusted according to the stress safety margin signal, and the comprehensive objective function is solved to generate the target constraint force setting value and the target attitude trajectory. The robust execution compensation unit receives the target constraint force setpoint and the target attitude trajectory, and calculates the compensation amount by combining the real-time pressure feedback of the hydraulic system, and outputs the final drive signal. Using a multi-degree-of-freedom guide frame actuator, in response to the final drive signal, the hydraulic adjustment component is driven to apply physical constraint force and guiding force to the retaining wall pile.

[0013] Preferably, the step of using a multi-dimensional sensing and state mapping unit to collect real-time sensing data of the guide frame and pile body, and reconstructing features from the real-time sensing data to map an environmental state feature vector, includes: Force sensor data, tilt sensor data, hydraulic system pressure data, and vibration frequency data are collected as the real-time sensing data; The real-time sensing data is denoised. Extract the rate of change of the difference in the force sensor data; Extract the instantaneous fluctuation peak value of the hydraulic system pressure data; The difference change rate and the instantaneous fluctuation peak are mapped to the environmental state feature vector, wherein the environmental state feature vector includes the pile attitude deviation, geological friction resistance characteristics and guide frame mechanical response hysteresis.

[0014] Preferably, the method of using the stress accumulation risk assessment unit to calculate the lateral shear stress accumulation index based on the historical stress data sequence and high-frequency vibration characteristic data in the environmental state feature vector includes: Based on the fatigue damage accumulation theory, the stress amplitude in the historical stress data sequence is obtained; The fourth power of the stress amplitude is integrated with the number of cycles to obtain the lateral shear stress accumulation index; The step of comparing the lateral shear stress accumulation index with the dynamic safety threshold to generate a stress safety margin signal includes: Obtain the pile material parameters, current penetration depth, and soil hardness coefficient; The dynamic safety threshold is obtained by weighted calculation based on the pile material parameters, the current penetration depth, and the soil hardness coefficient. When the lateral shear stress accumulation index is higher than the dynamic safety threshold, a stress safety margin signal with a reduced value is generated.

[0015] Preferably, the construction of the comprehensive objective function based on multi-objective optimization theory includes: Determine the position error cost term, which is used to characterize the construction accuracy; Determine the soil penetration efficiency cost term, which is used to characterize the construction speed; Determine the constraint force work cost term, which is used to characterize the impact on the pile; The comprehensive objective function is constructed based on the location error cost term, the soil penetration efficiency cost term, and the constraint force work cost term.

[0016] Preferably, the step of dynamically adjusting the weighting coefficients in the comprehensive objective function based on the stress safety margin signal includes: Establish a nonlinear mapping relationship between the stress safety margin signal and the weighting coefficients; When the value of the stress safety margin signal is lower than the preset alarm line, the safety class weight corresponding to the constraint force work cost term is increased exponentially through the nonlinear mapping relationship. Simultaneously reduce the efficiency class weights corresponding to the location error cost term and the soil entry efficiency cost term; If the value of the stress safety margin signal returns to the safe range, reduce the weight of the safety category and increase the weight of the efficiency category. The robust execution compensation unit receives the target constraint force setpoint and the target attitude trajectory, calculates the compensation amount based on the real-time pressure feedback of the hydraulic system, and outputs the final drive signal, including: Calling the inverse model of hydraulic system dynamics; Compare the target constraint force setting value, the target attitude trajectory, and the real-time pressure feedback; Based on the inverse dynamic model of the hydraulic system, the compensation amount used to correct the physical response hysteresis and dead zone of the hydraulic system is calculated. When high-frequency external disturbances are detected, the opening of the hydraulic valve is finely adjusted to absorb the high-frequency oscillations. The final drive signal is generated by combining the compensation amount and the fine-tuned hydraulic valve opening. The multi-degree-of-freedom guide frame actuator, in response to the final drive signal, drives the hydraulic adjustment component to apply physical constraint and guiding forces to the retaining wall piles, including: Receive the final drive signal; The drive adjustment unit is used to limit the lateral displacement of the retaining wall piles; Drive the hydraulic telescopic unit to provide a retractable guiding and supporting force; The posture of the pile is adjusted by the combined action of the adjustment unit and the hydraulic telescopic unit.

[0017] Compared with the prior art, the embodiments of this application have the following main advantages: In this design, a stable U-shaped foundation is formed by a base plate and a fixed seat. Two X-axis limiting cylinders limit the retaining wall piles along the X-axis direction, while a Y-axis limiting seat and a sliding rod abut against the retaining wall piles along the Y-axis direction, forming a precise X and Y-axis guiding and limiting structure to prevent pile tilting from the construction source. The sliding rod is driven by a first cylinder, and the Y-axis limiting seat is driven by a second cylinder, allowing for flexible adjustment of the limiting distance to accommodate retaining wall piles of different sizes, and the limiting force is controllable. The support seat and limiting frame ensure the sliding stability of the sliding rod. The overall structure is firmly assembled, easy to operate, and ensures the verticality of the piles without rework, significantly improving construction quality and efficiency.

[0018] 1. This invention utilizes a multi-dimensional sensing and state mapping unit to collect and denoise multi-source heterogeneous data such as force, tilt angle, hydraulic pressure, and vibration frequency, and extracts the rate of change of difference and instantaneous fluctuation peak value. This feature reconstruction technology not only effectively eliminates noise interference in the original data but also accurately maps abstract sensor data to pile posture deviation, geological friction resistance characteristics, and guide frame mechanical response hysteresis. This provides a realistic and reliable environmental state benchmark for subsequent precise adjustments, effectively solving the problem of blind adjustments caused by ambiguous geological feedback in traditional construction.

[0019] 2. This invention is based on the theory of fatigue damage accumulation. It utilizes a stress accumulation risk assessment unit to perform in-depth analysis of historical stress data sequences, accurately calculating the lateral shear stress accumulation index through the integration of the fourth power of the stress amplitude. Combining the pile material, embedment depth, and soil hardness, a dynamic safety threshold is calculated. The system can generate a stress safety margin signal in a timely manner before the accumulated stress exceeds the limit. This proactive risk assessment mechanism effectively avoids pile fracture or hidden damage caused by instantaneous impact or excessive long-term accumulated stress, greatly ensuring the structural integrity of large-size retaining piles.

[0020] 3. This invention utilizes a dynamic game-theoretic strategy generation unit to construct a comprehensive objective function that includes positional error, soil penetration efficiency, and the work done by constraint forces, and establishes a nonlinear mapping relationship between stress safety margin and weighting coefficients. When the safety margin is low, the system can exponentially increase the weight of safety-related categories and decrease the weight of efficiency-related categories, prioritizing the safety of the pile body; once the risk is eliminated, it automatically resumes the pursuit of construction efficiency. This adaptive adjustment mechanism successfully resolves the contradiction between rapid construction and refined protection in the face of variable geological conditions, which is a problem with traditional rigid control strategies.

[0021] 4. By introducing a robust compensation unit into the inverse dynamic model of the hydraulic system, the system can compare the target value with the pressure feedback in real time and calculate the correction compensation amount to effectively overcome the problems of physical response lag and system dead zone. In particular, for high-frequency external disturbances during construction, the system can absorb oscillations by fine-tuning the opening of hydraulic valves. This ensures that the multi-degree-of-freedom guide frame actuator can respond quickly and accurately to the final drive signal, realizing the precise application of physical constraint force and guiding force to the retaining pile, and significantly improving the control stability of large construction equipment. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the base plate and its connection structure of the present invention; Figure 3 This is a schematic diagram of the limiting frame and its connection structure of the present invention; Figure 4 This is a schematic diagram of the Y-axis limiting seat structure of the present invention; Figure 5 This is a system block diagram of the present invention; In the diagram: 1. Base plate; 2. Fixed seat; 3. X-axis limiting cylinder; 4. Support seat; 5. Y-axis limiting seat; 6. Limiting frame; 7. Sliding rod; 8. First cylinder; 9. Second cylinder; 10. First abutting roller; 11. Second abutting roller; 12. Reference support rod; 13. Moving roller; 14. Hanging lug; 15. Guide hole; 16. Snap-fit ​​groove. Detailed Implementation

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0024] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0025] This invention provides a special construction guide frame for large-size retaining wall piles, such as... Figure 1-4 As shown, it includes: base plate 1, fixed seat 2, X-axis limiting cylinder 3, support seat 4 and Y-axis limiting seat 5; Two base plates 1 are arranged side by side. The fixing seat 2 is welded and fixed between one end of the two adjacent base plates 1, and together with the base plates 1, they form a U-shaped structure. One end of the X-axis limiting cylinder 3 is fixed to the fixing seat 2, and two are arranged side by side and parallel to the base plate 1. The support seat 4 is fixed to the other end of the X-axis limiting cylinder 3. The Y-axis limiting seat 5 is slidably engaged with the two adjacent X-axis limiting cylinders 3. A limiting frame 6 is fixed on the top of the support 4. The limiting frame 6 is parallel to the X-axis limiting cylinder 3 and is located at the center between two adjacent X-axis limiting cylinders 3. A sliding rod 7 is slidably connected inside the limiting frame 6. The Y-axis limiting seat 5 and the sliding rod 7 abut against the retaining wall pile along the Y-axis direction. Two adjacent X-axis limiting cylinders 3 abut against the retaining wall pile along the X-axis direction. A first cylinder 8 is fixed to the top of the limiting frame 6. The telescopic part of the first cylinder 8 is fixed to the sliding rod 7. A second cylinder 9 is fixed on the fixed seat 2. The telescopic part of the second cylinder 9 is fixed to the Y-axis limiting seat 5.

[0026] It should be noted that, due to the lack of specialized guiding equipment in the current construction of large-size retaining piles, pile tilting is prone to occur, and there are no convenient means to correct it. After tilting, the piles need to be pulled out and reconstructed, which leads to material waste, extended construction period, increased costs, and increased safety risks. To solve this problem, this solution uses a base plate 1 and a fixed seat 2 to form a stable U-shaped foundation. Two X-axis limiting cylinders 3 limit the retaining pile along the X-axis direction, and the Y-axis limiting seat 5 and sliding rod 7 abut against the retaining pile along the Y-axis direction, forming a precise X and Y-axis guiding and limiting structure to prevent pile tilting from the source of construction. The sliding rod 7 is driven by the first cylinder 8, and the Y-axis limiting seat 5 is driven by the second cylinder 9, which can flexibly adjust the limiting distance to adapt to different sizes of retaining piles, and the limiting force is controllable. The support seat 4 and the limiting frame 6 ensure the sliding stability of the sliding rod 7. The overall structure is firmly assembled, easy to operate, and can ensure the verticality of the pile without rework, greatly improving construction quality and efficiency.

[0027] Specifically, in this embodiment, the solution mainly includes a base plate 1, a fixed seat 2, an X-axis limiting cylinder 3, a support seat 4, and a Y-axis limiting seat 5. The guide frame is moved to the construction pile position by the external dragging steel wire rope connected to the moving roller 13 at the bottom of the base plate 1 or the hanging lug 14 at the top of the Y-axis limiting seat 5, so that the center area between the two X-axis limiting cylinders 3 is aligned with the pile hole position, and the equipment positioning is completed. Then, the second cylinder 9 is started to drive the Y-axis limiting seat 5 to slide and adjust to the initial Y-axis limiting position that is suitable for the size of the retaining wall pile. Simultaneously, the first cylinder 8 is started to push the sliding rod 7 in the limiting frame 6 to move, so that the first abutting roller 10 and the second abutting roller 11 are initially close to the preset position of the retaining wall pile. Then, the retaining wall pile is placed between the X-axis limiting cylinders 3, and the two X-axis limiting cylinders 3 form a limit on the pile body along the X-axis direction; by finely adjusting the distance between the sliding rod 7 and the Y-axis limiting seat 5 by the first cylinder 8 and the second cylinder 9, the first abutting roller 10 and the second abutting roller 11 roll and abut against the retaining wall pile, so as to achieve precise guidance and limiting of the X and Y axes.

[0028] In a further preferred embodiment of the present invention, such as Figure 1-4 As shown, the first abutting roller 10 and the second abutting roller 11 are rotatably connected to the Y-axis limiting seat 5 and the sliding rod 7 at their respective close ends. The first abutting roller 10 and the second abutting roller 11 both roll and abut with the retaining wall pile.

[0029] In this embodiment, the sliding friction with the retaining wall pile is converted into rolling friction by the first abutting roller 10 and the second abutting roller 11, which reduces the wear on the pile surface during the limiting process and reduces the movement resistance of the pile during construction. This ensures that the pile sinks or is poured smoothly while maintaining the accurate limiting effect in the Y-axis direction.

[0030] In a further preferred embodiment of the present invention, such as Figure 1-4As shown, the support 4 has a U-shaped structure, and the U-shaped groove is located between two adjacent X-axis limiting cylinders 3. Reference rods 12 are symmetrically fixed on both sides of the support 4. The reference rods 12 are located at the top of the U-shaped groove and abut against the top of the retaining pile after construction.

[0031] In this embodiment, the support stability of the overall structure is improved by using an inverted U-shaped structure and adapting it to the installation position of the X-axis limiting cylinder 3; the reference support rod 12 is symmetrically fixed at the top of the inverted U-shaped groove of the support seat 4, which can abut against the top of the retaining pile after construction, forming a secondary reference calibration after construction, further ensuring the flatness and verticality of the top of the pile, and strengthening the construction quality control.

[0032] In a further preferred embodiment of the present invention, such as Figure 1-4 As shown, a movable roller 13 is provided at the bottom of the base plate 1. The movable roller 13 rolls against the ground and the base plate 1. Hanging ears 14 are fixed at both ends of the top of the Y-axis limiting seat 5. The Y-axis limiting seat 5 is connected to the external dragging steel wire rope through the hanging ears 14.

[0033] In this embodiment, the guide frame is moved flexibly by the moving roller 13, which reduces the difficulty of handling when the site is moved and improves the equipment turnover efficiency; the lug 14 on the top of the Y-axis limit seat 5 can be connected to the external drag wire rope, providing a convenient force point for the movement or fixation of the guide frame, and adapting to the equipment adjustment needs under different construction scenarios.

[0034] In a further preferred embodiment of the present invention, such as Figure 1-4 As shown, a guide hole 15 is provided through the Y-axis limiting seat 5, the X-axis limiting cylinder 3 is slidably fitted in the guide hole 15, and a snap-fit ​​groove 16 is provided recessed on both sides of the Y-axis limiting seat 5. The snap-fit ​​groove 16 has a U-shaped structure, and the base plate 1 is slidably fitted in the snap-fit ​​groove 16.

[0035] In this embodiment, the guide hole 15 slides with the X-axis limiting cylinder 3 to provide precise guidance for the movement of the Y-axis limiting seat 5 and avoid deviation during the adjustment process; the snap-fit ​​groove 16 with the C-shaped structure slides with the base plate 1 to further restrict the movement trajectory of the Y-axis limiting seat 5, improve its cooperation stability with the X-axis limiting cylinder 3 and the base plate 1, and ensure the accuracy of dual-axis limiting.

[0036] Example 1 Reference Figure 5 As shown: A method for adjusting a special construction guide frame for large-size retaining wall piles, comprising: Using a multi-dimensional sensing and state mapping unit, real-time sensing data of the guide frame and pile are collected, and the real-time sensing data is reconstructed to map the environmental state feature vector. Using the stress accumulation risk assessment unit, the lateral shear stress accumulation index is calculated based on the historical stress data sequence and high-frequency vibration characteristic data in the environmental state characteristic vector; Using the stress accumulation risk assessment unit, the lateral shear stress accumulation index is compared with the dynamic safety threshold to generate a stress safety margin signal; A dynamic game strategy generation unit is used to receive environmental state feature vectors and stress safety margin signals, and a comprehensive objective function is constructed based on multi-objective optimization theory. By using a dynamic game strategy generation unit, the weighting coefficients in the comprehensive objective function are dynamically adjusted according to the stress safety margin signal, and the comprehensive objective function is solved to generate the target constraint setpoint and the target attitude trajectory. The robust execution compensation unit receives the target constraint force setpoint and the target attitude trajectory, and calculates the compensation amount by combining the real-time pressure feedback of the hydraulic system, and outputs the final drive signal. The multi-degree-of-freedom guide frame actuator responds to the final drive signal and drives the hydraulic adjustment component to apply physical constraint and guiding force to the retaining wall pile.

[0037] In the system architecture of this embodiment, the multi-dimensional perception and state mapping unit operates at the forefront of data acquisition, and its core function is to construct a digital holographic view of the physical working conditions. During the data acquisition phase, this unit simultaneously captures raw signal streams containing mechanical, kinematic, and hydraulic fluid dynamics data through a heterogeneous sensor array deployed at key stress points of the guide frame structure and pile. In the subsequent signal processing flow, this unit does not simply perform data forwarding, but rather performs complex feature reconstruction operations. It filters out random environmental noise through time-frequency domain transformation, extracts feature components characterizing the essential properties of the system, and thus maps and generates an environmental state feature vector, providing a standardized input benchmark for downstream decision-making modules.

[0038] Following the aforementioned data flow, the stress accumulation risk assessment unit performs in-depth calculations on the health status of the pile structure. This unit retrieves historical stress data sequences and high-frequency vibration characteristic data from the feature vector to quantify the accumulation of latent damage in the pile under complex construction environments. Based on a built-in fatigue damage algorithm model, the unit derives a lateral shear stress accumulation index through integral calculations. This index is defined as a dimensionless parameter reflecting the fatigue degree of the pile material's microstructure; its value is derived from a weighted integral of the fourth power of the stress amplitude and the number of cyclic loading cycles, characterizing the potential risk of microcrack propagation within the pile under non-destructive testing conditions. Subsequently, the unit logically compares this index with a dynamically generated safety threshold based on real-time operating conditions, outputting a continuously changing stress safety margin signal.

[0039] Based on the aforementioned safety assessment results, the dynamic game strategy generation unit, as the core computational hub of the system, is responsible for finding the optimal solution between construction efficiency and structural safety. This unit receives environmental state feature vectors and stress safety margin signals in parallel, and constructs a comprehensive objective function based on multi-objective optimization theory, incorporating three-dimensional constraints including positional accuracy, soil penetration speed, and structural stress. During the solution process, the unit dynamically adjusts the weighting coefficients of each sub-item in the objective function in real time, based on the input stress safety margin signal. When a decrease in the safety margin signal is detected, the system automatically increases the weight of the safety constraint terms, forcing the optimization result to converge towards a low-stress path. Through real-time solving of this dynamically weighted function, the unit generates high-dimensional control commands containing target constraint force settings and target attitude trajectory.

[0040] In the command execution phase, the robust execution compensation unit is responsible for eliminating the deviation between the theoretical command and the physical response. This unit receives the target setpoint and trajectory command, and incorporates real-time pressure feedback from the hydraulic system as the basis for closed-loop correction. By running the inverse hydraulic dynamics algorithm, the unit accurately calculates the compensation amount used to offset the system response lag and dead zone characteristics, and synthesizes and outputs the corrected final drive signal. Finally, the multi-degree-of-freedom guide frame actuator responds to the final drive signal, driving the hydraulic adjustment components to apply precise and controllable physical constraint and guiding forces to the retaining wall pile, completing the closed-loop control of the pile's embedment posture.

[0041] This scheme constructs a closed-loop control system encompassing full-dimensional perception, damage assessment, dynamic game theory, and robust execution. Unlike existing technologies that rely solely on positional deviation for PID feedback, this method innovatively introduces the lateral shear stress accumulation index as a control variable of equal importance to positional error. By establishing a dynamic mapping mechanism between stress accumulation risk and control strategy weights, the system can automatically and seamlessly switch between efficiency-first and safety-first modes in deep, soft-hard interfacial strata. This solves the technical challenge of latent fatigue fracture in large-size retaining piles caused by forced deviation correction, significantly improving the construction safety of deep-water, deep-foundation pit engineering.

[0042] Example 2 Using a multi-dimensional sensing and state mapping unit, real-time sensing data of the guide frame and pile are collected, and the real-time sensing data is reconstructed to map the environmental state feature vector, including: collecting force sensor data, tilt sensor data, hydraulic system pressure data and vibration frequency data as real-time sensing data. Denoising real-time sensor data; extracting the rate of change of difference in force sensor data; extracting the instantaneous fluctuation peak value of hydraulic system pressure data; The rate of change of the difference and the peak value of the instantaneous fluctuation are mapped to the environmental state feature vector, which includes the pile attitude deviation, geological friction resistance characteristics and guide frame mechanical response hysteresis.

[0043] In the specific configuration of this embodiment, the multi-dimensional sensing and state mapping unit employs multi-source heterogeneous data fusion technology to achieve accurate reconstruction of complex working conditions. At the physical sensing layer, this unit synchronously collects force sensor data (reflecting contact stress), tilt sensor data (reflecting spatial attitude), hydraulic system pressure data (reflecting drive load), and vibration frequency data (reflecting geological coupling characteristics) through a hard real-time interface, forming full-dimensional real-time sensing data. To address the high-frequency mechanical vibrations and electromagnetic interference present at the construction site, this unit pre-executes an adaptive filtering algorithm to denoise the real-time sensing data, removing invalid background noise.

[0044] At the feature engineering level, the multi-dimensional sensing and state mapping unit performs a deep transformation from time-domain signals to feature space. This unit focuses on calculating and extracting the rate of change of the difference in force sensor data, a parameter that directly characterizes the dynamic trend and abrupt changes in the pile's stress. Simultaneously, it identifies and extracts the instantaneous fluctuation peak value of the hydraulic system pressure data, a parameter used to capture transient impact loads caused by geological hard layers or obstacles. Finally, this unit uses a pre-trained feature mapping matrix to transform intermediate variables such as the rate of change of the difference and the instantaneous fluctuation peak value into a standardized environmental state feature vector. This environmental state feature vector is a set of decoupled system state descriptors, containing not only explicit pile attitude deviation but also indirectly calculated geological friction resistance characteristics (reflecting soil resistance distribution) and guide frame mechanical response hysteresis (reflecting equipment action delay), providing a panoramic state basis for subsequent precise control.

[0045] Compared to traditional methods that directly use raw sensor values, this method extracts the rate of change of difference and instantaneous fluctuation peaks and performs vector mapping, effectively eliminating data redundancy and accurately capturing key variables that reflect the essential characteristics of the system. In particular, mapping hydraulic fluctuation peaks to geological friction characteristics enables the system to perceive invisible underground geological changes, allowing it to anticipate and adjust its strategy in advance when encountering hard soil layers, thus avoiding equipment damage or pile damage caused by blindly applying pressure.

[0046] Example 3 Using the stress accumulation risk assessment unit, the lateral shear stress accumulation index is calculated based on the historical stress data sequence and high-frequency vibration characteristic data in the environmental state characteristic vector, including: obtaining the stress amplitude in the historical stress data sequence based on the fatigue damage accumulation theory; The fourth power of the stress amplitude is integrated with the number of cycles to obtain the lateral shear stress accumulation index; the lateral shear stress accumulation index is compared with the dynamic safety threshold to generate a stress safety margin signal, including: obtaining the pile material parameters, the current penetration depth and the soil hardness coefficient. The dynamic safety threshold is obtained by weighting the pile material parameters, the current penetration depth, and the soil hardness coefficient. When the lateral shear stress accumulation index is higher than the dynamic safety threshold, a stress safety margin signal with a reduced value is generated.

[0047] In the algorithm logic of this embodiment, the stress accumulation risk assessment unit aims to quantify the risk of irreversible structural damage. Based on the linear cumulative damage hypothesis (such as Miner's rule), this unit separates the stress amplitude of each loading cycle from the input historical stress data sequence. In the core calculation stage, this unit performs a nonlinear accumulation operation, specifically by integrating the fourth power of the stress amplitude with the corresponding number of cycles over time, thereby obtaining the lateral shear stress accumulation index characterizing the current damage state. The use of a fourth-power, nonlinear integration method aims to reflect the physical fact that high stress amplitudes exponentially damage the lifespan of concrete structures.

[0048] To establish a scientific judgment criterion, the stress accumulation risk assessment unit abandons the traditional approach of fixed thresholds and instead establishes a dynamic evaluation standard coupled with multiple parameters. This unit reads pile material parameters (such as elastic modulus and Poisson's ratio), current embedment depth (which determines cantilever length), and soil hardness coefficient (which determines lateral constraint stiffness) in real time. Based on these parameters, the unit performs weighted calculations using a pre-set structural mechanics model to solve for the dynamic safety threshold in real time. The dynamic safety threshold refers to the limit value of stress accumulation that the pile structure can withstand under specific embedment depth and geological constraints. The judgment logic clearly stipulates that once the lateral shear stress accumulation index exceeds the dynamic safety threshold, the unit immediately generates a stress safety margin signal with a significantly reduced value and sends a high-priority load reduction request to the control system.

[0049] This method accurately simulates the fatigue failure process of pile materials through stress accumulation calculation based on fourth-power integrals, which is more forward-looking than simple instantaneous maximum stress monitoring. Simultaneously, by incorporating soil penetration depth and soil hardness into the dynamic threshold calculation, it ensures that the evaluation criteria adaptively adjust with changing working conditions—for example, automatically tightening the threshold in deep, hard soil. This effectively avoids the risk of missed detections due to overly broad threshold settings under the most dangerous working conditions, ensuring structural safety throughout the entire lifecycle.

[0050] Example 4 A comprehensive objective function is constructed based on multi-objective optimization theory, including: determining the location error cost term, which is used to characterize the construction accuracy; Determine the soil penetration efficiency cost term, which is used to characterize the construction speed; Determine the constraint force work cost term, which is used to characterize the impact on the pile; A comprehensive objective function is constructed based on the cost terms of location error, soil penetration efficiency, and constraint force work.

[0051] The weighting coefficients in the comprehensive objective function are dynamically adjusted based on the stress safety margin signal, including: establishing a nonlinear mapping relationship between the stress safety margin signal and the weighting coefficients; when the value of the stress safety margin signal is lower than the preset alarm line, the safety category weight corresponding to the constraint force work cost term is increased exponentially through the nonlinear mapping relationship; at the same time, the efficiency category weights corresponding to the position error cost term and the soil penetration efficiency cost term are reduced; when the value of the stress safety margin signal rises back to the safe range, the safety category weights are reduced and the efficiency category weights are increased.

[0052] In the decision-making mechanism of this embodiment, the dynamic game strategy generation unit constructs a ternary trade-off evaluation system. This unit first quantitatively defines the position error cost term, using Euclidean distance to measure the deviation between the actual pile center and the design axis, characterizing construction accuracy; simultaneously, it defines the soil penetration efficiency cost term, typically taking the reciprocal of the soil penetration depth per unit time, characterizing construction speed; and finally, it defines the constraint force work cost term, calculating the product of the guide frame force and the pile displacement, or the rate of change of force, characterizing the physical impact on the pile. These three terms, through a weighted summation, together constitute the comprehensive objective function guiding the control direction.

[0053] To achieve intelligent evolution of the control strategy, the dynamic game strategy generation unit internally establishes a nonlinear mapping relationship between the stress safety margin signal and the weight coefficients of each cost item. The specific adjustment logic is as follows: When the system detects that the stress safety margin signal value has fallen below a preset alarm line (i.e., the pile body faces fatigue damage risk), defensive control logic is triggered. Through the nonlinear mapping relationship, the safety-class weights corresponding to the constraint force work cost item are increased exponentially, while simultaneously and significantly reducing the efficiency-class weights corresponding to the position error cost item and the soil penetration efficiency cost item. This operation forces the optimization solver to output a control solution that either takes small, rapid steps or temporarily delays correction, sacrificing short-term accuracy and speed in exchange for rapid stress release in the pile body. Conversely, when the stress safety margin signal value rises back to the safe range, the system automatically executes an aggressive strategy reset, reducing the safety-class weights and increasing the efficiency-class weights again, restoring the efficient construction mode.

[0054] This technical solution achieves a biologically instinctive risk-averse control mechanism through exponential dynamic adjustment of weighting coefficients. When the safety margin is sufficient, the system behaves as an aggressive controller pursuing efficiency; when risks approach, the system instantly and smoothly switches to a conservative controller protecting the structure. This dynamic game strategy based on stress feedback effectively resolves the inherent contradiction between construction speed and structural safety, ensuring construction continuity and safety under extreme geological disturbances.

[0055] Example 5 The robust execution compensation unit receives the target constraint force setpoint and the target attitude trajectory, and calculates the compensation amount in combination with the real-time pressure feedback of the hydraulic system, and outputs the final drive signal, including: calling the inverse dynamic model of the hydraulic system; Compare the target constraint setpoint, target attitude trajectory, and real-time pressure feedback; Based on the inverse dynamics model of the hydraulic system, the compensation amount used to correct the physical response hysteresis and dead zone of the hydraulic system is calculated. When high-frequency external disturbances are detected, the opening of the hydraulic valve is finely adjusted to absorb the high-frequency oscillations. The final drive signal is generated by combining the compensation amount and the fine-tuned hydraulic valve opening.

[0056] In the execution control layer of this embodiment, the robust execution compensation unit aims to eliminate the influence of nonlinear physical characteristics on control accuracy. This unit first loads a pre-calibrated inverse model of hydraulic system dynamics, which mathematically describes the inverse transfer function between flow rate, pressure, and actuator displacement. During real-time operation, the unit uses the target constraint force setpoint and target attitude trajectory issued from the upper layer as reference inputs and compares the deviation with the real-time pressure feedback from the lower layer.

[0057] Based on the aforementioned comparison discrepancies, the robust execution compensation unit uses a dynamic inverse model to calculate the precise compensation amount. This compensation amount is a feedforward correction signal specifically designed to proactively offset the inherent physical response lag and valve dead zone effects of the hydraulic system, ensuring that the actual output force follows the theoretical command without delay. Furthermore, to address high-frequency disturbances such as groundwater pressure pulsations, the unit integrates a high-frequency disturbance suppression algorithm. When an external high-frequency disturbance signal is detected, the unit superimposes a small chatter signal onto the main control signal, rapidly fine-tuning the hydraulic valve opening to absorb high-frequency oscillations, thus acting as active damping. Finally, the unit linearly superimposes the compensation amount and the fine-tuned valve control amount to generate the final drive signal.

[0058] By introducing a compensation mechanism based on an inverse model, this method successfully overcomes the physical defects of large hydraulic equipment, such as high inertia and slow response, and significantly improves the dynamic tracking performance of the system. In particular, the valve fine-tuning function for high-frequency disturbances is equivalent to adding an electronic cushion to the guide frame system, effectively isolating external geological noise from interfering with the positioning accuracy of the pile and ensuring the smoothness of the construction operation.

[0059] Example 6 Using a multi-degree-of-freedom guide frame actuator, in response to the final drive signal, the hydraulic adjustment component is driven to apply physical constraint and guiding force to the retaining wall pile, including: receiving the final drive signal; and driving the adjustment unit to limit the lateral displacement of the retaining wall pile; Drive the hydraulic telescopic unit to provide a retractable guiding and supporting force; The posture of the pile is adjusted by the combined action of the adjustment unit and the hydraulic telescopic unit.

[0060] In the physical action layer of this embodiment, the multi-degree-of-freedom guide frame actuator converts electrical signals into powerful mechanical forces. The mechanism first receives the robustly compensated final drive signal and distributes it to each hydraulic valve group. In response to this signal, the mechanism drives the adjusting unit (such as an adjustable clamp or limiting roller) to limit the lateral displacement of the retaining pile through rigid mechanical contact, preventing it from deviating from the preset working corridor. Simultaneously, the mechanism drives the hydraulic telescopic unit (such as a long-stroke hydraulic cylinder) to output precisely controlled thrust or pull force according to instructions, providing a retractable guiding and supporting force that adapts to changes in pile diameter. Finally, through the combined action of the rigid limiting of the adjusting unit and the active force application of the hydraulic telescopic unit, the mechanism forms a dynamically adjustable force field around the pile, precisely correcting the verticality and horizontal position of the pile, and adjusting the pile's posture to ensure it sinks strictly along the designed axis.

[0061] This solution achieves a combination of rigid and flexible guiding control through the coordinated operation of the adjustment unit and the hydraulic telescopic unit. Rigid limiting ensures that the pile will not undergo catastrophic displacement, while the controllable holding force provided by the hydraulic telescopic unit enables precise attitude fine-tuning. This combined action mechanism not only adapts to the enormous inertial load of large-sized piles but also flexibly responds to pile cross-sectional errors and dynamic disturbances during the soil insertion process, ensuring the high-precision quality of the final pile.

[0062] It should be noted that, for the sake of simplicity, the foregoing embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to the present invention. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0063] It should be understood that the disclosed apparatus can be implemented in other ways, given the several embodiments provided in this application. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units described above may be implemented in other ways in practice. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or communication connections shown or discussed may be through some interfaces; indirect coupling or communication connections between devices or units may be telecommunications or other forms.

[0064] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0065] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A special construction guide frame for large-size retaining wall piles, characterized in that, include: Base plate (1), fixed seat (2), X-axis limiting cylinder (3), support seat (4) and Y-axis limiting seat (5); The base plate (1) has two parallel supports. The fixing seat (2) is welded and fixed between one end of the two adjacent base plates (1) and together with the base plate (1) forms a U-shaped structure. One end of the X-axis limiting cylinder (3) is fixed to the fixing seat (2), and two are arranged in parallel and parallel to the base plate (1). The support seat (4) is fixed to the other end of the X-axis limiting cylinder (3). The Y-axis limiting seat (5) is slidably engaged with the two adjacent X-axis limiting cylinders (3). The top of the support (4) is fixed with a limiting frame (6). The limiting frame (6) is parallel to the X-axis limiting cylinder (3) and is located at the center between two adjacent X-axis limiting cylinders (3). A sliding rod (7) is slidably connected inside the limiting frame (6). The Y-axis limiting seat (5) and the sliding rod (7) abut against the retaining wall pile along the Y-axis direction. Two adjacent X-axis limiting cylinders (3) abut against the retaining wall pile along the X-axis direction.

2. The special construction guide frame for large-size retaining wall piles as described in claim 1, characterized in that, The top of the limiting frame (6) is fixed with a first cylinder (8), the telescopic part of the first cylinder (8) is fixed with the sliding rod (7), and the fixed seat (2) is fixed with a second cylinder (9), the telescopic part of the second cylinder (9) is fixed with the Y-axis limiting seat (5).

3. The special construction guide frame for large-size retaining wall piles as described in claim 1, characterized in that, The Y-axis limiting seat (5) and the sliding rod (7) are respectively rotatably connected to a first abutting roller (10) and a second abutting roller (11) at their respective close ends. The first abutting roller (10) and the second abutting roller (11) both roll and abut against the retaining wall pile.

4. A special construction guide frame for large-size retaining wall piles as described in claim 1, characterized in that, The support seat (4) has a U-shaped structure, and the U-shaped groove is located between two adjacent X-axis limiting cylinders (3). Reference rods (12) are symmetrically fixed on both sides of the support seat (4). The reference rods (12) are located at the top of the U-shaped groove and abut against the top of the retaining pile after construction.

5. A special construction guide frame for large-size retaining wall piles as described in claim 1, characterized in that, The bottom of the base plate (1) is provided with a moving roller (13), which rolls against the ground and the base plate (1), and has hanging ears (14) fixed at both ends of the top of the Y-axis limiting seat (5). The Y-axis limiting seat (5) is connected to the external drag wire rope through the hanging ears (14). The Y-axis limiting seat (5) has a through guide hole (15), the X-axis limiting cylinder (3) is slidably fitted in the guide hole (15), and the Y-axis limiting seat (5) has recessed snap-fit ​​grooves (16) on both sides. The snap-fit ​​grooves (16) have a U-shaped structure, and the base plate (1) is slidably fitted in the snap-fit ​​grooves (16).

6. A method for adjusting a special construction guide frame for large-size retaining wall piles, applied to the special construction guide frame for large-size retaining wall piles as described in any one of claims 1 to 5, characterized in that the method... include: Using a multi-dimensional sensing and state mapping unit, real-time sensing data of the guide frame and pile are collected, and the real-time sensing data is reconstructed to map environmental state feature vectors. Using the stress accumulation risk assessment unit, the lateral shear stress accumulation index is calculated based on the historical stress data sequence and high-frequency vibration characteristic data in the environmental state characteristic vector. Using the stress accumulation risk assessment unit, the lateral shear stress accumulation index is compared with the dynamic safety threshold to generate a stress safety margin signal; Using a dynamic game strategy generation unit, the environmental state feature vector and the stress safety margin signal are received, and a comprehensive objective function is constructed based on multi-objective optimization theory. Using the dynamic game strategy generation unit, the weighting coefficients in the comprehensive objective function are dynamically adjusted according to the stress safety margin signal, and the comprehensive objective function is solved to generate the target constraint force setting value and the target attitude trajectory. The robust execution compensation unit receives the target constraint force setpoint and the target attitude trajectory, and calculates the compensation amount by combining the real-time pressure feedback of the hydraulic system, and outputs the final drive signal. Using a multi-degree-of-freedom guide frame actuator, in response to the final drive signal, the hydraulic adjustment component is driven to apply physical constraint force and guiding force to the retaining wall pile.

7. The method for adjusting a special construction guide frame for large-size retaining wall piles as described in claim 6, characterized in that, The process of using a multi-dimensional sensing and state mapping unit to collect real-time sensing data of the guide frame and pile body, and reconstructing features from the real-time sensing data to map an environmental state feature vector, includes: Force sensor data, tilt sensor data, hydraulic system pressure data, and vibration frequency data are collected as the real-time sensing data; The real-time sensing data is denoised. Extract the rate of change of the difference in the force sensor data; Extract the instantaneous fluctuation peak value of the hydraulic system pressure data; The difference change rate and the instantaneous fluctuation peak are mapped to the environmental state feature vector, wherein the environmental state feature vector includes the pile attitude deviation, geological friction resistance characteristics and guide frame mechanical response hysteresis.

8. The method for adjusting a special construction guide frame for large-size retaining wall piles as described in claim 6, characterized in that, The stress accumulation risk assessment unit calculates the lateral shear stress accumulation index based on the historical stress data sequence and high-frequency vibration characteristic data in the environmental state characteristic vector, including: Based on the fatigue damage accumulation theory, the stress amplitude in the historical stress data sequence is obtained; The fourth power of the stress amplitude is integrated with the number of cycles to obtain the lateral shear stress accumulation index; The step of comparing the lateral shear stress accumulation index with the dynamic safety threshold to generate a stress safety margin signal includes: Obtain the pile material parameters, current penetration depth, and soil hardness coefficient; The dynamic safety threshold is obtained by weighted calculation based on the pile material parameters, the current penetration depth, and the soil hardness coefficient. When the lateral shear stress accumulation index is higher than the dynamic safety threshold, a stress safety margin signal with a reduced value is generated.

9. The method for adjusting a special construction guide frame for large-size retaining wall piles as described in claim 6, characterized in that, The comprehensive objective function constructed based on multi-objective optimization theory includes: Determine the position error cost term, which is used to characterize the construction accuracy; Determine the soil penetration efficiency cost term, which is used to characterize the construction speed; Determine the constraint force work cost term, which is used to characterize the impact on the pile; The comprehensive objective function is constructed based on the location error cost term, the soil penetration efficiency cost term, and the constraint force work cost term.

10. The method for adjusting a special construction guide frame for large-size retaining wall piles as described in claim 9, characterized in that, The step of dynamically adjusting the weighting coefficients in the comprehensive objective function based on the stress safety margin signal includes: Establish a nonlinear mapping relationship between the stress safety margin signal and the weighting coefficients; When the value of the stress safety margin signal is lower than the preset alarm line, the safety class weight corresponding to the constraint force work cost term is increased exponentially through the nonlinear mapping relationship. Simultaneously reduce the efficiency class weights corresponding to the location error cost term and the soil entry efficiency cost term; If the value of the stress safety margin signal returns to the safe range, reduce the weight of the safety category and increase the weight of the efficiency category. The robust execution compensation unit receives the target constraint force setpoint and the target attitude trajectory, calculates the compensation amount based on the real-time pressure feedback of the hydraulic system, and outputs the final drive signal, including: Calling the inverse model of hydraulic system dynamics; Compare the target constraint force setting value, the target attitude trajectory, and the real-time pressure feedback; Based on the inverse dynamic model of the hydraulic system, the compensation amount used to correct the physical response hysteresis and dead zone of the hydraulic system is calculated. When high-frequency external disturbances are detected, the opening of the hydraulic valve is finely adjusted to absorb the high-frequency oscillations. The final drive signal is generated by combining the compensation amount and the fine-tuned hydraulic valve opening. The multi-degree-of-freedom guide frame actuator, in response to the final drive signal, drives the hydraulic adjustment component to apply physical constraint and guiding forces to the retaining wall piles, including: Receive the final drive signal; The drive adjustment unit is used to limit the lateral displacement of the retaining wall piles; Drive the hydraulic telescopic unit to provide a retractable guiding and supporting force; The posture of the pile is adjusted by the combined action of the adjustment unit and the hydraulic telescopic unit.

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