Steel pipe pile guide frame construction positioning and posture monitoring method and system

Abstract

The invention relates to the technical field of steel pipe pile construction, in particular to a steel pipe pile guide frame construction positioning and posture monitoring method and system.The method comprises the following steps that data collection equipment is deployed and a data collection scheme is designed based on the construction condition, and the equipment and the scheme are optimized; positioning information and posture monitoring data of the steel pipe pile guide frame are obtained according to the optimized data acquisition equipment and the optimized data acquisition scheme; performing construction parameter analysis in combination with the positioning information and the attitude monitoring data to obtain a prediction analysis result of the construction parameters of the steel pipe pile guide frame; and performing prediction analysis and safety early warning on the construction condition of the steel pipe pile guide frame according to the positioning information, the posture monitoring data and the prediction analysis result. The construction safety, economy and operation efficiency of the steel pipe pile guide frame are improved through the links of data acquisition and analysis, construction dynamic prediction and safety early warning.

Description

Technical Field

[0001] This invention relates to the field of steel pipe pile construction technology, specifically to a method and system for positioning and attitude monitoring of a steel pipe pile guide frame during construction. Background Technology

[0002] Steel trestle bridges play an important role in large-scale temporary construction projects. Among them, steel pipe piles are the core load-bearing components of the trestle bridge system, and their design and construction quality directly determines the stability and safety of the trestle bridge.

[0003] Traditional steel pipe pile guide frame construction processes often employ independent, thin frame structures. On one hand, this structure has significant drawbacks. Due to limited overall rigidity, it is highly susceptible to tilting during construction. Tilt prevents the steel pipe piles from sinking to the designated position as designed, and verticality is difficult to maintain within acceptable limits. This not only affects construction quality but also creates safety hazards, significantly reducing work efficiency and increasing construction time and costs. On the other hand, in complex geological conditions such as soft soil and rock layers, the traditional guide frame experiences uneven stress during sinking, easily leading to displacement and deformation. In rapid current conditions, the stability of the guide frame is challenged, increasing the difficulty of positioning and attitude control of the steel pipe piles. Traditional guide frames are no longer sufficient to meet the requirements of modern construction.

[0004] To address the problems associated with traditional steel pipe pile guide frames, improved measures have been proposed, combining a platform-type guide frame device with pile driving construction techniques. These measures include integrated welding, lateral connections and diagonal supports, and providing a wide and stable working surface. These measures have improved construction quality and efficiency to some extent. However, in actual construction, how to further precisely control the positioning and attitude of the steel pipe piles to ensure accurate construction strictly according to design requirements remains a key technical challenge that urgently needs to be overcome. Summary of the Invention

[0005] To address the shortcomings of existing methods and the needs of practical applications, this invention provides a method for real-time dynamic monitoring of steel pipe pile platform-type guide frames. This method aims to accurately control the construction positioning and operational attitude of steel pipe piles, achieve remote automated control and intelligent scheduling of construction equipment, ensure precise construction of steel pipe piles according to pre-designed requirements, and improve the safety and efficiency of steel pipe pile guide frame construction. The method includes the following steps: deploying data acquisition equipment and designing a data acquisition scheme based on the construction status of the steel pipe pile guide frame; optimizing the data acquisition equipment and scheme to obtain optimized data acquisition equipment and scheme; obtaining positioning information and attitude monitoring data of the steel pipe pile guide frame based on the optimized data acquisition equipment and scheme; combining the positioning information and attitude monitoring data to obtain a multidimensional dataset; performing construction parameter analysis based on the multidimensional dataset to obtain predictive analysis results of the steel pipe pile guide frame construction parameters; and predicting and analyzing the construction status of the steel pipe pile guide frame and providing safety warnings based on the positioning information, attitude monitoring data, and predictive analysis results.

[0006] This invention enables real-time monitoring of the construction of steel pipe pile guide frames. By combining positioning information, attitude monitoring data, and predictive analysis results, potential safety hazards during construction can be identified in a timely manner. This facilitates the implementation of corresponding preventive and remedial measures, reducing the probability of safety accidents and ensuring construction safety and economic benefits.

[0007] Optionally, optimizing the data acquisition device and the data acquisition scheme to obtain the optimized data acquisition device and optimized data acquisition scheme includes: introducing a Laplace transform calculation model; deriving and establishing a proportional adjustment coefficient analysis formula based on the Laplace transform calculation model; obtaining the proportional adjustment coefficient corresponding to the time lag through the proportional adjustment coefficient analysis formula; and optimizing the data acquisition device and the data acquisition scheme according to the proportional adjustment coefficient to obtain the optimized data acquisition device and optimized data acquisition scheme. This invention derives the proportional adjustment coefficient analysis formula based on the Laplace transform calculation model, which can accurately quantify the time lag in the data acquisition process, eliminate errors caused by time lag, and improve data accuracy.

[0008] Optionally, obtaining the positioning information and attitude monitoring data of the steel pipe pile guide frame based on the optimized data acquisition device and the optimized data acquisition scheme includes: obtaining the initial positioning information of the steel pipe pile guide frame based on the optimized data acquisition device and the optimized data acquisition scheme; establishing a positioning data deviation analysis function; analyzing the initial positioning information using the positioning data deviation analysis function to obtain the positioning information deviation result of the initial positioning information; and filtering the initial positioning information based on the positioning information deviation result to obtain the positioning information of the steel pipe pile guide frame.

[0009] This invention filters the initial positioning information based on the positioning information deviation results, which can remove unreliable data with large deviations and retain more accurate positioning information, ensuring that the positioning information of the steel pipe pile guide frame is reliable and more in line with the actual construction and operation situation.

[0010] Optionally, obtaining the positioning information and attitude monitoring data of the steel pipe pile guide frame based on the optimized data acquisition device and the optimized data acquisition scheme includes: obtaining initial attitude detection information of the steel pipe pile guide frame based on the optimized data acquisition device and the optimized data acquisition scheme; obtaining verticality data of the steel pipe pile guide frame based on the initial attitude detection information; analyzing acceleration data and displacement data of the steel pipe pile guide frame based on the initial attitude detection information and the verticality data; and integrating the initial attitude detection information, the verticality data, the acceleration data, and the displacement data to obtain attitude monitoring data of the steel pipe pile guide frame. This invention can monitor the attitude changes of the steel pipe pile guide frame in real time.

[0011] Optionally, obtaining the multidimensional dataset by combining the positioning information and the attitude monitoring data includes: introducing information fusion technology; and using the information fusion technology to fuse the positioning information and the attitude monitoring data to obtain a multidimensional dataset of the steel pipe pile guide frame. The multidimensional dataset of this invention not only includes the basic position coordinates and attitude parameters of the guide frame, but also mines the potential correlations and features between the data through information fusion technology, which helps to gain a deeper understanding of the construction characteristics of the guide frame.

[0012] Optionally, the step of analyzing construction parameters based on the multidimensional dataset and obtaining the predictive analysis results of the steel pipe pile guide frame construction parameters includes: obtaining the point coordinate information and motion angle parameters of any pile point in the steel pipe pile guide frame relative to a reference point based on the multidimensional data; introducing a rotation matrix; and analyzing the angular component information of any pile point in different directions based on the point coordinate information, the motion angle parameters, and the rotation matrix. This invention refines the information of each pile point, enabling the capture of potential local changes and differences in the guide frame during construction, thus improving the practical feasibility and applicability of the method.

[0013] Optionally, the step of analyzing construction parameters based on the multidimensional dataset and obtaining the prediction analysis results of the construction parameters of the steel pipe pile guide frame includes: deriving and establishing a trajectory prediction model corresponding to any pile point in the steel pipe pile guide frame based on the point coordinate information, the motion angle parameters, and the angle component information; and using the trajectory prediction model to analyze the x-axis trajectory and y-axis trajectory of the pile point to obtain the trajectory prediction results in the x-axis direction and the y-axis direction. This invention, through trajectory prediction model analysis of the x and y-axis trajectories, can accurately predict the movement path of each pile point during construction, which helps to more scientifically and rationally plan the site and arrange equipment, avoid collisions and interference between equipment, and improve the utilization rate of the construction site.

[0014] Optionally, the step of analyzing construction parameters based on the multidimensional dataset and obtaining the prediction analysis results of the construction parameters of the steel pipe pile guide frame includes: obtaining the velocity information of any pile point in the steel pipe pile guide frame relative to a reference point based on the multidimensional data; obtaining the velocity-position vector relationship based on the velocity information; constructing a velocity prediction model corresponding to any pile point in the steel pipe pile guide frame based on the velocity-position vector relationship and the velocity information; and using the velocity prediction model to analyze the velocity prediction results of any pile point in the steel pipe pile guide frame relative to the reference point.

[0015] The speed information provided by this invention can reflect the progress of construction. By combining the speed and position vector relationship to construct a prediction model, the position of the pile point at a future moment can be accurately predicted. This allows for comprehensive tracking of the construction progress of the entire steel pipe pile guide frame, timely detection of progress deviations, and the implementation of adjustment measures to ensure the safe and planned progress of the project.

[0016] Optionally, the step of predicting and analyzing the construction status of the steel pipe pile guide frame and providing safety early warning based on the positioning information, the attitude monitoring data, and the predictive analysis results includes: constructing a data analysis and feedback mechanism and an automated control and safety early warning mechanism; the data analysis and feedback mechanism analyzes and evaluates the positioning information, the attitude monitoring data, and the predictive analysis results, and generates a construction status report for the steel pipe pile guide frame; the automated control and safety early warning mechanism combines the construction status report, the positioning information, the attitude monitoring data, and the predictive analysis results to predict construction safety, and outputs safety early warning information for the steel pipe pile guide frame; the automated control and safety early warning mechanism remotely controls and intelligently schedules the construction equipment based on the safety early warning information.

[0017] The construction status report generated by the data analysis and feedback mechanism of this invention covers key information in the construction process of steel pipe pile guide frame, providing a solid basis for construction management and decision-making; the automated control and safety early warning mechanism can comprehensively consider the impact of multiple factors on construction safety, which can help to discover potential safety hazards in advance.

[0018] Secondly, to efficiently execute the construction positioning and attitude monitoring method for steel pipe pile guide frames provided by this invention, this invention also provides a construction positioning and attitude monitoring system for steel pipe pile guide frames. The system includes a processor, an input device, an output device, and a memory, which are interconnected. The memory stores a computer program, which includes program instructions. The processor is configured to call the program instructions to execute the construction positioning and attitude monitoring method for steel pipe pile guide frames as described in the first aspect of this invention. The construction positioning and attitude monitoring system for steel pipe pile guide frames of this invention has a compact structure and stable performance, and can stably execute the construction positioning and attitude monitoring method for steel pipe pile guide frames provided by this invention, thereby improving the overall applicability and practical application capability of this invention. Attached Figure Description

[0019] Figure 1 This is a flowchart of the construction positioning and attitude monitoring method for the steel pipe pile guide frame of the present invention; Figure 2 This is a schematic diagram comparing the measured and predicted values ​​of the pile point velocity according to the present invention; Figure 3 This is a structural diagram of the steel pipe pile guide frame construction positioning and attitude monitoring system of the present invention. Detailed Implementation

[0020] Specific embodiments of the present invention will now be described in detail. It should be noted that the embodiments described herein are for illustrative purposes only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that these specific details are not necessary to practice the invention. In other instances, well-known circuits, software, or methods have not been specifically described to avoid obscuring the invention.

[0021] Throughout this specification, references to "an embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the invention. Therefore, the phrases "in an embodiment," "in an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale.

[0022] Please see Figure 1 Given the limitations of existing methods in monitoring steel pipe pile platform-type guide frames, and the need for precise analysis and intelligent management in actual construction scenarios, this invention aims to achieve real-time dynamic monitoring of steel pipe pile platform-type guide frames, accurately control the construction positioning and attitude information of steel pipe piles, realize remote automated control and intelligent scheduling of construction equipment, and further improve the construction safety, economy, and efficiency of steel pipe pile guide frames. This invention provides a method for monitoring the construction positioning and attitude of steel pipe pile guide frames, comprising the following steps: S1. Based on the construction status of the steel pipe pile guide frame, deploy data acquisition equipment and design a data acquisition scheme. Optimize the data acquisition equipment and scheme to obtain the optimized data acquisition equipment and scheme. The specific implementation details are as follows: First, data acquisition equipment and a data acquisition scheme are deployed based on the construction status of the steel pipe pile guide frame.

[0023] I. Deployment of Data Acquisition Equipment and Design of Data Acquisition Scheme In this embodiment, based on the actual needs of large-scale temporary construction projects and the characteristics of the construction environment, equipment with high-precision measurement capabilities is selected, including but not limited to total stations, GPS positioning systems, and laser rangefinders. In an optional embodiment, for relatively open construction sites, GPS positioning systems can quickly and accurately determine the pile coordinates of steel pipe piles; for relatively complex or highly accurate local areas, the use of total stations and laser rangefinders can ensure the accuracy of pile position monitoring information.

[0024] In order to accurately obtain the attitude information of the steel pipe pile guide frame, tilt sensors and accelerometers are configured. In this embodiment, the above-mentioned sensors and devices are installed at the top, bottom and key connection points of the steel pipe pile and the guide frame. The relevant parts can effectively reflect the verticality and attitude changes of the steel pipe pile, which helps to capture and analyze the tilt and acceleration changes of the steel pipe pile in real time.

[0025] This embodiment also includes an intelligent vibratory pile driver and a crawler crane with remote control function in the construction positioning and attitude monitoring method for steel pipe pile guide frames. The intelligent vibratory pile driver can automatically adjust the vibration frequency and force according to construction parameters to improve pile driving efficiency and quality. When facing different geological conditions, the pile driver can automatically adjust the vibration frequency according to the hardness of the soil to ensure that the steel pipe piles can be driven in smoothly. The crawler crane's operating room allows operators to operate the equipment in a safe area, improving construction safety and avoiding safety risks caused by complex site environments.

[0026] After selecting and deploying the data acquisition equipment, all selected devices are integrated. In this embodiment, a stable and reliable data transmission channel can be built using wired or wireless methods. Wired transmission features stable data transmission and strong anti-interference capabilities, making it suitable for scenarios where devices are relatively concentrated and close together. In a local area of ​​the construction site, multiple sensors are connected to a data acquisition terminal via wired cables, and the terminal then transmits the data to the data processing center. Wireless transmission is suitable for construction environments with a wide distribution of devices or complex terrain. In large-scale bridge construction projects, wireless transmission technology can transmit data collected by each sensor to the data processing center in real time. The aforementioned data transmission channel ensures the overall normal operation, collaborative work between devices, and accurate data transmission.

[0027] In this embodiment of positioning data acquisition, a selected total station, GPS positioning system or laser rangefinder is mainly used. Combined with pre-designed CAD drawings and polar coordinate layout technology, the pile coordinates of each steel pipe pile are calculated and determined. In this embodiment, reference points are reasonably set up on the construction site. The above reference points have the characteristics of good stability, easy identification and measurement, and serve as the benchmark for measurement and layout.

[0028] For attitude monitoring data acquisition, tilt sensors and accelerometers can be installed at the top and bottom of the steel pipe piles and at key connection points of the guide frame to collect the tilt angle and acceleration data of the steel pipe piles in real time. This data can intuitively reflect the verticality and attitude changes of the steel pipe piles. Simultaneously, using wireless transmission technology, the data collected by the sensors can be sent to the data processing center in real time, laying the foundation for subsequent data analysis.

[0029] Then, the data acquisition equipment and data acquisition scheme are optimized to obtain the optimized data acquisition equipment and optimized data acquisition scheme.

[0030] To ensure the accuracy of data collected by the data acquisition equipment during the data acquisition process, it is necessary to analyze the time lag of different data acquisition devices. In practical applications, time lag can affect the actual operation of the equipment, leading to phenomena such as oscillation and divergence. Time lag not only stems from the lag and inertia during data acquisition and transmission, but also from factors such as data transmission, control calculations, and sampling frequency. Based on this, this embodiment optimizes and adjusts the already deployed data acquisition equipment and data acquisition scheme. The specific implementation steps are as follows: The first step involves introducing a Laplace transform calculation model. To effectively compensate for and adjust time lag, this embodiment introduces a parameter that quantifies the degree of impact: the proportional adjustment coefficient corresponding to the time lag. The Laplace transform is used to analyze this coefficient, yielding a formula for its calculation. The Laplace transform is a mathematical tool that transforms differential equations in the time domain into algebraic equations in the complex frequency domain. This simplifies the analysis and calculation process and provides a deeper understanding of the dynamic response characteristics of the system's data acquisition equipment.

[0031] The second step is to derive and establish the analytical formula for the proportional adjustment coefficient based on the Laplace transform calculation model.

[0032] The formula for analyzing the proportional adjustment coefficient in this embodiment is as follows: , in, This represents the proportional adjustment coefficient corresponding to the time lag. This represents a constant related to system characteristics. The time constant represents the time lag element. represents the complex variable in the Laplace transform.

[0033] The proportional adjustment coefficient corresponding to time lag can quantify the impact of time lag on the system equipment adjustment process, so as to take targeted measures to compensate for or reduce the adverse effects of lag in subsequent optimization and adjustment.

[0034] The complex variables mentioned above mainly contain the real part. and the virtual part The two parts, i.e., the complex variables, need to satisfy the following relationship: The real part The imaginary part is related to the attenuation characteristics of the system equipment. It is related to the oscillation frequency of the system equipment.

[0035] The time constant of a time lag element is an important parameter describing its characteristics, reflecting its response speed to changes in the input signal. In an optional embodiment, the time constant... A larger value indicates a slower response of the time lag element to changes in the input signal, meaning a more severe time lag phenomenon; conversely, a smaller value indicates a slower response. A smaller value indicates a faster response of the time lag element to changes in the input signal, and a relatively milder time lag phenomenon. In practical systems, the time constant... The size depends on various factors, such as the length of the data transmission line, the characteristics of the transmission medium, the complexity of the control algorithm, and the sampling frequency, as well as the time constant. This facilitates a more accurate calculation of the proportional adjustment coefficient corresponding to time lag, thereby providing a more reliable reference for the optimization and adjustment of data acquisition equipment and data acquisition schemes.

[0036] The third step is to obtain the proportional adjustment coefficient corresponding to the time lag through the proportional adjustment coefficient analysis formula. By substituting the standard parameters of the data acquisition equipment into the proportional adjustment coefficient analysis formula, the proportional adjustment coefficient corresponding to the time lag of different data acquisition equipment can be calculated.

[0037] The fourth step is to optimize the data acquisition equipment and data acquisition scheme based on the proportional adjustment coefficient to obtain the optimized data acquisition equipment and optimized data acquisition scheme.

[0038] In this embodiment, the impact of time lag on data acquisition equipment and scheme is analyzed based on the proportional adjustment coefficient of different data acquisition equipment. If the proportional adjustment coefficient is large, it indicates that the time lag has a significant impact on this data acquisition equipment. The following measures can be taken to optimize the data acquisition equipment.

[0039] For data acquisition equipment with time lag issues, you can replace it with a better performing device, or upgrade the existing equipment by using a faster data transmission device or optimizing the transmission line layout.

[0040] Adjusting the data acquisition scheme can involve appropriately increasing the sampling frequency and optimizing the data transmission protocol. Increasing the sampling frequency can improve the real-time performance of the data and reduce the impact of time lag; optimizing the data transmission protocol can improve the efficiency and stability of data transmission and reduce latency during data transmission.

[0041] The above optimization measures result in optimized data acquisition equipment and optimized data acquisition schemes, further ensuring the accuracy and real-time nature of data acquisition results, and providing reliable data acquisition schemes and technical support for the construction of steel pipe pile guide frames.

[0042] S2. Based on the optimized data acquisition equipment and optimized data acquisition scheme described above, obtain the positioning information and attitude monitoring data of the steel pipe pile guide frame. The specific implementation details are as follows: I. Obtaining the positioning information of the steel pipe pile guide frame The first step is to obtain the initial positioning information of the steel pipe pile guide frame based on the optimized data acquisition equipment and optimized data acquisition scheme described above.

[0043] Using surveying equipment and following a pre-established surveying plan, the location of each steel pipe pile was measured and laid out. During the measurement process, the operating procedures must be strictly followed, and the actual coordinates of each pile location must be recorded. and compare it with the coordinates of the reference point. By comparing the data, we can provide reference data for subsequent deviation analysis, and based on this, we can obtain the initial positioning information of the steel pipe pile guide frame.

[0044] The second step is to establish a function for analyzing positioning data deviation.

[0045] To ensure the accuracy of the positioning information, the embodiment performed a deviation analysis on the initial positioning information of the piles to obtain the deviation results of the pile coordinate information. Simultaneously, a positioning data deviation analysis function was established to calculate the deviation value, ensuring that the pile positioning deviation is controlled within the allowable range.

[0046] The above positioning data deviation analysis function is as follows: exist Horizontal deviation in direction: ; exist Horizontal deviation in direction: ; Elevation deviation: ; Total horizontal deviation: .

[0047] Wherein represents the coordinates of any pile point in the steel pipe pile guide frame. , Indicates the coordinates of the reference point. express Horizontal deviation in direction express Horizontal deviation in direction Indicates elevation deviation. This indicates the total horizontal deviation.

[0048] The third step involves using the positioning data deviation analysis function to analyze the initial positioning information of the steel pipe pile guide frame and obtain the positioning information deviation result of the initial positioning information.

[0049] The embodiment uses the above-mentioned positioning data deviation analysis function to compare and analyze the initial positioning information in the steel pipe pile guide frame, so as to obtain the positioning information deviation result of the initial positioning information. Through this step, the deviation of each pile position in the steel pipe pile guide frame can be clearly understood, providing a basis for subsequent screening and adjustment.

[0050] The fourth step involves filtering the initial positioning information based on the positioning information deviation results and obtaining the positioning information of the steel pipe pile guide frame.

[0051] Based on the deviation results of the pile location coordinate information, the initial positioning information is reasonably adjusted, and a reasonable allowable deviation range is set according to the actual requirements of the project. In this embodiment, the allowable value of the total horizontal deviation is set to... The allowable elevation deviation is ,like or This indicates that the total horizontal and vertical deviations of the test pile point exceed the allowable range. At this time, it is necessary to analyze the cause in a timely manner and take corresponding adjustment measures, such as re-measuring and setting out, adjusting the position of construction equipment, etc., to ensure that the pile position deviation is strictly controlled within the allowable range, and finally obtain accurate positioning information of the steel pipe pile guide frame.

[0052] II. Obtaining attitude monitoring data of the steel pipe pile guide frame The first step is to obtain the initial attitude detection information of the steel pipe pile guide frame based on the optimized data acquisition equipment and optimized data acquisition scheme.

[0053] Sensors installed on the steel pipe piles and guide frames continuously monitor the verticality and attitude changes of the steel pipe piles in real time. These sensors can accurately capture minute changes in the steel pipe piles and transmit the monitoring data to the data processing center in real time for subsequent analysis and processing. This provides timely and accurate information support for engineering decisions. Based on this, the initial attitude detection information of the steel pipe pile guide frame can be quickly obtained, providing the original analytical basis for further obtaining information such as verticality, acceleration, and displacement.

[0054] The second step is to obtain the verticality data of the steel pipe pile guide frame based on the initial attitude detection information.

[0055] In this embodiment, based on the principle of tilt sensors, the tilt sensor can measure the tilt angle of the steel pipe pile in two mutually perpendicular directions (x-direction and y-direction). and The above tilt angle data can reflect the degree of tilt of the steel pipe pile in different directions, providing key parameters for subsequent verticality calculation.

[0056] When the above tilt angle is small ( and When the verticality is relatively small, the verticality of the steel pipe piles The following formula can be used for approximate calculation: , in, This indicates verticality, and its unit can be set to degrees or radians, which can be converted according to actual needs. and These represent the inclination angles of the steel pipe pile in two mutually perpendicular directions (x-direction and y-direction).

[0057] In practical applications, if it is required to express the perpendicularity deviation as a percentage, the following relationship can be used to further calculate the perpendicularity: , in, Indicates verticality In percentage form, Indicates verticality. This indicates the maximum tilt angle specified in the project. The above calculations provide a clear understanding of the verticality of the steel pipe piles and allow for an accurate assessment of whether they meet the project requirements.

[0058] The third step involves analyzing the acceleration and displacement data of the steel pipe pile guide frame based on the initial attitude detection information and verticality data.

[0059] The accelerometer in the embodiment can measure the steel pipe pile points in three directions. acceleration on , , Acceleration can describe how fast an object's velocity changes, but simply calculating and analyzing acceleration is not enough to directly understand the specific speed of an object's motion at a certain moment. In this embodiment, the acceleration data is integrated to further analyze the velocity and displacement information of any pile point in the steel pipe pile guide frame, which is beneficial for a comprehensive analysis of the attitude changes of the steel pipe pile guide frame.

[0060] Velocity can be obtained by integrating acceleration.

[0061] The velocity in the x-direction satisfies the following relationship: , in, This represents the velocity component in the x-direction, with 0 indicating the start of the integration. This indicates the elapsed time since the start time. This represents acceleration in the x-direction. This represents the initial velocity in the x-direction.

[0062] The velocity component in the x-direction is relative to time. The function can describe the magnitude and direction of the velocity of an object in the x-direction as a function of time; the lower limit of integration is 0, indicating the starting time of the integration; the upper limit... This represents the elapsed time since the initial moment; the integration process is the acceleration in the x-direction. In the time interval The changes in velocity caused by acceleration during this period are accumulated.

[0063] acceleration in the x direction It's also about time. The function can describe the rate and direction of change of an object's velocity in the x-direction; the initial velocity in the x-direction. ,Right now The initial velocity of an object in the x-direction at a given moment can be set. Generally, if the object is stationary in the x-direction at the initial moment, the initial velocity in the x-direction can be set. .

[0064] Similarly, the velocities in the y and z directions can be calculated to satisfy the following relationships: , in, Represents the velocity component in the y-direction. This represents acceleration in the y-direction. This represents the initial velocity in the y-direction.

[0065] , in, Represents the velocity component in the z-direction. This represents the acceleration in the z-direction. This represents the initial velocity in the z-direction.

[0066] This embodiment performs an integral calculation of acceleration over time to obtain the acceleration values ​​of any pile point in the steel pipe pile guide frame in different directions. The velocity component on the surface, clearly defining the position of any pile point. The velocity at different times in three directions provides technical support and basic data for further analysis of its motion state.

[0067] Similarly, the displacement can be obtained by integrating the velocity.

[0068] The displacement in the x-direction satisfies the following relationship: , in, This represents the displacement in the x-direction, and 0 indicates the start time of the integration. This indicates the elapsed time since the start time. Represents the velocity component in the x-direction. This represents the initial displacement in the x-direction. Typically, the initial displacement of any pile point in the steel pipe pile guide frame is set to 0.

[0069] The essence of the definite integral term is to find the area of ​​the curvilinear trapezoid; in this embodiment, the velocity... It's about time. The function represents the displacement change of the steel pipe pile guide frame in the x-direction due to the change of velocity over time. If the velocity... A consistently positive result indicates that the steel pipe pile guide frame is constantly moving in the positive x-axis direction; the integral result is the distance the object moves in the positive direction during this time. If the speed... A positive or negative value indicates that the steel pipe pile guide frame has a reciprocating motion in the x direction. The integral result is the net displacement of the steel pipe pile guide frame relative to the starting position or reference point.

[0070] Initial displacement Indicates the start of timing ( At the beginning of the time interval, the guide frame of the steel pipe pile already has position coordinates in the x-direction. If the reference point is taken as the origin, the distance of the guide frame from the origin at the start of the time interval is the initial displacement. Adding the definite integral result to the initial displacement gives the object's position in the distance. Total displacement relative to the origin at any given time .

[0071] Similarly, calculate the displacements in the y and z directions, which satisfy the following relationships respectively: , in, This represents the displacement in the y-direction. Represents the velocity component in the y-direction. This represents the initial displacement in the y-direction.

[0072] , in, Represents the displacement in the z-direction. Represents the velocity component in the z-direction. This represents the initial displacement in the z-direction.

[0073] The displacement calculation function described above can be used to quickly and accurately obtain displacement information, which directly reflects the changes in the position of the steel pipe pile. This allows for a comprehensive understanding of the changes in the posture of the steel pipe pile and helps to accurately judge the stability and safety of the steel pipe pile.

[0074] Accelerometer-measured acceleration data provides local, instantaneous motion information. However, velocity and displacement information obtained through integration can provide a more macroscopic and comprehensive analysis and description of the motion of the steel pipe pile guide frame. In this embodiment, by combining the tilt angle measured by the tilt sensor with the acceleration, velocity, and displacement information measured by the accelerometer, the attitude changes of the steel pipe pile guide frame in three-dimensional space can be comprehensively analyzed. This can effectively determine whether the steel pipe pile guide frame has undergone translational, rotational, or other movements, as well as the specific degree of change and movement trend, providing richer and more accurate analytical basis for engineering monitoring and safety assessment.

[0075] The fourth step is to integrate the initial attitude detection information, verticality data, acceleration data, and displacement data to obtain the attitude monitoring data of the steel pipe pile guide frame.

[0076] This embodiment further integrates the aforementioned initial attitude detection information, verticality data, acceleration data, and displacement data to obtain more comprehensive and accurate attitude monitoring data for the steel pipe pile guide frame. This data can reflect the attitude changes of the steel pipe pile in real time and accurately, providing a scientific basis for construction control and adjustment, ensuring that the construction of the steel pipe pile meets the design requirements, and guaranteeing the safety and quality of the project.

[0077] The above process enables accurate acquisition of positioning information and attitude monitoring data of the steel pipe pile guide frame, providing support for predictive analysis and safety early warning assessment of steel pipe pile construction.

[0078] S3. By combining positioning information and attitude monitoring data, a multidimensional dataset is obtained. Based on the multidimensional dataset, construction parameters are analyzed to obtain the predictive analysis results of the construction parameters of the aforementioned steel pipe pile guide frame. The specific implementation details are as follows: First, a multidimensional dataset is obtained by combining positioning information and attitude monitoring data.

[0079] Information fusion technology is introduced and used to fuse positioning information and attitude monitoring data to obtain a multidimensional dataset of the steel pipe pile guide frame.

[0080] The embodiment initially integrates the collected positioning information and attitude monitoring data to form a preliminary multidimensional dataset. Due to the problems of inconsistent data storage formats and significant differences in characteristics among data collected by different sensors, the embodiment integrates and processes the positioning information and attitude monitoring data from different sensors based on information fusion technology. During the data fusion process, mature algorithms such as Kalman filtering and particle filtering can be used to effectively eliminate noise and errors in the data, improve the accuracy and reliability of positioning information and attitude monitoring data, and thus improve the overall data quality.

[0081] The data fusion process described above yields a multidimensional dataset of steel pipe pile guide frames, consisting of steel pipe pile positioning, attitude information, and other monitoring data. This dataset provides robust support for subsequent parameter prediction and construction decisions, helping to improve construction efficiency and ensure construction quality.

[0082] Then, by analyzing the construction parameters based on the multidimensional dataset, the predictive analysis results of the construction parameters of the steel pipe pile guide frame can be obtained.

[0083] In an alternative embodiment, the trajectory prediction results in the construction parameters of the steel pipe pile guide frame are analyzed.

[0084] The first step is to obtain the point coordinate information and motion angle parameters of any pile point in the steel pipe pile guide frame relative to the reference point based on multi-dimensional data.

[0085] Based on the positioning information and attitude monitoring data of the steel pipe pile guide frame, the position of any pile point can be obtained. The coordinates are as The angular parameters related to its motion in the x-axis direction And the angle parameters related to motion in the y-axis direction. The aforementioned angle parameters can be calculated using the arctangent function, which can describe the phase relationship between different motion components. These angle parameters can more accurately predict the motion trajectory of the pile point because the superposition and interaction of motion components in different directions in space determine the actual motion path of the pile point.

[0086] The second step involves introducing a rotation matrix. In this embodiment, a rotation matrix is ​​introduced to more accurately describe the swing motion of the steel pipe pile guide frame. The rotation matrix can transform vectors between different coordinate systems and is applicable to the rotational motion of objects. In two-dimensional planar motion, the rotation matrix can effectively transform the motion in the local coordinate system to the global coordinate system, thereby providing a more comprehensive analysis of the motion of the pile points.

[0087] The third step is to analyze the angular component information of any pile point in different directions based on the point coordinate information, motion angle parameters, and rotation matrix.

[0088] The embodiments mainly rely on the angular parameters related to the movement of any pile point in different directions within the steel pipe pile guide frame. and Analyze the angular component information of the pile point in different directions. The cosine component in the x-axis direction is and pile points The cosine component in the y-axis direction is At the same time, pile points The sine component in the x-axis direction is The sinusoidal component in the y-axis direction is .

[0089] In this embodiment, the motion of the steel pipe pile guide frame is decomposed into two basic motions: translation and oscillation. The oscillation motion can be described by a rotation matrix, which relates it to the angle. This is achieved by comprehensively considering the angle parameters related to the motion along the x-axis. Angular parameters related to motion in the y-axis direction The swing angle can be determined as θ, for a two-dimensional planar motion rotation matrix. It can be represented as: , If the displacement vector generated by the oscillation is in the local coordinate system as Then, in the global coordinate system, the displacement vector can be expressed as .

[0090] Based on the above, the translation displacement vector is set as follows: The coordinates of the pile point are The following formula can be used for analysis and calculation: , Further expand the relationship between the scoreable quantities and the point coordinates: , in, Indicates pile point Coordinates relative to a reference point Represents the translational displacement vector. This represents the displacement vector produced by the oscillation. Indicates the swing angle.

[0091] The fourth step involves deriving the trajectory prediction model for any pile point in the steel pipe pile guide frame based on point coordinate information, motion angle parameters, and angle component information. This model can effectively analyze the displacement of any pile point in the steel pipe pile guide frame relative to the reference point.

[0092] Detecting and analyzing motion components in different directions based on corresponding angles can reflect the magnitude of the projection of any pile point onto the positive direction of the coordinate axis when it moves on the corresponding axis. The following parameters are specifically set: Based on the angle parameters and angle component information of any pile point in the steel pipe pile guide frame in different directions, establish the structure for any pile point in the steel pipe pile guide frame. Trajectory prediction model on the surface.

[0093] Parameters have been set. , They represent the pile points respectively. The motion along the x and y axes allows for the analysis of the displacement components generated by the translation of the guide frame. The absolute value of these components represents the magnitude of the displacement. This represents the displacement component corresponding to the translation of the guide frame in the x-axis direction; This represents the displacement component corresponding to the translation of the guide frame in the y-axis direction.

[0094] Parameters have been set. , They represent the pile points respectively. The displacement components generated by the oscillation of the guide frame in the x and y axes, whose absolute values ​​represent the magnitude of the displacement, are as follows: This represents the displacement component corresponding to the oscillation in the x-axis direction; This represents the displacement component corresponding to the oscillation in the y-axis direction.

[0095] The trajectory prediction model in this embodiment satisfies the following relationship: Trajectory prediction model in the x-axis direction , Trajectory prediction model in the y-axis direction , in, Represents the cosine component along the x-axis. This represents the displacement component corresponding to the translation of the guide frame in the x-axis direction. This represents the angle parameters related to motion in the x-axis direction. This represents the displacement component corresponding to the oscillation in the x-axis direction. This represents the angle parameters related to motion in the y-axis direction. Represents the sine component in the x-axis direction. Represents the cosine component in the y-axis direction. This represents the displacement component corresponding to the translation of the guide frame in the y-axis direction. This represents the displacement component corresponding to the oscillation in the x-axis direction. This represents the sinusoidal component along the y-axis.

[0096] The fifth step involves using a trajectory prediction model to analyze the trajectory of the pile points along the x-axis and y-axis, in order to obtain the trajectory prediction results along the x-axis and y-axis.

[0097] In an optional embodiment, the trajectory prediction model described above is used to analyze the trajectory of the pile points along both the x-axis and y-axis. By substituting the translational displacement components, swing displacement components, and corresponding angle parameters of the construction parameters into the trajectory prediction model for calculation and simulation, the predicted trajectory results in the x-axis and y-axis directions can be obtained. These prediction results can intuitively demonstrate the movement trajectory of the pile points during the construction of the steel pipe pile guide frame, providing important reference for subsequent safety analysis. Based on the relevant prediction results, construction parameters can be adjusted in advance to optimize the subsequent construction plan, ensuring the construction quality and safety of the steel pipe pile guide frame.

[0098] By implementing the above steps, the trajectory prediction results in the construction parameters of the steel pipe pile guide frame can be accurately obtained through analysis and calculation, providing technical support and information basis for monitoring the construction status and safety early warning of the steel pipe pile guide frame.

[0099] II. Analysis of Speed ​​Prediction Results in Construction Parameters of Steel Pipe Pile Guide Frame The first step is to obtain the velocity information of any pile point in the steel pipe pile guide frame relative to a reference point based on multi-dimensional data. In this embodiment, the velocity information of any pile point in the steel pipe pile guide frame relative to a reference point is obtained based on data acquisition equipment, including but not limited to displacement sensors and acceleration sensors. This allows for the acquisition of velocity components of the pile point in different directions, which helps to more comprehensively understand the movement velocity of different pile points.

[0100] The second step is to obtain the velocity-position vector relationship based on the velocity information, and to construct a velocity prediction model for any pile point in the steel pipe pile guide frame based on the above information and conditions.

[0101] Based on the clarified velocity information at the pile point, the relationship between velocity and position vector is further explored. Let the pile point be... The position vector is It can describe the position of a pile in space, the derivative of the position vector with respect to time. It is closely related to speed.

[0102] A homogeneous transformation matrix was introduced into the motion analysis of the steel pipe pile guide frame. It can describe the position and attitude changes of pile points, and can transform coordinates in different coordinate systems, thus conveniently describing the movement of the steel pipe pile guide frame. For any pile point in the steel pipe pile guide frame... Its speed The relationship with the position vector can be derived and analyzed in the following way: In this embodiment, machine kinematics is referenced to analyze the relationship between homogeneous transformation and joint variables. It is assumed that the motion of the steel pipe pile guide frame can be regarded as a combination of a series of joint motions, and each joint variable... Changes in these parameters will cause changes in the position and orientation of the pile points, and the homogeneous transformation matrix will be used to achieve these changes. Joint variables A function that satisfies the following conditions: For position vectors ,in Indicates pile point The position vector can be used to derive the velocity prediction model for any pile point in the steel pipe pile guide frame using the composite function differentiation method, and the following relationship is satisfied: , in, This indicates any pile point in the steel pipe pile guide frame. speed, This represents the derivative of the position vector with respect to time. Indicates the pile number, Indicates the section variable number. Represents the homogeneous transformation matrix For joint variables The partial derivatives, Denotes the homogeneous transformation matrix. Represents joint variables. Representing joint variables The derivative with respect to time, Indicates pile point The position vector.

[0103] In this embodiment, a velocity prediction model corresponding to any pile point in the steel pipe pile guide frame is constructed based on the relationship between velocity and position vectors and velocity information. The core idea is to express the velocity of the pile point as a function of joint variables and their derivatives.

[0104] The specific form of the homogeneous transformation matrix needs to be determined during model construction. This needs to be based on the structure and motion mode of the steel pipe pile guide frame. If the motion of the guide frame is mainly a combination of rotation and translation, then the homogeneous transformation matrix can be expressed as the product of the rotation matrix and the translation matrix. Simultaneously, the relationship between joint variables and the actual motion parameters of the pile points, as well as the method for calculating the derivatives of the joint variables, also needs to be determined through experiments or theoretical analysis.

[0105] To make the velocity prediction model corresponding to any pile point in the steel pipe pile guide frame more accurate and reliable, the unknown parameters in the model can be estimated by parameter identification. In an optional embodiment, the parameters in the model can be optimized and adjusted based on the actual measured velocity data and joint variable data using methods such as least squares method and maximum likelihood estimation, so that the prediction results of the velocity prediction model are as close as possible to the actual measurement results.

[0106] The fourth step is to use a velocity prediction model to analyze the velocity prediction results of any pile point in the steel pipe pile guide frame relative to the reference point.

[0107] The velocity prediction model is used to predict and analyze the velocity of any pile point in the steel pipe pile guide frame relative to the reference point. By substituting the joint variable data in the actual construction process into the model, the predicted velocity values ​​of the pile point at different times can be calculated.

[0108] To evaluate the accuracy and reliability of the velocity prediction model, experimental verification was further conducted in the embodiments. The actual construction process of the steel pipe pile guide frame was simulated in an experimental environment. Based on the actual velocity values ​​of the pile points at different times measured by the measuring equipment, the measured data were compared with the velocity prediction values ​​output by the model. A comparative analysis was conducted, and a comparison chart of the measured and predicted velocity values ​​at any given pile point was plotted. Please refer to [link / reference]. Figure 2 .

[0109] based on Figure 2The predictive performance of the velocity prediction model can be evaluated intuitively. If the predicted value matches the measured value well, it means that the velocity prediction model can predict the motion state of the steel pipe pile well and can provide a reliable reference for construction. If there is a large deviation, it is necessary to analyze the cause of the deviation, whether there are unreasonable model assumptions, inaccurate parameter estimation, data measurement errors, etc., and further optimize and adjust the model to address the relevant issues in order to ensure the accuracy and reliability of the velocity prediction model.

[0110] Furthermore, based on the established trajectory prediction models in the x-axis and y-axis directions, the influence of the displacement components corresponding to translation and oscillation in these two directions on the velocity can be further analyzed. By comprehensively considering relevant factors, the motion characteristics of the steel pipe pile guide frame can be understood more fully, providing deeper theoretical support for the optimization and adjustment of construction parameters.

[0111] The above implementation steps enable accurate prediction of the speed of the steel pipe pile guide frame, providing a scientific basis and technical support for steel pipe pile construction. This helps to better control the construction pace, prevent potential safety issues in advance, optimize construction techniques, and thus improve construction quality and efficiency, ensuring construction safety. During actual construction, the speed prediction model can be continuously updated and improved based on actual conditions to adapt to different construction environments and conditions, further enhancing construction quality and efficiency and ensuring construction safety.

[0112] S4. Based on positioning information, attitude monitoring data, and predictive analysis results, predictive analysis and safety warnings are issued for the construction of the steel pipe pile guide frame. The specific implementation details are as follows: A method for construction positioning and attitude monitoring of steel pipe pile guide frames is proposed, which establishes a data analysis and feedback mechanism and an automated control and safety early warning mechanism to achieve comprehensive control and safety assurance of the construction situation.

[0113] In one optional embodiment, the data analysis and feedback mechanism analyzes and evaluates positioning information, attitude monitoring data, and predictive analysis results, and generates a construction status report of the steel pipe pile guide frame.

[0114] In this embodiment, based on the aforementioned sensor and communication technologies, on-site measurement data, monitoring information, and forecast data can be transmitted to the system's data processing center in real time and accurately. The data processing center can quickly extract valuable information from massive amounts of data, providing a data foundation for the analysis and evaluation of data analysis and feedback mechanisms, as well as automated control and safety early warning mechanisms.

[0115] In this embodiment, data analysis algorithms are used to comprehensively assess the construction quality and safety. The assessment includes, but is not limited to, whether the construction progress meets the planned requirements, whether quality indicators are met, and whether there are any potential safety hazards. Following this, based on the assessment results, a detailed construction report and early warning information for the steel pipe pile guide frame are generated. The construction report should clearly present the construction progress, specific values ​​for each quality indicator, and a detailed description of the safety situation. The early warning information should clearly indicate the problems existing in the construction process, the possible consequences, and corresponding recommended measures.

[0116] The data analysis and feedback mechanism randomly feeds back the generated construction reports and early warning information to the management and operators at the construction site, ensuring that they can quickly understand the actual situation of the construction. This allows them to adjust construction strategies and take improvement measures in a timely manner based on the feedback information, thus ensuring the smooth progress of the construction.

[0117] In one optional embodiment, the automated control and safety early warning mechanism combines construction status reports, positioning information, attitude monitoring data, and predictive analysis results to predict construction safety and output safety early warning information for the steel pipe pile guide frame, while simultaneously remotely controlling and intelligently scheduling construction equipment.

[0118] The automated control and safety early warning mechanism pre-sets various early warning thresholds in the construction process. Different thresholds can be set according to the specific requirements of the project and the performance characteristics of the equipment. In one embodiment, when the monitored key parameters such as tilt angle and acceleration exceed the preset value, the system can automatically trigger an early warning signal to promptly remind construction personnel to pay attention to potential safety risks.

[0119] The automated control and safety early warning mechanism, based on safety early warning information, allows the automated control module to remotely operate and intelligently schedule construction equipment such as vibratory pile drivers and crawler cranes. It can automatically adjust the operating parameters or equipment status based on actual construction conditions and predicted parameters. In one optional embodiment, the vibration frequency and amplitude of the vibratory pile driver are automatically adjusted according to site soil conditions and pile depth. The operating speed and lifting height of the crawler crane are controlled based on the spatial layout of the construction site and the weight of the cargo. This control ensures that the construction equipment is always in optimal working condition, improving construction efficiency and safety.

[0120] To address potential serious safety risks, the automated control and safety early warning mechanism is equipped with an emergency shutdown mechanism. Once a factor that seriously threatens construction safety, such as equipment failure or structural instability, is detected, the automated control and safety early warning mechanism will automatically stop the operation of the relevant equipment, quickly cut off the source of danger, effectively prevent accidents from occurring, and ensure the safety of personnel and equipment.

[0121] The aforementioned method for positioning and attitude monitoring of steel pipe pile guide frames also includes an implementation and maintenance mechanism to ensure its long-term stable operation and provide continuous and reliable support for steel pipe pile construction. The relevant details are as follows: Installing and commissioning the relevant equipment according to the predetermined plan ensures that all equipment operates normally. During installation, adhere to the equipment's installation manual and relevant specifications to ensure accurate installation locations and secure connections. Conduct comprehensive commissioning of the installed equipment, checking that all functions are normal, and ensuring that the equipment meets the construction requirements.

[0122] Develop a detailed equipment maintenance plan and conduct regular comprehensive maintenance and inspections of different equipment. Maintenance includes, but is not limited to, cleaning, upkeep, and calibration of the equipment. It also involves updating and patching the software systems of the mechanical equipment to ensure the security and stability of the software and prevent equipment failures or software vulnerabilities from affecting the normal operation of the system. Furthermore, it allows for timely optimization of relevant equipment and analysis models based on changes in engineering needs and technological advancements, continuously improving the practicality and adaptability of the method to better meet the requirements of engineering construction.

[0123] Through the above series of implementation steps, the steel pipe pile guide frame construction positioning and attitude monitoring method of the present invention can operate effectively, realizing precise monitoring and effective control of the positioning and attitude of steel pipe pile construction, significantly improving the accuracy, efficiency and safety of steel pipe pile construction, and providing strong technical support for bridges, ports, water conservancy and large-scale temporary construction projects. In practical applications, this method can be further optimized and improved according to the characteristics and needs of specific projects to better meet the requirements of engineering construction.

[0124] Please see Figure 3 In an optional embodiment, to efficiently execute the steel pipe pile guide frame construction positioning and attitude monitoring method provided by the present invention, the present invention also provides a steel pipe pile guide frame construction positioning and attitude monitoring system. The steel pipe pile guide frame construction positioning and attitude monitoring system includes a processor, an input device, an output device, and a memory, which are interconnected. The memory stores a computer program, which includes program instructions. The processor is configured to call the program instructions to execute the specific steps of the relevant embodiments of the steel pipe pile guide frame construction positioning and attitude monitoring method provided by the present invention. The steel pipe pile guide frame construction positioning and attitude monitoring system of the present invention has a complete and stable structure, and can efficiently execute the steel pipe pile guide frame construction positioning and attitude monitoring method of the present invention, improving the overall applicability and practical application capability of the present invention.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A method for positioning and attitude monitoring during the construction of a steel pipe pile guide frame, characterized in that, Includes the following steps: Based on the construction status of the steel pipe pile guide frame, deploy data acquisition equipment and design data acquisition scheme, and optimize the data acquisition equipment and the data acquisition scheme to obtain optimized data acquisition equipment and optimized data acquisition scheme; The positioning information and attitude monitoring data of the steel pipe pile guide frame are obtained based on the optimized data acquisition equipment and the optimized data acquisition scheme. A multidimensional dataset is obtained by combining the positioning information and the attitude monitoring data. Construction parameters are analyzed based on the multidimensional dataset, and the prediction and analysis results of the construction parameters of the steel pipe pile guide frame are obtained. Based on the positioning information, the attitude monitoring data, and the predictive analysis results, the construction status of the steel pipe pile guide frame is predicted, analyzed, and safety warnings are provided.

2. The method for construction positioning and attitude monitoring of steel pipe pile guide frame according to claim 1, characterized in that, The optimization of the data acquisition device and the data acquisition scheme to obtain the optimized data acquisition device and the optimized data acquisition scheme includes: Introducing a Laplace transform computational model; Based on the Laplace transform calculation model, the proportional adjustment coefficient analysis formula is derived and established. The proportional adjustment coefficient corresponding to the time lag is obtained through the proportional adjustment coefficient analysis formula. The data acquisition device and the data acquisition scheme are optimized according to the proportional adjustment coefficient to obtain the optimized data acquisition device and the optimized data acquisition scheme.

3. The method for construction positioning and attitude monitoring of steel pipe pile guide frame according to claim 1, characterized in that, The process of obtaining the positioning information and attitude monitoring data of the steel pipe pile guide frame based on the optimized data acquisition equipment and the optimized data acquisition scheme includes: The initial positioning information of the steel pipe pile guide frame is obtained based on the optimized data acquisition equipment and the optimized data acquisition scheme. Establish a function for analyzing positioning data deviation; The initial positioning information is analyzed using the positioning data deviation analysis function to obtain the positioning information deviation result of the initial positioning information; Based on the deviation results of the positioning information, the initial positioning information is filtered to obtain the positioning information of the steel pipe pile guide frame.

4. The method for construction positioning and attitude monitoring of steel pipe pile guide frame according to claim 1, characterized in that, The process of obtaining the positioning information and attitude monitoring data of the steel pipe pile guide frame based on the optimized data acquisition equipment and the optimized data acquisition scheme includes: The initial attitude detection information of the steel pipe pile guide frame is obtained based on the optimized data acquisition equipment and the optimized data acquisition scheme. The verticality data of the steel pipe pile guide frame is obtained based on the initial attitude detection information. Based on the initial attitude detection information and the verticality data, the acceleration and displacement data of the steel pipe pile guide frame are analyzed; The attitude monitoring data of the steel pipe pile guide frame is obtained by integrating the initial attitude detection information, the verticality data, the acceleration data, and the displacement data.

5. The method for construction positioning and attitude monitoring of steel pipe pile guide frame according to claim 1, characterized in that, The multidimensional dataset obtained by combining the positioning information and the attitude monitoring data includes: Introducing information fusion technology; The positioning information and the attitude monitoring data are fused using the information fusion technology to obtain a multidimensional dataset of the steel pipe pile guide frame.

6. The method for construction positioning and attitude monitoring of steel pipe pile guide frame according to claim 1, characterized in that, The analysis of construction parameters based on the multidimensional dataset, and the prediction analysis results of the construction parameters of the steel pipe pile guide frame, include: Based on the multidimensional data, obtain the point coordinate information and motion angle parameters of any pile point in the steel pipe pile guide frame relative to the reference point; Introduce a rotation matrix; Based on the point coordinate information, the motion angle parameters, and the rotation matrix, analyze the angular component information of any pile point in different directions.

7. The method for construction positioning and attitude monitoring of steel pipe pile guide frame according to claim 2, characterized in that, The analysis of construction parameters based on the multidimensional dataset, and the prediction analysis results of the construction parameters of the steel pipe pile guide frame, include: Based on the point coordinate information, the motion angle parameters, and the angle component information, a trajectory prediction model corresponding to any pile point in the steel pipe pile guide frame is derived and established. The trajectory prediction model is used to analyze the trajectory of the pile point in the x-axis direction and the trajectory in the y-axis direction to obtain the trajectory prediction results in the x-axis direction and the trajectory prediction results in the y-axis direction.

8. The method for construction positioning and attitude monitoring of steel pipe pile guide frame according to claim 1, characterized in that, The analysis of construction parameters based on the multidimensional dataset, and the prediction analysis results of the construction parameters of the steel pipe pile guide frame, include: Based on the multidimensional data, obtain the velocity information of any pile point in the steel pipe pile guide frame relative to the reference point; The velocity-position vector relationship is obtained based on the velocity information; Based on the velocity-position vector relationship and the velocity information, a velocity prediction model is constructed for any pile point in the steel pipe pile guide frame. The velocity prediction model is used to analyze the velocity prediction results of any pile point in the steel pipe pile guide frame relative to the reference point.

9. The method for construction positioning and attitude monitoring of steel pipe pile guide frame according to claim 1, characterized in that, The prediction, analysis, and safety warning of the construction status of the steel pipe pile guide frame based on the positioning information, the attitude monitoring data, and the prediction analysis results includes: Construct data analysis and feedback mechanisms and automated control and safety early warning mechanisms; The data analysis and feedback mechanism analyzes and evaluates the positioning information, the attitude monitoring data, and the predictive analysis results, and generates a construction status report of the steel pipe pile guide frame. The automated control and safety early warning mechanism combines the construction status report, the positioning information, the attitude monitoring data, and the predictive analysis results to predict construction safety and output safety early warning information for the steel pipe pile guide frame. The automated control and safety early warning mechanism remotely controls and intelligently schedules construction equipment based on the safety early warning information.

10. A construction positioning and attitude monitoring system for steel pipe pile guide frames, characterized in that, The system includes a processor, an input device, an output device, and a memory, which are interconnected. The memory stores a computer program, which includes program instructions. The processor is configured to invoke the program instructions to execute the steel pipe pile guide frame construction positioning and attitude monitoring method as described in any one of claims 1-9.

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