A vehicle-mounted pile foundation core drilling detection machine and detection system

Abstract

The present application belongs to the technical field of pile foundation core drilling detection, and particularly relates to a vehicle-mounted pile foundation core drilling detection machine and a detection system, which comprises a vehicle-mounted chassis, a supporting mechanism arranged on the vehicle-mounted chassis, and a core drilling mechanism, and further comprises a calibration module, a displacement detection module, a control module and an execution module. The control module performs the following processing steps: step S1: receiving the original displacement signal and separating the signal into a high-frequency vibration component and a low-frequency displacement component through frequency domain analysis; step S2: eliminating the high-frequency vibration component and calculating the real-time perpendicularity deviation of the drill bit only based on the low-frequency displacement component; and step S3: when the real-time perpendicularity deviation exceeds the allowable threshold, a dynamic correction instruction containing a correction direction and a correction amount is generated. The execution module drives the posture adjustment mechanism of the core drilling mechanism to act to compensate for the low-frequency displacement of the vehicle-mounted chassis. The present application can dynamically correct the position of the drill bit when the vehicle-mounted equipment generates displacement.

Description

Technical Field

[0001] This invention belongs to the field of pile foundation core drilling and testing technology, specifically relating to a vehicle-mounted pile foundation core drilling and testing machine and testing system. Background Technology

[0002] As a crucial component of buildings, the construction quality of pile foundations directly affects the safety and stability of the entire engineering structure. Core drilling is a direct and reliable method for pile foundation quality testing. By drilling concrete core samples from the pile shaft, key indicators such as pile length, concrete strength, pile bottom sediment thickness, and pile integrity can be determined. Existing pile foundation core drilling equipment is mainly divided into two types: fixed and vehicle-mounted. Fixed core drilling rigs are typically installed on concrete foundations, offering good stability and easy assurance of drilling verticality. However, they are inconvenient to move, have low relocation efficiency, and are difficult to adapt to the needs of multi-site, decentralized pile foundation testing. In contrast, vehicle-mounted pile foundation core drilling rigs integrate the drilling machine onto a vehicle chassis, offering significant advantages such as mobility, rapid relocation, and short preparation time, thus gaining widespread application in engineering testing.

[0003] However, vehicle-mounted core drilling and testing machines have significant technical shortcomings in actual operation. After the vehicle arrives at the testing point, it needs to be lifted and fixed to the ground using hydraulic outriggers and other support devices to form an operating platform. Because the vehicle's support point is not a rigid concrete foundation, it is highly susceptible to slight displacement or settlement during operation due to factors such as soft geological conditions, minor leaks in the outrigger hydraulic system, and the reaction forces and vibrations generated by the drill bit cutting through the soil and rock during drilling. According to relevant standards such as the "Technical Specification for Testing Building Foundation Piles" (JGJ 106), the verticality deviation of the core drilling hole for pile foundations must not exceed 0.5%. This precision requirement poses a significant challenge to the stability of the drilling equipment. Traditional vehicle-mounted core drilling machines typically only perform a one-time horizontal calibration before operation, lacking a mechanism to monitor vehicle displacement during operation. Once the vehicle experiences slight displacement during drilling, the verticality of the drill rod will change, and this deviation will accumulate and amplify with increasing drilling depth. If not corrected in time, it will not only cause the core sample to deviate from the predetermined position of the pile body, resulting in distorted test data, but in severe cases it may also drill through the protective layer of the pile body reinforcement, damage the pile structure, lead to test failure or cause potential safety hazards to the project quality.

[0004] Currently, there is a lack of effective calibration mechanisms to address the micro-displacement of vehicle-mounted equipment during operation. Existing calibration methods mostly rely on manual re-measurement or post-operative correction, which cannot generate a stable positioning reference point during drilling and dynamically correct the drill bit position. Therefore, developing a vehicle-mounted pile core drilling inspection machine and system that can establish a positioning reference after the vehicle-mounted equipment is supported on the ground and can dynamically correct the drill bit position when the vehicle body moves has become an urgent technical problem to be solved in this field. Summary of the Invention

[0005] To address the aforementioned problems in the existing technology, the present invention provides a vehicle-mounted pile foundation core drilling and testing machine and testing system.

[0006] The objective of this invention can be achieved through the following technical solutions: A vehicle-mounted pile foundation core drilling and testing system includes a vehicle chassis, a support mechanism mounted on the vehicle chassis, and a core drilling mechanism, and further includes: The calibration module, after the support mechanism supports and fixes the vehicle chassis to the ground, executes the initial zero-position calibration procedure to generate a static reference point for positioning; The displacement detection module is connected to the calibration module and is used to acquire the original displacement signal of the vehicle chassis relative to the static reference point in real time at a preset sampling frequency. The control module is connected to both the core drilling mechanism and the displacement detection module, and performs the following processing steps: Step S1: Receive the original displacement signal and separate the signal into high-frequency vibration components and low-frequency displacement components through frequency domain analysis; Step S2: Remove the high-frequency vibration component and calculate the real-time verticality deviation of the drill bit based only on the low-frequency displacement component; Step S3: When the real-time verticality deviation exceeds the allowable threshold, a dynamic correction instruction containing the correction direction and correction amount is generated; The execution module, connected to the core drilling mechanism and the control module, is used to respond to the dynamic correction command and drive the attitude adjustment mechanism of the core drilling mechanism to compensate for the low-frequency displacement of the vehicle chassis.

[0007] As a further embodiment of the present invention, the displacement detection module further includes a triaxial accelerometer, which is rigidly mounted on the non-rotating mast of the core drilling mechanism; in step S1, the control module reads the vibration acceleration data of the triaxial accelerometer, calculates the instantaneous vibration displacement using a quadratic integration algorithm, and subtracts the instantaneous vibration displacement from the original displacement signal to obtain the corrected low-frequency displacement component.

[0008] As a further embodiment of the present invention, the calibration module includes a laser emitter and a receiving target. The laser emitter is mounted on the main beam of the vehicle chassis via a damping shock absorber connector and is located above the power head of the core drilling mechanism. The damping shock absorber connector includes a spring assembly and a hydraulic damping cylinder.

[0009] As a further aspect of the present invention, the control module adopts a sliding time window filtering strategy in step S1: the time window length is set to T, N displacement data points are collected in each time window, the maximum and minimum values ​​are removed, and the arithmetic mean of the remaining N-2 data points is calculated. The arithmetic mean is used as the effective displacement data at the current moment for verticality deviation calculation.

[0010] As a further embodiment of the present invention, it also includes a ground-fixed reference target, which is independently fixed to the ground around the pile foundation by ground anchors and has no physical connection with the vehicle chassis. The displacement detection module includes a first laser ranging unit and a second laser ranging unit. The first laser ranging unit measures the distance between the vehicle chassis and the reference point of the calibration module, and the second laser ranging unit measures the distance between the vehicle chassis and the fixed reference target on the ground. The control module compares the data change trends of the first laser ranging unit and the second laser ranging unit. If the change trends of the two are consistent and are low-frequency changes, it is determined to be the actual displacement of the vehicle body; if only the data of the first laser ranging unit shows high-frequency fluctuations, it is determined to be drilling vibration interference.

[0011] As a further aspect of the present invention, the execution module includes a six-degree-of-freedom parallel adjustment platform disposed between the base of the core drilling mechanism and the vehicle chassis; The six-degree-of-freedom parallel adjustment platform includes an upper platform, a lower platform, and six electric push rods connected between the upper and lower platforms. The dynamic correction command generated by the control module includes the extension and retraction length control signals of each of the six electric push rods. The drilling and coring mechanism can be translated in the X, Y, and Z axes and rotated around the three axes through differential extension and retraction.

[0012] As a further embodiment of the present invention, the control module is further provided with a safety protection logic unit. After the safety protection logic unit calculates the real-time verticality deviation in step S2, it immediately compares the real-time value with the preset verticality safety threshold. If the real-time value exceeds the verticality safety threshold for M consecutive sampling cycles, the control module immediately cuts off the power supply of the core drilling mechanism and issues a fault signal through an audible and visual alarm.

[0013] As a further embodiment of the present invention, the verticality safety threshold is set to 0.5%; the control module is configured to trigger a complete verticality deviation calculation and dynamic correction process from step S1 to step S3 every time the drilling depth reaches 0.5 meters during the drilling process.

[0014] A vehicle-mounted pile foundation core drilling and testing machine is applicable to a vehicle-mounted pile foundation core drilling and testing system. The core drilling mechanism includes a frame, a power head mounted on the frame, a drill rod inserted into the power head, and a drive device for driving the drill rod to rotate and feed. The core drilling mechanism is mounted on the vehicle chassis via the execution module. The execution module adjusts the attitude of the core drilling mechanism relative to the vehicle chassis according to the dynamic correction command to counteract the slight displacement of the vehicle chassis.

[0015] As a further embodiment of the present invention, the core drilling mechanism further includes a base, which is fixedly connected to the upper platform and the lower platform is fixedly connected to the vehicle chassis; the frame is fixed on the base, and the control module drives the upper platform to change its spatial posture relative to the lower platform by independently controlling the difference in the extension and retraction lengths of the six electric push rods, thereby realizing dynamic correction of the drill rod verticality.

[0016] The beneficial effects of this invention are as follows: When the system is working, an undisturbed absolute reference is first established through the calibration module. After drilling begins, the displacement detection module monitors the displacement of the vehicle body relative to this reference in real time. The control module purifies the monitoring signal, filtering out drilling vibration interference and extracting only the actual displacement of the vehicle body (such as settlement and tilt), and calculates the trend of drill rod verticality change accordingly. When the trend reaches a critical value, the system automatically triggers the execution module to perform reverse compensation, forming a closed-loop dynamic adjustment process of "monitoring-analysis-execution". By establishing an absolute reference, signal separation, and dynamic compensation, real-time and automatic correction of drill rod verticality deviation caused by vehicle body displacement is achieved during continuous operation of the vehicle-mounted drilling rig. This solves the industry problem that traditional vehicle-mounted drilling rigs cannot guarantee long-term high-precision verticality due to low-frequency interference such as foundation settlement and outrigger retraction, significantly improving the hole quality and core sample reliability of pile foundation core drilling. Attached Figure Description

[0017] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0018] Fig. 1 This is a flowchart of the control steps of the present invention; Fig. 2 This is a schematic diagram of the structure of the present invention; Reference numerals: 1. Vehicle chassis; 2. Base; 3. Lower platform; 4. Upper platform; 5. Electric push rod; 6. Drilling and core sampling mechanism. Detailed Implementation

[0019] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0020] like Figs. 1-2 As shown, the present invention provides a vehicle-mounted pile foundation core drilling and testing system, comprising a vehicle chassis 1, a support mechanism mounted on the vehicle chassis 1, and a core drilling and sampling mechanism 6, and further comprising: After the vehicle chassis 1 is supported and fixed to the ground by the support mechanism, the calibration module executes the initial zero-position calibration procedure to generate a static reference point for positioning. The displacement detection module, connected to the calibration module, is used to acquire the original displacement signal of the vehicle chassis 1 relative to the static reference point in real time at a preset sampling frequency. The control module is connected to both the core drilling mechanism 6 and the displacement detection module. The control module performs the following processing steps: Step S1: Receive the original displacement signal. Since the signal is a mixture of high-frequency vibration generated by the drilling rig and low-frequency displacement of the vehicle body itself, the control module separates the signal into high-frequency vibration components and low-frequency displacement components through frequency domain analysis. Step S2: Eliminate high-frequency vibration components and calculate the real-time perpendicularity deviation of the drill bit based only on low-frequency displacement components; Step S3: When the real-time verticality deviation exceeds the allowable threshold, generate a dynamic correction command that includes the correction direction and correction amount; The execution module, connected to the core drilling mechanism 6 and the control module, is used to respond to dynamic correction commands and drive the attitude adjustment mechanism of the core drilling mechanism 6 to compensate for the low-frequency displacement of the vehicle chassis 1.

[0021] The support mechanism is typically a hydraulic outrigger, which deploys before operation to securely support and lift the vehicle chassis 1 off the ground. At this time, the calibration module activates and executes the initial zero-position calibration procedure. This procedure aims to establish an absolute spatial reference point, i.e., a static reference point, unaffected by subsequent vehicle movement. This reference point can be a reference signal emitted by the calibration module itself or a fixed physical marker on the ground. The displacement detection module is connected to the calibration module, and its task is to continuously acquire the original displacement signal of the vehicle chassis 1 relative to this static reference point at a preset, high sampling frequency (e.g., 100Hz). The control module is the brain of the entire system, connected to both the core drilling mechanism 6 and the displacement detection module. The execution module is connected to both the core drilling mechanism 6 and the control module, and its function is to receive and execute dynamic correction commands. It drives the attitude adjustment mechanism on the core drilling mechanism 6 to perform precise movements, thereby compensating for the drill rod tilt caused by the low-frequency displacement of the vehicle chassis 1, ensuring that the drill rod always operates within the allowable verticality range.

[0022] When the system is in operation, it first establishes an undisturbed absolute reference through the calibration module. After drilling begins, the displacement detection module monitors the displacement of the vehicle body relative to this reference in real time. The control module purifies the monitoring signal, filtering out drilling vibration interference and extracting only the actual displacement of the vehicle body (such as settlement and tilt), and calculates the trend of the drill pipe verticality based on this. When the trend reaches a critical value, the system automatically triggers the execution module to perform reverse compensation, forming a closed-loop dynamic adjustment process of "monitoring-analysis-execution".

[0023] This system establishes an absolute benchmark, separates signals, and provides dynamic compensation to automatically and in real time correct drill rod verticality deviations caused by vehicle displacement during continuous operation of the vehicle-mounted drilling rig. It solves the industry problem of traditional vehicle-mounted drilling rigs being unable to guarantee long-term high-precision verticality due to low-frequency interference such as foundation settlement and outrigger retraction, significantly improving the hole quality and core sample reliability in pile foundation core drilling inspection.

[0024] As a further embodiment of the present invention, the displacement detection module also includes a triaxial accelerometer, which is rigidly mounted on the non-rotating mast of the core drilling mechanism 6. In step S1, the control module reads the vibration acceleration data of the triaxial accelerometer, calculates the instantaneous vibration displacement using a quadratic integration algorithm, and subtracts the instantaneous vibration displacement from the original displacement signal to obtain the corrected low-frequency displacement component.

[0025] When processing signals in step S1, the control module not only receives the original displacement signal but also reads the vibration acceleration data measured by the triaxial accelerometer. The control module performs a quadratic integration algorithm on this acceleration data to calculate the instantaneous vibration displacement caused by the drilling rig's vibration. Subsequently, at the software level, this calculated instantaneous vibration displacement is subtracted from the original displacement signal to obtain the corrected, purified low-frequency displacement component.

[0026] By directly measuring vibration using a triaxial accelerometer and performing real-time subtraction compensation through an algorithm, this method can more accurately separate high-frequency vibration components unrelated to the actual motion of the vehicle body compared to simply relying on frequency domain analysis. This is especially true when the vibration frequency is close to certain low-frequency modes of the vehicle body, effectively avoiding misjudgments and improving the accuracy of verticality deviation calculation. Mounting the sensor on a non-rotating mast ensures that the measured vibration accurately reflects attitude changes that affect the verticality of the drill pipe.

[0027] As a further embodiment of the present invention, the calibration module includes a laser emitter and a receiving target. The laser emitter is mounted on the main beam of the vehicle chassis 1 via a damping shock absorber connector and is located above the power head of the core drilling mechanism 6. The damping shock absorber connector includes a spring assembly and a hydraulic damping cylinder.

[0028] The calibration module includes a laser emitter and a receiving target. The laser emitter is mounted on the main beam of the vehicle chassis 1 via a specially designed damping and shock-absorbing connector, positioned above the power head of the drilling and coring mechanism 6 to ensure that the emitted laser beam is not obstructed. The damping and shock-absorbing connector is a composite structure, specifically including a spring assembly and a hydraulic damping cylinder. When the drilling rig generates strong vibrations, the spring assembly absorbs high-frequency vibration energy, while the hydraulic damping cylinder suppresses the rapid reciprocating motion of the connector. This design allows the laser emitter itself to be in a dynamically suspended and stable state relative to the vehicle chassis 1, greatly attenuating the impact of chassis vibration on the pointing stability of the laser beam. The laser beam emitted by the laser emitter illuminates the distant receiving target, forming an initial spot position, which is the static reference point. Any subsequent displacement of the vehicle body will cause the spot position on the receiving target to shift, and the displacement detection module obtains the original displacement signal by measuring this shift.

[0029] As a further aspect of the present invention, the control module adopts a sliding time window filtering strategy in step S1: the time window length is set to T, N displacement data points are collected in each time window, the maximum and minimum values ​​are removed, and the arithmetic mean of the remaining N-2 data points is calculated. The arithmetic mean is used as the effective displacement data at the current moment for verticality deviation calculation.

[0030] To more effectively remove random noise and spike interference from the original displacement signal, the control module employs a sliding time window filtering strategy in step S1. Specifically, the system sets a fixed time window length T (e.g., 0.5 seconds). Within each time window, N displacement data points are continuously collected. Then, the software algorithm automatically identifies the maximum and minimum values ​​among these N data points and discards them. Next, the arithmetic mean of the remaining N-2 data points is calculated. This calculated mean is used as the valid displacement data for the current moment and is used for subsequent verticality deviation calculations. As time progresses, the time window slides forward synchronously, continuously repeating this process.

[0031] By using the "removing the head and tail and taking the average" method, abnormal large pulse interference caused by accidental factors, such as small stones falling and hitting the sensor or instantaneous strong electromagnetic interference, can be eliminated very effectively. This makes the data entering the verticality calculation stage smoother and more accurate, improves the stability and anti-interference ability of the control system, and avoids false alarms or malfunctions caused by individual abnormal data points.

[0032] As a further aspect of the present invention, it also includes a ground-fixed reference target, which is independently fixed to the ground around the pile foundation by ground anchors and has no physical connection with the vehicle chassis 1. The displacement detection module includes a first laser ranging unit and a second laser ranging unit. The first laser ranging unit measures the distance between the vehicle chassis 1 and the reference point of the calibration module, and the second laser ranging unit measures the distance between the vehicle chassis 1 and the fixed reference target on the ground. The control module compares the data change trends of the first laser ranging unit and the second laser ranging unit. If the change trends of the two are consistent and are low-frequency changes, it is determined to be the actual displacement of the vehicle body; if only the data of the first laser ranging unit shows high-frequency fluctuations, it is determined to be drilling vibration interference.

[0033] The system includes an additional ground-fixed reference target. This target is independently and securely anchored to the ground around the pile foundation using anchors and other devices, and has no physical connection to the vehicle chassis 1; therefore, it represents an absolutely stationary reference point. Accordingly, the displacement detection module has been upgraded to include two independent laser ranging units: The first laser ranging unit is responsible for measuring the distance between the vehicle chassis 1 and the reference point established by the calibration module. This represents the change in the vehicle's attitude relative to its initial position.

[0034] The second laser ranging unit is responsible for measuring the distance between the vehicle chassis 1 and a fixed reference target on the ground. This represents the motion of the vehicle body relative to the absolute geodetic coordinate system.

[0035] After receiving data from the two ranging units, the control module will perform comparative analysis: If the data from both sources show the same trend and the frequency of change is low, then it can be determined that this is the actual displacement of the vehicle body.

[0036] If only the data from the first laser ranging unit experiences high-frequency fluctuations, while the data from the second unit remains stable, then these fluctuations can be identified as drilling vibration interference.

[0037] By introducing an absolute ground reference target and comparing dual-path ranging, the system can intelligently and deterministically distinguish between the vehicle's actual displacement and drilling vibration interference. This method overcomes the ambiguity that may exist when relying solely on frequency domain analysis (for example, when the vehicle experiences high-frequency shaking, it may be confused with vibration), providing the control module with a more reliable decision-making basis. This avoids activating the compensation mechanism unnecessarily, thereby improving the system's accuracy and energy efficiency.

[0038] As a further embodiment of the present invention, the execution module includes a six-degree-of-freedom parallel adjustment platform disposed between the base 2 of the core drilling mechanism 6 and the vehicle chassis 1; the six-degree-of-freedom parallel adjustment platform includes an upper platform 4, a lower platform 3 and six electric push rods 5 connected between the upper and lower platforms 3, and the dynamic correction command generated by the control module includes the extension and retraction length control signals of each of the six electric push rods 5, so as to realize the translation of the core drilling mechanism 6 in the X, Y and Z axes and the rotation around the three axes through differential extension and retraction.

[0039] The core of the execution module is a six-degree-of-freedom parallel adjustment platform located between the base 2 of the core drilling mechanism 6 and the vehicle chassis 1. This platform specifically includes an upper platform 4, a lower platform 3, and six electric actuators 5 connecting the upper and lower platforms 3. The upper platform 4 is fixedly connected to the base 2 of the core drilling mechanism 6, and the lower platform 3 is fixedly connected to the vehicle chassis 1. Each electric actuator 5 is equipped with a servo motor and a precision sensor, enabling high-precision telescopic control. When the control module generates a dynamic correction command, this command is interpreted as the target telescopic length for each of the six electric actuators 5. Through the differential telescopic movement of the six actuators, the upper platform 4 can be driven relative to the lower platform 3 to perform micron-level fine movements in six degrees of freedom in space (translation along the X, Y, and Z axes, and rotation around these axes).

[0040] Employing a six-degree-of-freedom parallel adjustment platform as the actuator offers advantages such as high rigidity, strong load-bearing capacity, high positioning accuracy, and fast dynamic response. It can precisely compensate for the tilt and translation of the core drilling mechanism 6 in any direction caused by vehicle displacement, achieving comprehensive and high-precision correction of the drill rod's verticality. Compared to traditional series adjustment mechanisms, the parallel structure eliminates error accumulation, making it more suitable for heavy-duty, high-precision applications.

[0041] As a further embodiment of the present invention, the control module is also provided with a safety protection logic unit. After the safety protection logic unit calculates the real-time verticality deviation in step S2, it immediately compares the real-time value with the preset verticality safety threshold. If the real-time value exceeds the verticality safety threshold for M consecutive sampling cycles, the control module immediately cuts off the power supply of the drilling and coring mechanism 6 and issues a fault signal through an audible and visual alarm.

[0042] After calculating the real-time verticality deviation in step S2, the safety protection logic unit immediately compares it with a preset, more stringent "verticality safety threshold." This safety threshold can be understood as a "warning line," which is more lenient than the "allowable threshold" triggered by dynamic correction in step S3, and serves as the last line of defense to prevent serious accidents from occurring in the drilling rig. If the value of the real-time verticality deviation exceeds this verticality safety threshold for M consecutive sampling cycles, the logic unit determines it as a serious fault. At this time, the control module will immediately execute an emergency operation: cut off the power supply to the core drilling mechanism 6, stop the drill rod from rotating and feeding, and simultaneously issue a strong fault signal through the audible and visual alarm to remind the operator to intervene.

[0043] This safety protection logic unit adds a reliable safety barrier to the entire system. In extreme situations such as sudden foundation collapse or outrigger breakage, which cause the vehicle displacement to far exceed the adjustment capacity of the dynamic compensation system, it can promptly trigger an emergency shutdown, effectively preventing major equipment accidents and personal safety accidents such as drill pipe twisting, breakage, or even drill rig overturning.

[0044] As a further embodiment of the present invention, the verticality safety threshold is set to 0.5%; the control module is configured to trigger a complete verticality deviation calculation and dynamic correction process from step S1 to step S3 every time the drilling depth reaches 0.5 meters during the drilling process.

[0045] In this embodiment, the verticality safety threshold is specifically set to 0.5%. This means that when the drill pipe inclination reaches or exceeds 0.5%, if the duration is too long (e.g., multiple consecutive sampling cycles), the safety protection logic unit will be triggered. Simultaneously, to improve control efficiency and targeting, the control module is configured to operate in a "depth-triggered" mode. During normal drilling, complex dynamic correction calculations are not performed constantly; instead, whenever the drilling depth increases by 0.5 meters, the system automatically triggers a complete closed-loop control process from step S1 to step S3: performing a comprehensive verticality deviation calculation and executing a dynamic correction as needed.

[0046] Setting the safety threshold to 0.5% meets the limit requirements for verticality deviation in most pile foundation testing specifications, and has practical engineering significance. Adopting a "depth-triggered" dynamic correction mode is an optimized strategy that balances control accuracy and system efficiency. It avoids the energy consumption and wear caused by continuous high-frequency operation of the control system, while ensuring effective calibration of the drill rod's verticality at key depth nodes, making it very suitable for actual operating conditions involving layered drilling and intermittent measurement.

[0047] The core drilling mechanism 6 includes a frame, a power head mounted on the frame, a drill rod inserted into the power head, and a drive device for driving the drill rod to rotate and feed. A vehicle-mounted pile foundation core drilling and testing machine is applicable to a vehicle-mounted pile foundation core drilling and testing system. The core drilling mechanism 6 is installed on the vehicle chassis via an execution module. The execution module adjusts the attitude of the core drilling mechanism 6 relative to the vehicle chassis according to dynamic correction commands to counteract the slight displacement of the vehicle chassis.

[0048] The drilling and coring mechanism 6 also includes a base 2, which is fixedly connected to the upper platform 4 and the lower platform 3 is fixedly connected to the vehicle chassis. The frame is fixed on the base 2. The control module drives the upper platform 4 to change its spatial posture relative to the lower platform 3 by independently controlling the difference in the extension and retraction lengths of the six electric push rods 5, thereby realizing the dynamic correction of the drill rod verticality.

[0049] The core drilling mechanism 6 mainly consists of a column-type frame, a power head slidably mounted along the frame guide rail, a drill rod passing through the power head, and a hydraulic or electric drive device for driving the power head to rotate and feed. Crucially, the core drilling mechanism 6 is not directly welded or bolted to the vehicle chassis beam, but rather installed on the vehicle chassis via the execution module of the vehicle-mounted pile foundation core drilling and testing system as an intermediate connecting component.

[0050] The platform comprises a lower platform 3, an upper platform 4, and six electric actuators 5. The lower platform 3 is directly fixed to the main beam of the vehicle chassis using high-strength bolts. The upper platform 4 is fixedly connected to the base 2 of the core drilling mechanism 6. The frame is rigidly mounted on the base 2 of the core drilling mechanism 6. The six electric actuators 5 are evenly distributed between the upper platform 4 and the lower platform 3, with ball joints at both ends to eliminate lateral forces. The control module is electrically connected to the servo drivers of the six electric actuators 5.

[0051] In operation, the vehicle support mechanism first lifts the vehicle body off the ground. After drilling begins, the displacement detection module monitors the vehicle body's displacement relative to the reference point in real time. After receiving the signal, the control module performs frequency domain analysis, filters out high-frequency vibration noise generated by the drill bit, and extracts low-frequency displacement signals of vehicle body settlement or slippage. Once the calculated verticality deviation exceeds the threshold, the control module sends a dynamic correction command to the execution module. The execution module then moves, causing the entire drilling and core sampling mechanism 6 to make slight attitude adjustments relative to the vehicle chassis, thereby physically counteracting the effects of vehicle body displacement and maintaining the verticality of the drill rod relative to the ground. When the control module calculates the verticality deviation that needs to be corrected based on the filtered displacement data, it calculates the required extension and retraction of each of the six electric push rods 5 using an inverse kinematics algorithm. For example, if a tilt correction is needed in the northeast direction, the push rod in the southwest direction extends, the push rod in the northeast direction shortens, and the remaining push rods make fine adjustments accordingly. The differential extension and retraction of the six push rods drives the upper platform 4 to change its spatial attitude relative to the lower platform 3. Because the six-degree-of-freedom platform has extremely high stiffness and resolution, it can achieve micron-level attitude adjustment, thereby accurately pulling the drill pipe verticality back to within 0.5% of the error range.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A vehicle-mounted pile foundation core drilling and testing system, characterized in that: The system includes a vehicle chassis, a support mechanism mounted on the vehicle chassis, and a core drilling mechanism, and further includes: The calibration module, after the support mechanism supports and fixes the vehicle chassis to the ground, executes the initial zero-position calibration procedure to generate a static reference point for positioning; The displacement detection module is connected to the calibration module and is used to acquire the original displacement signal of the vehicle chassis relative to the static reference point in real time at a preset sampling frequency. The control module is connected to both the core drilling mechanism and the displacement detection module, and performs the following processing steps: Step S1: Receive the original displacement signal and separate the signal into high-frequency vibration components and low-frequency displacement components through frequency domain analysis; Step S2: Remove the high-frequency vibration component and calculate the real-time verticality deviation of the drill bit based only on the low-frequency displacement component; Step S3: When the real-time verticality deviation exceeds the allowable threshold, a dynamic correction instruction containing the correction direction and correction amount is generated; The execution module, connected to the core drilling mechanism and the control module, is used to respond to the dynamic correction command and drive the attitude adjustment mechanism of the core drilling mechanism to compensate for the low-frequency displacement of the vehicle chassis.

2. The vehicle-mounted pile foundation core drilling and testing system according to claim 1, characterized in that: The displacement detection module also includes a triaxial accelerometer, which is rigidly mounted on the non-rotating mast of the core drilling mechanism. In step S1, the control module reads the vibration acceleration data of the triaxial accelerometer, calculates the instantaneous vibration displacement using a quadratic integration algorithm, and subtracts the instantaneous vibration displacement from the original displacement signal to obtain the corrected low-frequency displacement component.

3. The vehicle-mounted pile foundation core drilling and testing system according to claim 1, characterized in that: The calibration module includes a laser emitter and a receiving target. The laser emitter is mounted on the main beam of the vehicle chassis via a damping shock absorber connector and is located above the power head of the core drilling mechanism. The damping shock absorber connector includes a spring assembly and a hydraulic damping cylinder.

4. The vehicle-mounted pile foundation core drilling and testing system according to claim 1, characterized in that: In step S1, the control module adopts a sliding time window filtering strategy: the time window length is set to T, N displacement data points are collected in each time window, the maximum and minimum values ​​are removed, and the arithmetic mean of the remaining N-2 data points is calculated. This arithmetic mean is used as the effective displacement data at the current moment for verticality deviation calculation.

5. The vehicle-mounted pile foundation core drilling and testing system according to claim 1, characterized in that: It also includes a ground-fixed reference target, which is independently fixed to the ground around the pile foundation by ground anchors and has no physical connection with the vehicle chassis; The displacement detection module includes a first laser ranging unit and a second laser ranging unit. The first laser ranging unit measures the distance between the vehicle chassis and the reference point of the calibration module, and the second laser ranging unit measures the distance between the vehicle chassis and the fixed reference target on the ground. The control module compares the data change trends of the first laser ranging unit and the second laser ranging unit. If the change trends of the two are consistent and are low-frequency changes, it is determined to be the actual displacement of the vehicle body; if only the data of the first laser ranging unit shows high-frequency fluctuations, it is determined to be drilling vibration interference.

6. The vehicle-mounted pile foundation core drilling and testing system according to claim 1, characterized in that: The execution module includes a six-degree-of-freedom parallel adjustment platform disposed between the base of the core drilling mechanism and the vehicle chassis; The six-degree-of-freedom parallel adjustment platform includes an upper platform, a lower platform, and six electric push rods connected between the upper and lower platforms. The dynamic correction command generated by the control module includes the extension and retraction length control signals of each of the six electric push rods. The drilling and coring mechanism can be translated in the X, Y, and Z axes and rotated around the three axes through differential extension and retraction.

7. A vehicle-mounted pile foundation core drilling and testing system according to claim 6, characterized in that: The control module is also equipped with a safety protection logic unit. After calculating the real-time verticality deviation in step S2, the safety protection logic unit immediately compares its real-time value with the preset verticality safety threshold. If the real-time value exceeds the verticality safety threshold for M consecutive sampling cycles, the control module immediately cuts off the power supply of the core drilling mechanism and issues a fault signal through an audible and visual alarm.

8. The vehicle-mounted pile foundation core drilling and testing system according to claim 7, characterized in that: The verticality safety threshold is set to 0.5%; the control module is configured to trigger a complete verticality deviation calculation and dynamic correction process from step S1 to step S3 every time the drilling depth reaches 0.5 meters during the drilling process.

9. A vehicle-mounted pile foundation core drilling and testing machine, applicable to the vehicle-mounted pile foundation core drilling and testing system as described in any one of claims 1-8, characterized in that: The core drilling mechanism includes a frame, a power head mounted on the frame, a drill rod inserted into the power head, and a drive device for driving the drill rod to rotate and feed. The core drilling mechanism is mounted on the vehicle chassis via the execution module. The execution module adjusts the posture of the core drilling mechanism relative to the vehicle chassis according to the dynamic correction command to counteract the slight displacement of the vehicle chassis.

10. A vehicle-mounted pile foundation core drilling and testing machine according to claim 9, characterized in that: The core drilling mechanism also includes a base, which is fixedly connected to the upper platform and the lower platform is fixedly connected to the vehicle chassis. The frame is fixed on the base, and the control module drives the upper platform to change its spatial posture relative to the lower platform by independently controlling the difference in the extension and retraction lengths of the six electric push rods, thereby realizing the dynamic correction of the drill rod verticality.

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