A pile foundation measurement acceptance device and method based on Beidou positioning and laser ranging

Abstract

The application provides a pile foundation measurement and acceptance device and method based on Beidou positioning and laser ranging, and belongs to the technical field of engineering measurement. The device aims to solve the problems of low efficiency, poor precision and complicated operation of traditional pile foundation measurement. The device comprises a positioning measurement unit, a mechanical adjustment mechanism, a control processing unit and a data output unit; the positioning measurement unit integrates a high-precision Beidou satellite positioning module, a laser ranging module and an inertial measurement unit; the mechanical adjustment mechanism realizes stable fixation of the device and adjustment of the measurement height through a semicircular clamp; the control processing unit executes a reference pile calibration algorithm, pile spacing calculation and perpendicularity determination; and the data output unit automatically marks unqualified pile positions and exports an Excel format acceptance report. Through the steps of coordinate import, reference calibration, navigation measurement, data calculation, qualification determination and report export, integrated and automatic measurement of the pile foundation position, spacing and perpendicularity is realized.

Description

Technical Field

[0001] This invention belongs to the field of engineering surveying technology, and in particular relates to a pile foundation measurement and acceptance device and method based on Beidou positioning and laser ranging. Background Technology

[0002] In the foundation construction of photovoltaic power plants, wind farms, and large buildings, the positioning accuracy, spacing, and verticality of precast pipe piles or cast-in-place piles are key indicators that directly affect the installation quality of the superstructure and the safety of the project. Traditional surveying methods mainly rely on equipment such as total stations and GPS-RTK, which have the following drawbacks:

[0003] 1. The instrument needs to be set up multiple times, which is cumbersome and inefficient. 2. Measurement data recording relies on manual labor, which is prone to errors and makes it difficult to directly generate acceptance documents; 3. Measuring pile spacing and verticality often requires combining multiple instruments, which is a complex process and results in significant data errors. 4. It is greatly affected by environmental factors (such as interference from the ionosphere and troposphere), making it difficult to guarantee accuracy.

[0004] Existing technology presents a pile driving recorder based on laser ranging, but it focuses on monitoring the penetration during the pile driving process and cannot solve the needs of integrated acceptance of pile foundation layout, coordinate verification, spacing and verticality.

[0005] Therefore, there is an urgent need for a specialized device that is highly integrated and automated, capable of measuring and recording data on pile position deviation, pile spacing, and pile verticality in one go. Summary of the Invention

[0006] Purpose of the invention: To propose a pile foundation measurement and acceptance device and method based on Beidou positioning and laser ranging, which solves the technical problems of traditional pile foundation measurement, which requires multiple devices, is cumbersome to operate, has low efficiency, is greatly affected by environmental interference, and is prone to errors in manual recording and data integration, and cannot integrate the measurement of pile position coordinates, pile spacing and pile verticality and the automated digital acceptance.

[0007] The first objective of this invention is to provide a pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging, comprising: The positioning and measurement unit integrates a high-precision satellite positioning module, a laser ranging module, and an inertial measurement unit. The high-precision satellite positioning module connects to an existing satellite navigation system to collect the latitude and longitude coordinates of the pile position. The laser ranging module assists in calibrating the measurement data of the high-precision satellite positioning module, and the inertial measurement unit senses the tilt state of the pile. A mechanical adjustment mechanism is used to securely fix the positioning and measuring unit to the pile body and adjust its measuring height; the mechanical adjustment mechanism includes a telescopic rod and a semi-circular clamp, the positioning and measuring unit is installed on the top of the telescopic rod, and the inner wall shape of the semi-circular clamp matches the outer wall of the pile body being measured; The control and processing unit has a built-in processor and memory; The data output unit outputs the pile location measurement results, pile spacing data, pile verticality data, and marks unqualified pile location information.

[0008] As a preferred embodiment, the control processing unit further includes an operation panel and a display screen. The operation panel imports the coordinate data of the pile location design drawings and inputs a specific pile number. The display screen displays the deviation direction and distance between the current target pile location and the measured pile location, the pile spacing calculation result, and the pile verticality judgment result.

[0009] As a preferred embodiment, the high-precision satellite positioning module integrates an error compensation model to compensate for measurement errors caused by ionospheric delay, tropospheric refraction, and multipath effects; The solution formula for the error compensation model is: P = P0 + ΔI + ΔT + ΔM, where P is the compensated positioning coordinate, P0 is the original positioning coordinate, ΔI is the ionospheric delay correction, ΔT is the tropospheric refraction correction, and ΔM is the multipath effect correction.

[0010] As a preferred embodiment, the control processing unit executes the following pile position calibration algorithm: Import the design coordinates of all pile locations and automatically assign a unique identification number to each pile location; The control positioning measurement unit measures the actual coordinates of the benchmark pile position with known coordinates; Based on the deviation between the design coordinates and the actual coordinates of the benchmark pile position, and combined with the design spacing and relative positional relationship between other pile positions and the benchmark pile position, the theoretical coordinates of other pile positions are dynamically adjusted. Based on the adjusted theoretical coordinate sequence of pile positions, a pile-by-pile measurement navigation command is generated.

[0011] As a preferred embodiment, the control processing unit is further provided with a wall thickness parameter input interface for inputting the wall thickness parameter of the pipe pile; The processor automatically calculates and outputs the actual distance between the center points of the two piles based on the surface distance between the two piles measured by the laser ranging module and the input pipe pile wall thickness parameters. The calculation formula is: D=D_surface-(d1+d2); where D is the actual distance between the center points of the two piles, D_surface is the surface distance between the two piles measured by the laser ranging module, d1 is the pipe pile wall thickness of the first pile, and d2 is the pipe pile wall thickness of the second pile.

[0012] As a preferred embodiment, the inertial measurement unit measures the tilt angle of the pile body in different directions. The processor combines the spacing data of the same pile pair measured at different heights by the laser ranging module with the tilt angle data of the inertial measurement unit to comprehensively determine whether the verticality of the pile body is qualified. The formula for the processor to calculate the verticality deviation rate of the pile is: η=tanθ×100%, where η is the verticality deviation rate and θ is the maximum tilt angle of the pile measured by the inertial measurement unit. When η ≤ preset percentage threshold, the verticality of the pile is deemed acceptable; when η > preset percentage threshold, the verticality is deemed abnormal, and the display screen will prompt for repeated measurements at multiple heights.

[0013] As a preferred embodiment, the data output unit automatically marks the identification number, measured data, design data, out-of-tolerance value and the reason for the out-of-tolerance of the unqualified pile position, and exports it as a structured spreadsheet file.

[0014] Another objective of this invention is to provide a measurement method for a pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging, comprising the following steps: S1: Import the coordinate data from the pile location design drawings into the memory through the operation panel of the control processing unit; S2: The semi-circular clamp of the mechanical adjustment mechanism is clamped and locked to the reference pile body, so that the positioning measurement unit is at the preset measurement height. The positioning measurement unit is started to measure the actual coordinates of the reference pile position. The control processing unit completes the system coordinate calibration based on the pile position calibration algorithm. S3: According to the navigation instructions displayed on the control processing unit screen, move the device to each target pile position in sequence and fix it, or jump to the designated pile position by entering the target pile number through the operation panel, and start the positioning measurement unit to collect the actual coordinates of each target pile position; S4: For pile pairs requiring spacing measurement, after fixing the devices on both piles, the laser ranging module is activated to perform n measurements. The control processing unit uses the formula D surface mean = (D1 + D2 + ... + D n ) / n, calculate the average surface distance, and combine it with the theoretical distance D calculated from the actual coordinates of the two piles. Then, correct the surface distance using the formula D surface correction = D surface average + (D theory - D surface average) × 0.8. Finally, based on the input pipe pile wall thickness parameters, calculate the actual distance between the center points of the two piles using the formula D = D surface correction - (d1 + d2). S5: During the measurement process at each pile location, the inertial measurement unit is activated to collect the pile inclination angle θ, and the control processing unit calculates the pile verticality deviation rate η = tanθ × 100%; S6: The control processing unit compares the measured pile position coordinates, pile spacing, and pile verticality with the corresponding design values. When the pile position coordinate deviation is ≤ the first preset threshold, the pile spacing deviation is ≤ the second preset threshold, and the verticality deviation rate is ≤ the preset percentage threshold, it is judged as qualified; otherwise, it is marked as an unqualified measurement item. S7: Export a pile location measurement and acceptance report containing qualified items, unqualified items, and reasons for unqualified items through the data output unit.

[0015] As a preferred option, the coordinate data of the pile location design drawings imported in step S1 must meet the predetermined plane coordinate system accuracy; the measurement environment of the laser ranging module in step S4 must meet the predetermined visibility and no strong electromagnetic interference; the judgment criteria in step S6 can be adjusted according to project requirements by adjusting the threshold values ​​of pile location coordinate deviation, pile spacing deviation, and verticality deviation rate through the operation panel in the control processing unit.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention integrates three core functions: Beidou positioning, laser ranging, and inertial measurement. A single device can complete the measurement of pile coordinates, calculation of pile spacing, and determination of pile verticality without the need for additional equipment such as total stations and laser rulers, thus reducing equipment procurement costs and the number of on-site operators, and lowering the manpower and material resources required in the engineering surveying process.

[0017] On the one hand, the BeiDou positioning module integrates an error compensation model to effectively offset interference from the ionosphere, troposphere, and multipath effects. On the other hand, through the benchmark pile calibration algorithm, the theoretical coordinates of other pile positions are dynamically adjusted based on the deviation of the known coordinate benchmark pile, eliminating the overall system error and fully meeting the high-precision requirements of photovoltaic power stations, building engineering, and other projects for pile foundation measurement.

[0018] The control and processing unit has a visual navigation function, which supports measurement by station number sequence or direct input of station number for skipping measurement. The display screen uses arrows and numbers to indicate the deviation between the current position and the target station in real time, avoiding the time-consuming manual station search.

[0019] The system automatically receives positioning, distance measurement, and tilt data, calculates pile spacing and verticality using a preset algorithm, and automatically compares them with the design values ​​to determine the pass / fail status without manual intervention. Finally, it can export an acceptance report in Excel format, automatically count the number of qualified piles, pass rate, and reasons for deviations, avoiding errors from manual recording and meeting the needs of digital archiving and acceptance of projects. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the mechanical adjustment mechanism in this invention.

[0021] Figure 2 This is a schematic diagram of the device composition of the pile foundation measurement device based on Beidou positioning and laser ranging in this invention.

[0022] Figure 3 This is a flowchart illustrating the pile location calibration algorithm in this invention.

[0023] Figure 4 This is a flowchart illustrating the measurement method of the pile foundation measurement device based on BeiDou positioning and laser ranging in this invention.

[0024] The meanings of the labels in the attached figures are as follows: 1. Telescopic rod; 2. Semi-circular clamp; 3. Positioning and measuring unit. Detailed Implementation

[0025] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0026] The following is in conjunction with the appendix Figures 1 to 4 The specific embodiments of the present invention will be described in detail below. These embodiments are only used to explain the present invention and are not intended to limit the scope of protection of the present invention.

[0027] This invention proposes a specialized device capable of simultaneously measuring and recording pile position deviation, pile spacing, and pile verticality. The device comprises: Positioning measurement unit 3 integrates a high-precision satellite positioning module, a laser ranging module, and an inertial measurement unit. The high-precision satellite positioning module uses the BeiDou satellite navigation system to collect the latitude and longitude coordinates of the pile position. The laser ranging module is used to assist in calibrating the measurement data of the high-precision satellite positioning module, with a single ranging accuracy of ≤2mm. The inertial measurement unit is used to sense the tilt state of the pile body, with a tilt angle measurement accuracy of ≤0.1°. The mechanical adjustment mechanism securely fixes the positioning and measuring unit 3 to the pile body and adjusts its measuring height. The mechanical adjustment mechanism includes a telescopic rod 1 and a semi-circular clamp 2. The positioning and measuring unit 3 is installed on the top of the telescopic rod 1, and the inner wall shape of the semi-circular clamp 2 matches the outer wall of the pile body being measured. The control and processing unit has a built-in processor and memory. The memory is used to store the pile location design coordinates, and the processor is used to execute the pile location calibration algorithm, control the positioning and measurement process of the positioning and measurement unit 3, and process the coordinate data of the high-precision satellite positioning module, the ranging data of the laser ranging module, and the tilt data of the inertial measurement unit. The data output unit is used to output the pile location measurement results, pile spacing data, pile verticality data, and mark the information of unqualified pile locations.

[0028] Preferably, the control processing unit further includes an operation panel and a display screen. The operation panel is used to import coordinate data from the pile location design drawings and input specific pile numbers. The display screen is used to display the deviation direction and distance between the current target pile location and the measured pile location, the pile spacing calculation results, and the pile verticality judgment results.

[0029] Preferably, the positioning algorithm of the high-precision satellite positioning module integrates an error compensation model. The error compensation model is used to compensate for measurement errors caused by ionospheric delay, tropospheric refraction, and multipath effects. The horizontal positioning accuracy of the module is ≤5cm, and the vertical positioning accuracy is ≤10cm. The solution formula of the error compensation model is: P=P0+ΔI+ΔT+ΔM, where P is the compensated positioning coordinate, P0 is the original positioning coordinate, ΔI is the ionospheric delay correction amount (range -15cm to +15cm), ΔT is the tropospheric refraction correction amount (range -10cm to +10cm), and ΔM is the multipath effect correction amount (range -5cm to +5cm).

[0030] Preferably, the pile position calibration algorithm executed by the control processing unit includes the following steps: S01: Import the design coordinates of all pile locations and automatically assign a unique identification number to each pile location; S02: Control positioning measurement unit 3 to measure the actual coordinates of a reference pile with known coordinates (measurement times ≥ 2 times, take the average value as the final actual coordinates); S03: Based on the deviation between the design coordinates and the actual coordinates of the benchmark pile position, and combined with the design spacing and relative positional relationship between other pile positions and the benchmark pile position, dynamically adjust the theoretical coordinates of other pile positions. S04: Based on the adjusted theoretical coordinate sequence of pile positions, generate pile-by-pile measurement navigation instructions (navigation guidance accuracy ≤ 3cm).

[0031] Preferably, the control processing unit is further provided with a wall thickness parameter input interface for inputting the pipe pile wall thickness parameter (input accuracy ≤ 1mm); the processor automatically calculates and outputs the actual distance between the center points of the two piles based on the surface distance between the two piles measured by the laser ranging module and the input pipe pile wall thickness parameter. The calculation formula is: D = D surface - (d1 + d2), where D is the actual distance between the center points of the two piles, D surface is the surface distance between the two piles measured by the laser ranging module, d1 is the pipe pile wall thickness of the first pile, and d2 is the pipe pile wall thickness of the second pile.

[0032] Preferably, the inertial measurement unit is used to measure the tilt angle of the pile body in different directions. The processor combines the spacing data of the same pile pair measured by the laser ranging module at different heights (height difference ≥ 30cm) with the tilt angle data of the inertial measurement unit to comprehensively determine whether the verticality of the pile body is qualified. The formula for calculating the verticality deviation rate of the pile body by the processor is: η = tanθ × 100%, where η is the verticality deviation rate and θ is the maximum tilt angle of the pile body measured by the inertial measurement unit. When η ≤ 0.3%, the verticality of the pile body is determined to be qualified. When η > 0.3%, the verticality is determined to be abnormal, and the display screen prompts for repeated measurement at multiple heights.

[0033] Preferably, the data output unit can automatically mark the identification number, measured data, design data, out-of-tolerance value (out-of-tolerance calculation accuracy ≤ 0.1mm) and the reason for the out-of-tolerance of the unqualified pile position, and export it as a structured spreadsheet file, wherein the structured spreadsheet file is in Excel format.

[0034] Another technical problem to be solved by this invention is to provide a measurement method for a pile foundation measurement device based on BeiDou positioning and laser ranging, comprising the following steps: S1: Import the coordinate data (CAD format file) from the pile location design drawings into the memory through the operation panel of the control processing unit; S2: The semi-circular clamp 2 of the mechanical adjustment mechanism is clamped and locked to the reference pile body, so that the positioning measurement unit 3 is at the preset measurement height. The positioning measurement unit 3 is started to measure the actual coordinates of the reference pile position. The control processing unit completes the system coordinate calibration based on the pile position calibration algorithm. S3: According to the navigation instructions displayed on the control processing unit screen, move the device to each target pile position in sequence and fix it, or jump to the designated pile position by entering the target pile number through the operation panel, and start the positioning measurement unit 3 to collect the actual coordinates of each target pile position; S4: For pile pairs requiring spacing measurement, after fixing the devices on both piles, activate the laser ranging module to perform 3-5 measurements. The control processing unit uses the formula D surface mean = (D1 + D2 + ... + D n The average surface distance is calculated by 3 ≤ n ≤ 5, and the theoretical distance D is calculated by combining the actual coordinates of the two piles. The surface distance is corrected by the formula D surface correction = D surface average + (D theory - D surface average) × 0.8. Then, based on the input pipe pile wall thickness parameters, the actual distance between the center points of the two piles is calculated by the formula D = D surface correction - (d1 + d2). S5: During the measurement process at each pile location, the inertial measurement unit is activated to collect the pile tilt angle data (collection frequency ≥ 1Hz), and the control processing unit calculates the pile verticality based on the formula η=tanθ×100%. S6: The control processing unit compares the measured pile position coordinates, pile spacing, and pile verticality with the corresponding design values. When the pile position coordinate deviation is ≤10cm, the pile spacing deviation is ≤5cm, and the verticality deviation rate is ≤0.3%, it is judged as qualified; otherwise, it is marked as an unqualified measurement item. S7: Export a pile location measurement and acceptance report (Excel format) containing qualified items, unqualified items, and reasons for unqualified items through the data output unit.

[0035] Preferably, the coordinate data of the pile location design drawings imported in step S1 must meet the requirement that the plane coordinate system accuracy is ≤1cm; the measurement environment of the laser ranging module in step S4 must meet the requirement that the visibility is ≥50m and there is no strong electromagnetic interference; the judgment criteria in step S6 can be adjusted according to project requirements, and the threshold values ​​of pile location coordinate deviation (adjustment range 5cm-20cm), pile spacing deviation (adjustment range 3cm-10cm), and verticality deviation rate (adjustment range 0.2%-0.5%) can be adjusted through the operation panel in the control processing unit.

[0036] In this embodiment, the specifications of each core component must meet the requirements of measurement accuracy and compatibility, as detailed below: Positioning and Measurement Unit 3: The integrated high-precision Beidou satellite positioning module has a planar positioning accuracy of ≤5cm and an elevation positioning accuracy of ≤10cm; the laser ranging module adopts a TOF laser sensor with a single ranging accuracy of ≤2mm and a measurement range of 0.5m-100m; the inertial measurement unit (IMU) has a tilt angle measurement accuracy of ≤0.1° and an acquisition frequency of ≥1Hz.

[0037] Mechanical adjustment mechanism: includes telescopic rod 1 and semi-circular clamp 2, positioning and measuring unit 3 is installed on top of telescopic rod 1, and the inner wall shape of semi-circular clamp 2 matches the outer wall of the pile being measured.

[0038] Control and processing unit: It adopts an STM32H743 processor with a memory capacity of 16GB. The operation panel is a 5-key membrane keypad (including "Import", "Calibration", "Measurement", "Skip Test" and "Export" keys). The display screen is a 7-inch TFT LCD screen (resolution 1024×600, supports touch operation, deviation display accuracy ≤1mm).

[0039] Data output unit: Supports USB 3.0 interface and WiFi transmission, can export pile location check table in Excel format, and the calculation accuracy of out-of-tolerance values ​​is ≤0.1mm.

[0040] Device assembly steps: The positioning measurement unit 3 is connected to the mechanical mechanism by fixing the positioning measurement unit 3 in a predetermined position. During the installation process, the horizontal reference of the positioning measurement unit 3 is calibrated with a level to ensure that it is parallel to the reference horizontal plane of the semi-circular clamp 2. The positioning measurement unit 3 is connected to the control processing unit through an aviation cable (RS485 protocol). The cable length is reserved at 1.5m to avoid affecting the height adjustment of the mechanical adjustment mechanism.

[0041] Connect the control processing unit and data output unit to a 12V DC power supply and start the control processing unit. Import the pile location design CAD file using the "Import" button on the operation panel. The display screen should show a "File import successful" message. Test the data output unit by connecting it to a computer via USB interface. Confirm that a blank Excel format pile location check sheet can be exported normally. The sheet contains fields such as "Pile Number", "Design Coordinates (X / Y / Z)", "Measured Coordinates (X / Y / Z)", "Pile Spacing (Design / Measured)", "Verticality Deviation Rate", "Qualified Status", and "Reason for Exceeding Tolerance".

[0042] Taking a 20MW photovoltaic power station pile foundation acceptance project as an example (this project uses precast pipe piles with a pile diameter of 500mm, a pile wall thickness of d1=d2=100mm, a designed pile spacing of 5m, an allowable pile position coordinate deviation of ≤10cm, and an allowable verticality deviation rate of ≤0.3%), the specific steps are as follows: Step S1: Design coordinate import and initialization: The system imports the CAD file of the photovoltaic power station's pile location design via the USB interface of the control processing unit. The file contains unique numbers for 1200 piles (e.g., P1-P1200) and corresponding design coordinates (e.g., P1: X=32568.23m, Y=118956.45m, Z=25.68m). The system automatically completes the coordinate format conversion (converting the CAD coordinate system to the BeiDou latitude and longitude coordinate system), and the display shows "Initialization complete, benchmark piles to be calibrated".

[0043] Step S2: Calibration of benchmark piles: Select a reference pile with known design coordinates (e.g., P100, design coordinates X=32600.15m, Y=118980.32m, Z=25.72m), and clamp the semi-circular clamp 2 of the mechanical adjustment mechanism onto the P100 pile body (at a height of about 2 / 3 of the total pile height, i.e., 1.8m).

[0044] The levelness of the positioning measurement unit 3 was checked using a level.

[0045] Activate the "Calibration" function: Press the "Calibration" button on the control processing unit. The positioning measurement unit will continuously measure the actual coordinates of the P100 pile position twice (with an interval of 10 seconds). The measured coordinates are (32600.12m, 118980.35m, 25.70m) and (32600.13m, 118980.34m, 25.71m), respectively. The system will automatically take the average value (32600.125m, 118980.345m, 25.705m) as the final actual coordinates.

[0046] Dynamic adjustment of theoretical coordinates: The system calculates the deviation between the design coordinates and actual coordinates of pile P100 (ΔX=-0.025m, ΔY=0.025m, ΔZ=-0.015m), and based on this deviation and the design spacing (5m) and relative position relationship between other pile positions (such as P101-P105) and P100, it dynamically adjusts the theoretical coordinates of P101-P105 (e.g., the original design X=32605.15m of P101 is adjusted to 32605.125m). After the system calibration is completed, the display screen shows "Benchmark pile calibration completed, navigation accuracy ≤3cm".

[0047] Step S3: Target pile location navigation and coordinate measurement: Sequential Measurement: The system generates navigation instructions in the order of station numbers P1-P1200 by default. The left side of the display shows the current target station number (such as P1), design coordinates and adjusted theoretical coordinates. The right side shows the deviation between the current position and the target station in the form of arrows and numbers (such as "→5.2m" means that it needs to move 5.2m to the right). The surveyor moves the device to the P1 station according to the navigation prompts.

[0048] Skip measurement operation: If you need to prioritize measuring a specific stake (such as P500), enter "500" through the "Skip Measurement" key on the operation panel. The system will immediately switch to the navigation interface of P500 and display its deviation from the current position, without needing to measure in sequence.

[0049] Coordinate acquisition: Fix the device behind the target pile, press the "Measure" button, and position the measurement unit 3 to acquire the actual coordinates of the pile position 3 times (with an interval of 5 seconds). The system automatically removes outliers (such as data with a deviation of more than 2cm) and takes the average value. The display screen shows the deviation between the measured coordinates and the adjusted theoretical coordinates in real time (such as "ΔX=3.5cm, ΔY=-2.8cm").

[0050] Step S4: Pile Spacing Calculation (Taking P100 and P101 pile pair as an example): Surface distance measurement: The device was fixed at a height of 1.8m on the piles of P100 and P101 respectively. The laser rangefinder module was activated to measure the surface distance of the two piles five times. The measured data were 498.5cm, 498.7cm, 498.6cm, 498.8cm and 498.6cm respectively. The system calculated the average value of the surface distance using the formula D_surface_average_value = (D1 + D2 + D3 + D4 + D5) / 5, which was 498.64cm.

[0051] Surface distance correction: The theoretical distance Dtheoretical = 499.0 cm was calculated using the measured coordinates of P100 and P101. The system then calculates the surface distance using the formula Dsurface = Dsurface average + (Dtheoretical - Dsurface average) × 0.8. 498.64+(499.0-498.64)×0.8=498.928cm.

[0052] Center point distance calculation: By inputting the pipe pile wall thickness d1=d2=10cm through the operation panel of the control processing unit, the system calculates the actual distance between the center points of the two piles according to the formula D=D surface correction-(d1+d2): 498.928-(10+10)=478.928cm (i.e. 4.789m), which is -2.102cm from the design spacing of 5m, meeting the allowable deviation requirement of ≤5cm.

[0053] Step S5: Measurement of pile verticality (taking pile P102 as an example): Inclination angle acquisition: The device was fixed at three heights of 1.2m, 1.5m and 1.8m on the P102 pile body (height difference ≥30cm). The inertial measurement unit was activated at each height to acquire the inclination angle 3 times. The measured maximum inclination angle at the 1.2m height was θ1=0.15°, at the 1.5m height was θ2=0.16° and at the 1.8m height was θ3=0.15°.

[0054] Verticality deviation rate calculation: The system calculates the verticality deviation rate at each of the three heights using the formula η=tanθ×100%. η1=tan0.15°×100%≈0.262%; η2=tan0.16°×100%≈0.279%; η3=tan0.15°×100%≈0.262%; Taking the maximum value η = 0.279% ≤ 0.3%, the verticality of pile P102 is deemed qualified.

[0055] Error notification mechanism: If the measured θ = 0.18° at a height of 1.5m for a certain pile (such as P103), and η = tan0.18° × 100% ≈ 0.314% > 0.3%, the display screen will immediately pop up a message saying "Verticality abnormal, please repeat the measurement at heights of 1.0m and 2.0m" until the multi-height verification is completed.

[0056] Step S6: Acceptance Judgment and Data Marking: The control and processing unit compares the measured data of each pile with the allowable deviation thresholds (pile position coordinate deviation ≤ 10cm, pile spacing deviation ≤ 5cm, verticality deviation rate ≤ 0.3%) and automatically marks the qualified status. For example, the measured coordinate deviation of pile P104 is ΔX=8.5cm, ΔY=-7.2cm, the pile spacing deviation is 3.2cm, and the verticality deviation rate is 0.25%, which is marked as "qualified". If the measured coordinate deviation of pile P105 is ΔX=12.3cm, which exceeds the allowable value, it is marked as "unqualified" and the reason for the deviation is automatically recorded as "pile position offset exceeds the limit".

[0057] Step S7: Export the acceptance report: After the measurement is completed, press the "Export" button on the control processing unit. The data output unit will export the measurement data of 1200 piles (pile number, design / measured coordinates, pile spacing, verticality deviation rate, qualified status, and reasons for deviation) as an Excel format acceptance report. The report automatically counts 1185 qualified piles with a qualification rate of 98.75%, which can be directly used for project pile foundation construction acceptance archiving.

[0058] Implementation effect verification: This implementation method, applied in the aforementioned 20MW photovoltaic power station pile foundation acceptance project, has the following advantages compared to traditional total station measurement methods: Efficiency Improvement: Traditional methods require two people to measure a single pile, taking about 5 minutes per pile; this device can be operated by a single person, taking about 1.5 minutes per pile, thus improving overall measurement efficiency.

[0059] Accuracy Guarantee: The Beidou module, combined with the error compensation model (formula P=P0+ΔI+ΔT+ΔM, where ΔI ranges from -5cm to +8cm, ΔT ranges from -3cm to +5cm, and ΔM ranges from -2cm to +3cm), controls the pile position measurement error to ≤5cm, meeting the high precision requirements of photovoltaic power station pile foundations.

[0060] Automation level: No manual data recording is required; the system automatically completes calculations, judgments, and report generation, avoiding errors caused by manual recording.

[0061] In summary, this implementation method, through clear component specifications and detailed assembly and operation procedures, can achieve integrated and high-precision measurement of pile foundation location, spacing, and verticality, fully meeting the pile foundation construction and acceptance requirements in fields such as photovoltaic power plants and building engineering.

[0062] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging, characterized in that, include: The positioning and measurement unit integrates a high-precision satellite positioning module, a laser ranging module, and an inertial measurement unit. The high-precision satellite positioning module connects to an existing satellite navigation system to collect the latitude and longitude coordinates of the pile position. The laser ranging module assists in calibrating the measurement data of the high-precision satellite positioning module, and the inertial measurement unit senses the tilt state of the pile. A mechanical adjustment mechanism is used to securely fix the positioning and measuring unit to the pile body and adjust its measuring height; the mechanical adjustment mechanism includes a telescopic rod and a semi-circular clamp, the positioning and measuring unit is installed on the top of the telescopic rod, and the inner wall shape of the semi-circular clamp matches the outer wall of the pile body being measured; The control and processing unit has a built-in processor and memory; The data output unit outputs the pile location measurement results, pile spacing data, pile verticality data, and marks unqualified pile location information.

2. The pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging according to claim 1, characterized in that, The control processing unit also includes an operation panel and a display screen. The operation panel imports the coordinate data of the pile location design drawings and inputs a specific pile number. The display screen displays the deviation direction and distance between the current target pile location and the measured pile location, the pile spacing calculation result, and the pile verticality judgment result.

3. The pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging according to claim 1, characterized in that, The high-precision satellite positioning module integrates an error compensation model to compensate for measurement errors caused by ionospheric delay, tropospheric refraction, and multipath effects. The solution formula for the error compensation model is: P = P0 + ΔI + ΔT + ΔM, where P is the compensated positioning coordinate, P0 is the original positioning coordinate, ΔI is the ionospheric delay correction, ΔT is the tropospheric refraction correction, and ΔM is the multipath effect correction.

4. The pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging according to claim 1, characterized in that, The control processing unit executes the following pile position calibration algorithm: Import the design coordinates of all pile locations and automatically assign a unique identification number to each pile location; The control positioning measurement unit measures the actual coordinates of the benchmark pile position with known coordinates; Based on the deviation between the design coordinates and the actual coordinates of the benchmark pile position, and combined with the design spacing and relative positional relationship between other pile positions and the benchmark pile position, the theoretical coordinates of other pile positions are dynamically adjusted. Based on the adjusted theoretical coordinate sequence of pile positions, a pile-by-pile measurement navigation command is generated.

5. The pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging according to claim 1, characterized in that, The control processing unit is also equipped with a wall thickness parameter input interface for inputting the wall thickness parameters of the pipe pile; The processor automatically calculates and outputs the actual distance between the center points of the two piles based on the surface distance between the two piles measured by the laser ranging module and the input pipe pile wall thickness parameters. The calculation formula is: D=D_surface-(d1+d2); where D is the actual distance between the center points of the two piles, D_surface is the surface distance between the two piles measured by the laser ranging module, d1 is the pipe pile wall thickness of the first pile, and d2 is the pipe pile wall thickness of the second pile.

6. A pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging according to claim 5, characterized in that, The inertial measurement unit measures the tilt angle of the pile body in different directions. The processor combines the spacing data of the same pile pair measured at different heights by the laser ranging module with the tilt angle data of the inertial measurement unit to comprehensively determine whether the verticality of the pile body is qualified. The formula for the processor to calculate the verticality deviation rate of the pile is: η=tanθ×100%, where η is the verticality deviation rate and θ is the maximum tilt angle of the pile measured by the inertial measurement unit. When η ≤ preset percentage threshold, the verticality of the pile is deemed acceptable; when η > preset percentage threshold, the verticality is deemed abnormal, and the display screen will prompt for repeated measurements at multiple heights.

7. The pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging according to claim 1, characterized in that, The data output unit automatically marks the identification number, measured data, design data, out-of-tolerance value and the reason for the out-of-tolerance of the unqualified pile position, and exports it as a structured spreadsheet file.

8. A measurement method using the pile foundation measurement and acceptance device based on BeiDou positioning and laser ranging as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1: Import the coordinate data from the pile location design drawings into the memory through the operation panel of the control processing unit; S2: The semi-circular clamp of the mechanical adjustment mechanism is clamped and locked to the reference pile body, so that the positioning measurement unit is at the preset measurement height. The positioning measurement unit is started to measure the actual coordinates of the reference pile position. The control processing unit completes the system coordinate calibration based on the pile position calibration algorithm. S3: According to the navigation instructions displayed on the control processing unit screen, move the device to each target pile position in sequence and fix it, or jump to the designated pile position by entering the target pile number through the operation panel, and start the positioning measurement unit to collect the actual coordinates of each target pile position; S4: For pile pairs requiring spacing measurement, after fixing the devices on both piles, the laser ranging module is activated to perform n measurements. The control processing unit uses the formula D surface mean = (D1 + D2 + ... + D n ) / n, calculate the average surface distance, and combine it with the theoretical distance D calculated from the actual coordinates of the two piles. Then, correct the surface distance using the formula D surface correction = D surface average + (D theory - D surface average) × 0.

8. Finally, based on the input pipe pile wall thickness parameters, calculate the actual distance between the center points of the two piles using the formula D = D surface correction - (d1 + d2). S5: During the measurement process at each pile location, the inertial measurement unit is activated to collect the pile inclination angle θ, and the control processing unit calculates the pile verticality deviation rate η = tanθ × 100%; S6: The control processing unit compares the measured pile position coordinates, pile spacing, and pile verticality with the corresponding design values. When the pile position coordinate deviation is ≤ the first preset threshold, the pile spacing deviation is ≤ the second preset threshold, and the verticality deviation rate is ≤ the preset percentage threshold, it is judged as qualified; otherwise, it is marked as an unqualified measurement item. S7: Export a pile location measurement and acceptance report containing qualified items, unqualified items, and reasons for unqualified items through the data output unit.

9. The measurement method according to claim 8, characterized in that, The coordinate data of the pile location design drawings imported in step S1 must meet the predetermined plane coordinate system accuracy; the measurement environment of the laser ranging module in step S4 must meet the predetermined visibility and no strong electromagnetic interference; the judgment criteria in step S6 can be adjusted according to project requirements by adjusting the threshold values ​​of pile location coordinate deviation, pile spacing deviation, and verticality deviation rate through the operation panel in the control processing unit.

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