A fast non-contact pile driving monitoring device and method
Patent Information
- Application Number
- CN202611476607.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-09-22
- Publication Date
- 2026-10-27
Smart Images
Figure CN122980440A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of computer vision measurement equipment technology, and in particular to a rapid non-contact pile driving monitoring device and method. Background Technology
[0002] Pile foundations offer advantages such as high bearing capacity and low settlement. During pile driving construction, monitoring relevant pile parameters (such as settlement, verticality, penetration, rebound, and bearing capacity) is crucial for ensuring construction quality. For example, settlement and verticality are fundamental and essential data for pile driving monitoring; penetration can be used as a core criterion for stopping the hammer blow; rebound can be used to analyze the energy transfer of the hammer strike; and bearing capacity can be used for trend prediction during construction, for determining when to stop the hammer blow, and for analysis in subsequent comprehensive construction reports. However, current methods for monitoring pile driving parameters all suffer from cumbersome procedures.
[0003] Specifically, traditional monitoring methods mostly involve manual contact measurement, such as using T-squares to mark lines, steel tapes to measure distances, or attaching scales to the pile body and reading levels. These methods not only introduce human error but also pose safety hazards because workers must operate under heavy hammer blows. Some improved detection methods, such as using total stations, installing laser rangefinders on top of the hammer-driven pile foundation lifting frame, and high-strain dynamic measurement methods that calculate penetration by integrating acceleration sensor data, represent some progress, but all require complex equipment and sensor installation and setup. Furthermore, traditional monitoring methods typically involve two surveyors at right angles using two total stations to observe the entire process, marking scales on the pile body or hammer to measure verticality. Many newer verticality measurement methods require the use of a high pile frame in the pile driver, making them unsuitable for the simpler hoisting and driving pile process. More importantly, existing pile driving monitoring methods often only measure a single parameter, failing to simultaneously monitor multiple important parameters, and require machine shutdown for manual drilling and sensor installation and removal, resulting in low detection efficiency.
[0004] Therefore, there is a need for a piling monitoring solution that is efficient and fast in monitoring pile foundations. Summary of the Invention
[0005] Therefore, the present invention provides a rapid non-contact piling monitoring device and method to solve the problem of low piling monitoring efficiency in the prior art.
[0006] This invention provides a rapid non-contact pile driving monitoring device, comprising an identification code and a monitoring device, wherein the identification code is used to fix itself on the pile foundation, and the pattern on the identification code includes a polygonal code array, and the monitoring device includes: The monitoring module is used to collect real-time data during piling. The real-time data includes piling images, which include the pile foundation and the identification code on the pile foundation. The analysis module is used to obtain pile driving monitoring data based on real-time data and the polygonal encoding array of the identification codes in the pile driving images.
[0007] In a preferred embodiment: the pile driving monitoring data includes the real-time settlement and verticality of the pile foundation; based on the real-time data, and using a polygonal encoding array of identifiers in the pile driving images, the pile driving monitoring data is obtained, including: Based on real-time data, the settlement and verticality of the pile foundation are obtained by decoding the polygonal encoding array of the identification code in the pile driving image.
[0008] In a preferred embodiment: piling monitoring data is obtained based on real-time data and a polygonal encoding array of identifiers in the piling images, and further includes: Based on the settlement, the velocity and acceleration of the pile foundation descent are obtained; Based on the comparison between speed and preset speed threshold, and acceleration and preset acceleration threshold, it is determined whether the real-time data is valid hammering data. Valid hammering data means that the real-time data is the data corresponding to a valid hammering action. Based on the effective hammering data, pile driving monitoring data is obtained.
[0009] In a preferred embodiment: the pile driving monitoring data also includes penetration depth, rebound rate, and bearing capacity; based on the effective hammer blow data, the pile driving monitoring data includes: The start time of obtaining continuous valid hammer impact data is taken as the start time of a single hammer impact. The maximum settlement value is calculated within a preset time window based on the start time to obtain the maximum settlement value for this hammer blow, wherein the start time of the preset time window is earlier than the start time. The effective settlement of this hammer blow is obtained based on the settlement after the maximum settlement within a preset time window based on the start time. The penetration depth of the hammer blow is obtained by comparing the effective settlement of the current blow with that of the previous blow. The rebound amount of the hammer blow is obtained by the difference between the maximum settlement and the effective settlement of the hammer blow. Based on the penetration and rebound of the hammer blow, the bearing capacity of the hammer blow is obtained using the Hayek formula.
[0010] In a preferred embodiment: obtaining pile driving monitoring data based on effective hammering data also includes: Obtain the time interval between the start times of two consecutive hammer blows, and use it as the first reference window; The time interval corresponding to the data acquisition time of the maximum settlement between two consecutive hammer blows is obtained and used as the second reference window; The preset time window is adjusted based on the first reference window and the second reference window.
[0011] In a preferred embodiment: the effective settlement of the hammer blow is obtained based on the settlement after the maximum settlement within a preset time window based on the start time, including: taking the value of the settlement at the very end of the preset time window based on the start time as the effective settlement of the hammer blow; the preset time window is corrected based on a first reference window and a second reference window, including: taking the average value of the first reference window, the second reference window and the preset time window to obtain the corrected preset time window.
[0012] In a preferred embodiment: the number of identification codes is at least two, the patterns on different identification codes are different, and the at least two identification codes are vertically arranged on the pile foundation; based on real-time data, the settlement and verticality of the pile foundation are obtained by decoding the polygonal encoding array of the identification codes in the pile driving image, including: Obtain the center position difference of multiple identification codes in the same piling image, and obtain the first vertical feature based on the center position difference; The second vertical feature is obtained based on the perspective deformation of the polygonal coding array in the identifier code; Compare the consistency between the first vertical feature and the second vertical feature to determine whether the camera extrinsic parameters need to be corrected.
[0013] In a preferred embodiment: based on real-time data, the settlement and verticality of the pile foundation are obtained by decoding the polygonal encoding array of the identifier in the pile driving image, and the method further includes: If it is necessary to correct the camera's extrinsic parameters, the pile foundation is identified based on the pile driving images; The camera extrinsic parameters are corrected based on the geometric prior values of the pile foundation and the identification code.
[0014] In a preferred embodiment: the surface of the identification code is provided with infrared reflective material; the monitoring equipment includes a device end and a display end, wherein the device end includes a tripod, a two-dimensional pan-tilt unit, and an industrial control computer, an infrared lens, a battery, a wireless router, an angle sensor, an industrial camera, and an infrared light source mounted on the two-dimensional pan-tilt unit, and the monitoring module and the analysis module are both located in the industrial control computer; the display end is used to synchronously present real-time data and pile driving monitoring data.
[0015] In a preferred embodiment, the industrial control computer is equipped with a dynamic cache unit and a local storage unit. Real-time data is stored in the dynamic cache unit, and effective hammer impact data is stored in the local storage unit.
[0016] The present invention also provides a rapid non-contact pile driving monitoring method, applied to the rapid non-contact pile driving monitoring device described in any of the above claims, the method comprising: Collect real-time data during pile driving, including pile driving images, which include the pile foundation and the identification code on the pile foundation. Based on real-time data, pile driving monitoring data is obtained using a polygonal encoding array of identifiers in the pile driving images.
[0017] The beneficial effects of adopting the above scheme are: This invention provides a rapid, non-contact pile driving monitoring device, comprising an identification code and a monitoring device. The identification code is fixed to the pile foundation, and the pattern on the identification code includes a polygonal code array. The monitoring device includes a monitoring module for collecting real-time data during pile driving, including pile driving images that show the pile foundation and the identification code on it. An analysis module is used to obtain pile driving monitoring data based on the real-time data and the polygonal code array of the identification code in the pile driving image. This invention, through the setting of the identification code, enables the monitoring device to identify changes in the position of the pile foundation during pile driving. Furthermore, through the perspective distortion of the polygonal code array on the identification code, the monitoring device can also identify changes in the posture of the pile foundation. Thus, this device can simultaneously monitor multiple pile driving parameters. Moreover, the invention requires no complex operation; besides fixing the identification code, no complex layout and installation work is needed, and multiple workers are not required during pile driving, solving the problem of low efficiency in existing pile driving monitoring technologies. Attached Figure Description
[0018] Figure 1 The system architecture diagram of the rapid non-contact pile driving monitoring device provided by the present invention; Figure 2 The flowchart of the rapid non-contact pile driving monitoring method provided by the present invention; Figure 3 This is a schematic diagram of the structure of the identification code in this invention; Figure 4 for Figure 2 A detailed step diagram of step S202 is shown below; Figure 5 for Figure 4 A detailed step diagram of step S404 is shown below; Figure 6 This is a schematic diagram of the relationship between settlement and time in one embodiment of the present invention; Figure 7 This is a schematic diagram of the curves showing the theoretical settlement versus the actual settlement in one embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the setting of the identification code in one embodiment of the present invention; Figure 9 This is a schematic diagram of a pile driving image change according to an embodiment of the present invention; Figure 10 This is a schematic diagram of another pile driving image change in one embodiment of the present invention; Figure 11 This is a schematic diagram illustrating another type of pile driving image change in one embodiment of the present invention; Figure 12This is a schematic diagram illustrating another type of pile driving image change in one embodiment of the present invention. Detailed Implementation
[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0020] Combination Figure 1 and Figure 2 This invention provides a specific embodiment, disclosing a rapid non-contact pile driving monitoring device, including an identification code 110 and a monitoring device 120, wherein the identification code is used to fix on the pile foundation, and the pattern on the identification code includes a polygonal code array, and the monitoring device includes: Monitoring module 121 is used to perform step S201 and collect real-time data during pile driving. The real-time data includes pile driving images, which include the pile foundation and the identification code on the pile foundation. Analysis module 122 is used to perform step S202, which is to obtain pile driving monitoring data based on the polygonal encoding array of the identification code in the pile driving image according to the real-time data.
[0021] In this embodiment, the identification code can be fixed to the pile body using AB glue or other existing methods, preferably at the top of the pile body's perimeter, so that it remains exposed after the pile body is driven into the soil. The pattern on the identification code is a polygonal code array, specifically including any array of polygonal units, such as quadrilaterals, hexagons, etc., and the arrangement of the unit array can be irregular. A specific example of the identification code is as follows: Figure 3 As shown, it is an array of rectangular quadrilateral units. In practice, each unit can be a different color, such as a unit array like a QR code. The design requirements for the identification code pattern are to ensure that it can be recognized and positioned by existing machine vision technology. At the same time, when the pattern changes posture with the pile body, its perspective distortion relative to the camera's viewpoint will occur, so that the camera can recognize the posture of the identification code, i.e., the posture of the pile body.
[0022] In this embodiment, the monitoring module and analysis module mainly refer to computer program products, which can run on any existing hardware device with storage and computing functions, such as computers, industrial control computers, mobile phones, and the cloud. Real-time data refers to data collected in real time during the piling process, including captured images, camera attitude angles, pitch angles, and other data. Piling monitoring data is the data that needs to be monitored indirectly after processing the real-time data, such as penetration depth, number of hammer blows, and bearing capacity.
[0023] This invention enables monitoring equipment to identify changes in the position of the pile foundation during piling by setting an identification code. Furthermore, the monitoring equipment can also identify changes in the posture of the pile foundation by the perspective deformation of the polygonal encoding array on the identification code. In this way, the device can monitor multiple piling parameters simultaneously. Moreover, the invention does not require complicated operations. Apart from fixing the identification code, no complicated layout and installation work is required. No multiple workers are needed to cooperate during piling, thus solving the problem of low efficiency in piling monitoring in the prior art.
[0024] The details of the above embodiments will be explained below: In a preferred embodiment, the surface of the identification code is provided with infrared reflective material. The monitoring equipment includes a device end and a display end. The device end includes a tripod, a two-dimensional pan-tilt unit, and an industrial control computer, an infrared lens, a battery, a wireless router, an angle sensor, an industrial camera, and an infrared light source mounted on the two-dimensional pan-tilt unit. The monitoring module and the analysis module are both located in the industrial control computer. The display end is used to synchronously present real-time data and pile driving monitoring data.
[0025] It is understood that the specific types, models, structures, and connection methods of the components included in the aforementioned device and display ends are all existing technologies that can be understood and implemented by those skilled in the art, and therefore will not be described in detail here.
[0026] In this embodiment, any existing infrared reflective material is applied to the surface of the identification code. Combined with an infrared light source and infrared lens in the device, this improves image recognition accuracy and thus monitoring accuracy. Specifically, the identification code, as a key measuring point in the monitoring process, can be selectively covered with special reflective materials according to its pattern. These materials include smooth metal films such as aluminum, silver, and copper; nano-oxides such as nano-titanium dioxide and indium tin oxide that achieve high infrared reflection in transparent or colored coatings; perovskite-based pigments or metal mixed-phase oxides that selectively reflect near-infrared light while exhibiting visible colors; and nano-oxides that reflect infrared light using a vacuum deposition process by depositing multiple dielectric films on a substrate, utilizing the principle of light interference. The infrared reflective material possesses high reflectivity and directional reflection characteristics, forming a unique visual identifier under infrared light supplementation.
[0027] The infrared light source is specially designed to provide supplemental lighting for reflective identification codes. By emitting infrared light, it causes the special reflective material on the surface of the identification code to produce a significant light reflection effect, creating a strong visual contrast between the identification features and the surrounding pile body and environment. This facilitates the rapid identification and positioning of the identification by industrial cameras and avoids interference from environmental background noise on monitoring accuracy. The infrared lens is used in conjunction with the industrial camera. On the one hand, it controls the camera's focus and exposure to ensure clear and detailed images of the pile body. On the other hand, it has the unique transmission characteristics of infrared light, which can filter out visible light interference on site and further improve the image signal-to-noise ratio, making it especially suitable for monitoring in nighttime or low-light scenarios.
[0028] In this embodiment, the device is the core execution unit of the entire monitoring system, integrating multiple functions such as data acquisition, attitude adjustment, power supply, and wireless transmission. Specifically, its industrial control computer adopts a high-performance industrial-grade computer configuration, possessing powerful data computing and processing capabilities. It can receive attitude data from the angle sensor and grayscale image data from the industrial camera in real time, and perform parameter calculations (such as penetration and verticality) through built-in algorithms. The industrial camera acquires high-resolution grayscale images of the pile body, providing raw image data support for subsequent parameter calculations. The angle sensor is used to acquire two key attitude parameters of the industrial camera: pitch angle and roll angle, providing real-time feedback on the current attitude state of the camera, and providing attitude reference data for the industrial control computer to correct the image acquisition angle and ensure the accuracy of parameter calculations. The two-dimensional gimbal is used to carry components such as the industrial control computer, infrared lens, battery, wireless router, angle sensor, industrial camera, and infrared light source. It can flexibly adjust the spatial attitude of the camera (horizontal rotation, pitch adjustment, etc.), and through manual or automatic control, ensure that the pile body is always in the center of the camera's field of view, avoiding monitoring disconnection caused by pile body shaking or equipment offset, and ensuring monitoring continuity. The tripod serves as the support for all components of the equipment. Made of high-strength materials, it boasts stable load-bearing capacity and can be quickly erected in complex ground environments at piling sites, providing a stable installation foundation for the equipment and preventing image acquisition and parameter measurement accuracy from being affected by equipment sway. The battery utilizes a high-capacity, long-lasting industrial-grade battery, providing a stable power supply to the industrial control computer, wireless router, angle sensor, infrared light source, and industrial camera. It eliminates the need for an external power source, meeting the requirements for over 8 hours of continuous outdoor piling monitoring and ensuring continuous operation of the device. The wireless router establishes a wireless communication link between the equipment and the display. Supporting wireless transmission protocols, it efficiently transmits monitoring data from the equipment (such as images, angles, verticality, penetration, etc.) to control commands from the display (such as equipment startup, parameter settings, etc.), enabling real-time data interaction between the two and eliminating the limitations of wired communication on equipment installation location.
[0029] The display terminal not only has real-time data reception and display functions, but can also simultaneously present the grayscale image of the pile transmitted from the device, the real-time calculated penetration and verticality values (dynamically monitoring the settlement and tilt status of the pile), and angle sensor data (assisting in judging the camera's attitude stability). It also supports in-depth data processing and result output, such as: Firstly, data storage and historical data retrieval can automatically save data for the entire monitoring cycle. Staff can query historical data by time, pile number, and other dimensions to compare and analyze the changing trends of piling parameters at different stages. Secondly, secondary data processing generates key derived parameters such as rebound amount (calculating the rebound characteristics of the pile body based on displacement changes), hammering speed and hammering acceleration (analyzing the energy transfer efficiency of hammering), soil bearing capacity (assessing the bearing capacity of the foundation by combining penetration data), and hammering count, thereby expanding the application value of monitoring data. Third, the system can generate test reports with one click. It can automatically integrate monitoring raw data, calculation results, image data, etc., and generate test reports in accordance with industry standard formats. This eliminates the tedious process of manually compiling reports, improves work efficiency, and ensures the accuracy and standardization of report data, providing a reliable basis for subsequent construction acceptance and quality assessment.
[0030] The display terminal helps staff monitor the status of the piles in real time during the piling process. When abnormal monitoring data occurs (such as verticality exceeding the standard limit or sudden changes in penetration), it can provide timely warnings and assist staff in quickly identifying the cause and taking countermeasures such as adjusting piling parameters or suspending construction to ensure the quality and safety of piling construction. This embodiment forms a complete monitoring closed loop of "identification perception - data processing - human-computer interaction" through the combination of the equipment terminal, display terminal, and identification code.
[0031] Furthermore, combined Figure 4 As shown, in a preferred embodiment, the pile driving monitoring data includes the real-time settlement and verticality of the pile foundation. Step S202 above, obtaining the pile driving monitoring data based on the real-time data and the polygonal encoding array of the identifier code in the pile driving image, specifically includes: S401. Based on real-time data, the settlement and verticality of the pile foundation are obtained by decoding the polygonal encoding array of the identification code in the pile driving image.
[0032] In this embodiment, settlement refers to the degree of settlement of the pile foundation in the soil. For the purposes of this invention, it can be understood as the longitudinal position of the pile body, i.e., the longitudinal position of the identification code. Verticality is the deviation of the pile axis relative to the vertical direction. It is understood that identifying the identification code and the position of key points within it after acquiring the pile driving image are existing technologies. Therefore, by using a pre-calibrated coordinate transformation matrix for calculation, the position and tilt of the identification code can be obtained from the above information. For example, identifying the key points of the identification code naturally yields its position, and thus the settlement. Based on the relative positional differences of different key points in the identification code, the perspective distortion of the identification code can be identified, thus obtaining the verticality. Specifically, when the pile foundation tilts left or right within the shooting plane, the identification code will appear rotated in the pile driving image. When the pile foundation tilts closer to or further away from the camera, the identification code will exhibit perspective distortion in the pile driving image. For example, the rectangular pattern in the identification code will show a perspective distortion of being wider at the top and narrower at the bottom, or vice versa. By combining the above information, both settlement and verticality can be identified simultaneously.
[0033] Existing pile driving monitoring methods often only measure settlement or verticality individually, failing to simultaneously meet the requirement of monitoring two important parameters at the same time. Furthermore, they require downtime and manual drilling and sensor installation / removal, resulting in low detection efficiency. In contrast, this embodiment eliminates the need for repetitive operations and complex sensor deployment, except for fixing the identification code and initial camera calibration. More importantly, it enables simultaneous monitoring of both parameters in one operation, significantly improving efficiency.
[0034] For further details, please refer to [link / reference]. Figure 4 In a preferred embodiment, after obtaining the settlement and verticality, step S202, obtaining pile driving monitoring data based on the polygonal encoding array of the identification code in the pile driving image according to real-time data, further includes: S402. Based on the settlement, obtain the velocity and acceleration of the pile foundation descent; S403. Based on the comparison between speed and preset speed threshold, and acceleration and preset acceleration threshold, determine whether the real-time data is valid hammering data. Valid hammering data means that the real-time data is the data corresponding to one valid hammering action. S404. Based on the effective hammering data, obtain the pile driving monitoring data.
[0035] Since this embodiment does not install too many sensors on the pile driver or pile body, in addition to the camera's own pitch angle, attitude angle and other information, it mainly needs to analyze the pile driving images. In order to avoid missing pile driving data, the data acquisition start time is generally earlier than the pile driving start time and later than the pile driving end time. Therefore, this embodiment needs to clearly identify the pile driving action and know which data is generated during pile driving (i.e., valid hammer data) and which data is generated when not driving (e.g., the time when the hammer is raised and lowered and does not contact the pile foundation, i.e., invalid hammer data) in order to carry out subsequent analysis.
[0036] This embodiment identifies the rate of pile descent by observing changes in the position of the identifier code (i.e., changes in settlement) across multiple consecutive frames of images, thereby obtaining the acceleration. This acceleration is then compared with relevant thresholds; for example, if the pile descent rate is greater than 0.05 m / s and the acceleration is greater than 0.001 m / s², the acceleration is considered positive. 2 Once this point is reached, it can be considered the start of a single pile driving operation, allowing for subsequent effective analysis and ensuring accuracy. It is understood that the aforementioned preset velocity and acceleration thresholds can be flexibly set according to actual conditions.
[0037] Building upon this, in a further embodiment, the industrial control computer is equipped with a dynamic caching unit and a local storage unit. Real-time data is stored in the dynamic caching unit, while valid hammer impact data is stored in the local storage unit. Specifically, to avoid storing too much useless data during the measurement process and occupying too much storage space in the industrial control computer, and to prevent the efficiency of data post-processing and analysis from decreasing due to excessive useless data, this embodiment first dynamically caches all data in the dynamic caching unit, which can be set to save for 1 minute. Only after the data is determined to be valid will it begin to be stored locally, thereby improving efficiency and saving the industrial control computer's computing resources.
[0038] Furthermore, in combination Figure 5 As shown, in a preferred embodiment, the pile driving monitoring data further includes penetration depth, rebound amount, and bearing capacity. Step S404, obtaining the pile driving monitoring data based on the effective hammering data, specifically includes: S501. Obtain the start time of continuous valid hammering data as the start time of one hammering. S502. Within a preset time window based on the start time, the maximum value of the settlement is calculated to obtain the maximum settlement of the hammer blow, wherein the start time of the preset time window is earlier than the start time. S503. Based on the settlement amount after the maximum settlement amount in the preset time window based on the start time, obtain the effective settlement amount of this hammer blow. S504. The penetration depth of the hammer blow is obtained based on the difference between the effective settlement of the current hammer blow and the previous hammer blow. S505. The rebound amount of the hammer blow is obtained based on the difference between the maximum settlement and the effective settlement of the hammer blow. S506. Based on the penetration and rebound of the hammer blow, the bearing capacity of the hammer blow is obtained using the Hayek formula.
[0039] After a pile foundation settles following hammer impact, it first undergoes a downward process. Once the maximum settlement is reached, the stress stored in the soil and pile body is released, causing the pile body to rebound partially. This rebound amount is the real-time settlement of the pile foundation at this point, which can be considered the effective settlement of this hammer impact. In this embodiment, the preset time window is the time length window used for data analysis after a valid hammer impact is identified. It is preset to be slightly shorter than the interval between two hammer impacts and can be set according to the actual hammering frequency of the pile driver. It should be noted that because the images acquired when the pile body is impacted by the hammer will experience dynamic blurring, resulting in some image frames being unusable at this time, this embodiment also sets the start time of the preset time window to be earlier than the initial start time.
[0040] The maximum settlement is the peak settlement value within a preset time window, representing the maximum depth reached by the pile foundation. However, due to pile rebound, the maximum depth of a single pile driving operation is not necessarily the actual effective pile driving depth. The actual effective pile driving depth, i.e., the effective settlement, should be determined based on the depth at which the pile foundation stabilizes, i.e., based on the analysis of other settlement data after the peak value within the preset time window. Considering factors such as pile foundation vibration and shaking, pile foundation tilting and sliding, pile foundation deformation, or the influence of other construction work on the site, the method for determining the effective settlement in practice can be flexibly set based on experience and specific site conditions. It can be based on a single settlement value or a comprehensive calculation of multiple settlement data. For example, the effective settlement can be taken as the value of the last settlement within a preset time window. That is, in step S503 above, the effective settlement is determined by taking the value of the last settlement within the preset time window based on the start time as the effective settlement for that hammer blow. Alternatively, the average of all settlements after the maximum settlement within the preset time window can be taken as the effective settlement at the location depth when the pile foundation is stable. After obtaining the effective settlement, other parameters such as penetration, rebound, and bearing capacity can be further calculated. Penetration can be used as the core criterion for stopping the hammer blow; rebound can be used to analyze the energy transfer of the hammer blow; and bearing capacity can be used for trend warning during construction, for determining when to stop the hammer blow, and as the basis for analysis in the subsequent complete construction report.
[0041] More importantly, simultaneous monitoring of the aforementioned data not only improves the efficiency of pile driving monitoring but also has a positive effect on the overall construction project. Simultaneous monitoring of this data enables the construction of a multi-dimensional data model with highly aligned time scales, allowing construction workers to analyze the entire construction process from a global perspective, overcoming the limitations of isolated judgments based on single indicators. Taking the criteria for stopping the hammer blows as an example, the standard for stopping the hammer blows should, in principle, be determined by comprehensively considering factors such as engineering geological conditions, pile bearing characteristics, characteristic values of single pile bearing capacity, pile specifications and penetration depth, performance specifications and impact energy of the pile driving hammer, characteristics of the bearing stratum at the pile tip, and the depth of the pile tip into the bearing stratum. The standard for stopping the hammer blows can use the achieved bearing stratum at the pile tip (qualitative) and the final penetration depth or the number of hammer blows per meter of pile driving in the last 1m to 3m (quantitative) as the main control indicators. For example, the final penetration depth should not be less than 20mm / 10 blows. The final penetration depth should be measured three times consecutively, and hammer blows can be stopped when the penetration depth decreases successively in each measurement and reaches the standard for stopping the hammer blows. When the bearing stratum is a relatively thin, strongly weathered rock layer and the underlying layer is a moderately or slightly weathered rock layer, the final penetration depth can be appropriately reduced, but should not be less than 15 mm / 10 blows. In this case, it is advisable to measure the penetration depth of one set of hammer blows. If the hammer-stopping standard is reached, the hammer-stopping can be stopped. The hammer-stopping standard can also be determined through static load test piles or trial piles. Trial piles should be carried out before the formal commencement of construction. The number of trial piles should not be less than 1% of the total number of engineering piles and should not be less than 5. The location, geological conditions, specifications, and length of the trial piles should be representative, and the driving process should be consistent with that of the engineering piles. The final penetration depth control value can be determined by referring to relevant empirical values or using the calculation results of Hilley's pile driving formula, combined with the pile driving experience of adjacent projects or similar pile foundation conditions, and verified by trial piles. The multi-dimensional data time synchronization monitoring in this embodiment can also filter out false alarms from single indicators. The penetration depth and rebound amount are strictly aligned in time acquisition, allowing for real-time cross-verification of the true state of energy transfer. This overcomes the inherent limitations of the Hayley formula for bearing capacity estimation, making the calculated structure more reliable and avoiding the concealment of hidden pile damage or misjudgment of the bearing stratum due to a single penetration depth meeting the standard. Furthermore, this time synchronization enables construction workers to capture abnormal correlation patterns between parameters, accurately analyzing the specific causes of problems, such as geological changes or pile instability. While ensuring the quality of individual piles, it significantly reduces the risk of pile scrapping and construction delays caused by over-driving. With further integration of advanced big data and artificial intelligence technologies, its future potential is immeasurable.
[0042] The above process is further illustrated below with more specific embodiments: 1) When the effective hammer impact data start time is (where i represents the time sequence number of real-time data acquisition, which can be understood as the image frame number or a sequence number based on a manually set interval frequency), in Time to The maximum settlement of the pile body is searched within the time range, and the maximum settlement is obtained and denoted as . .in, A time interval set by humans. Time to The time range is the preset time window, in seconds (s), typically set to 0.5 seconds. It will also... Time to Data within a given time frame is considered a valid hammer strike and is recorded as the first strike. (Record) The settlement at time t is the effective settlement. .
[0043] 2) The start time of the next valid hammer blow data is when... At time (where j also represents the time sequence number of real-time data acquisition), in Time to The maximum settlement of the pile body is searched within the time range, and the maximum settlement is obtained and denoted as . .Will Time to Data within a given time frame is considered a valid hammer strike and is recorded as the second strike. (Record) The settlement at time t is the effective settlement. .
[0044] 3) And so on, when the start time of the Nth valid hammer blow data is At time (where n also represents the time sequence number of real-time data acquisition), the device will... Time to The maximum settlement of the pile body is searched within the time range, and the maximum settlement is obtained and denoted as . At the same time Time to Data within a given time frame is considered a valid hammer strike, and the number of strikes is denoted as N. Record. The settlement at time t is the effective settlement. Where N represents the Nth hammer blow. Figure 6 This is a schematic diagram of the relationship between settlement and time during the above process.
[0045] When no more valid hammer blow data is generated, then determine When the piling is completed, the device will be After a certain time, data collection and storage will automatically stop, and the system will synchronize... The settlement at time t is also recorded as This is the final settlement. This is also a manually set time interval, measured in seconds (s), with a standard setting of 1 second.
[0046] 4) Calculate the penetration depth of each hammer blow. :
[0047] 5) Calculate the springback amount for each hammer blow. :
[0048] 6) Calculate the bearing capacity of each hammer blow according to the Hayek formula. :
[0049] Where E is the hammer efficiency, which is 0.7 for diesel hammers and generally 0.5 considering the influence of the coefficient of restitution; W is the hammer weight in kN; and H is the hammer drop distance in mm. The unit is mm; The unit is mm; The unit is kN.
[0050] As mentioned earlier, the motion blur generated at the start of the hammering may cause image frames to be lost due to lack of analysis capability. Although the above process sets the start time of the preset time window to be earlier than the initial start time (i.e., the start time of the effective hammering data is...), The start time of the preset time window is To circumvent this problem, however, at the time interval... Even under unchanged conditions, window drift and misalignment may still occur, leading to misjudgment of effective settlement, especially when the settlement or rebound of the pile foundation does not change much, such as at the end of pile driving or in the stage of connecting multiple pile sections.
[0051] Specifically, such as Figure 7 As shown in the figure, the dashed line represents the theoretical settlement of the pile foundation, and the solid line represents a portion of the actual collected settlement. During the period from time t1 to t2, although pile driving had already begun, data was lost due to dynamic blurring. Theoretically, the hammer's start time is around t1, and the start time of the preset time window should be t1. The effective settlement obtained based on the preset time window should be S-1. However, because image frames are unusable between t1 and t2, the actual start time of the hammer drop is determined to be around t2, and the actual start time of the preset time window is determined to be t2. This causes a drift in the predicted time window, resulting in the effective settlement obtained based on the misaligned preset time window becoming S-2. This is clearly incorrect, and sometimes the effective settlement even exceeds the maximum settlement.
[0052] Therefore, the present invention also provides a more preferred embodiment to overcome the above-mentioned problems: In this embodiment, step S404, obtaining pile driving monitoring data based on valid hammering data, further includes: Obtain the time interval between the start times of two consecutive hammer blows, and use it as the first reference window; The time interval corresponding to the data acquisition time of the maximum settlement between two consecutive hammer blows is obtained and used as the second reference window; The preset time window is adjusted based on the first reference window and the second reference window.
[0053] This embodiment achieves dynamic adjustment of the preset time window. Based on the time interval between the start times of two consecutive hammer blows, a first reference window is used to initially quantify the deviation of the hammer blow start time. Simultaneously, using the time interval between the data acquisition times corresponding to the maximum settlement of the two hammer blows, a second reference window is used to quantify the actual hammer blow interval. These two reference windows are then used to correct the preset time window, ensuring that the length of the preset time window does not exceed the actual hammer blow interval, thereby guaranteeing the accurate determination of the effective settlement. The method for correcting the preset time window can be flexibly set according to actual needs. The simplest way is to take the average of the first reference window, the second reference window, and the preset time window as the corrected preset time window. Alternatively, the differences between the first reference window and the preset time window, and the differences between the second reference window and the preset time window can be calculated separately, and then fitted to each, analyzing the error change curve, and then correcting the preset time window.
[0054] Furthermore, in a preferred embodiment, the number of identification codes is at least two, with different patterns on different identification codes, and the at least two identification codes are arranged vertically on the pile foundation, as specifically described below. Figure 8 As shown. Based on this, step 401 above, based on real-time data, decodes the polygonal encoding array of the identifier code in the pile driving image to obtain the settlement and verticality of the pile foundation, specifically including: Obtain the center position difference of multiple identification codes in the same piling image, and obtain the first vertical feature based on the center position difference; The second vertical feature is obtained based on the perspective deformation of the polygonal coding array in the identifier code; Compare the consistency between the first vertical feature and the second vertical feature to determine whether the camera extrinsic parameters need to be corrected.
[0055] In existing technologies, verticality can be identified by extracting feature points such as grid corners from the identification code and then comparing the spatial distribution of these feature points in the image with the known spatial distribution of feature points in the actual state. Figure 9 and Figure 10The diagrams show how the identification codes change in the collected pile driving images when the pile body tilts (for ease of understanding, the curved perspective deformation of the pile body itself is omitted in the diagrams; in practice, those skilled in the art can understand this problem and implement corrections, and this factor can even be ignored due to the large size of the pile body, so it will not be explained in detail). It can be inferred that increasing the number of identification codes can directly improve the accuracy of verticality calculation.
[0056] However, ground vibrations are unavoidable during pile driving, which can cause displacement of the image acquisition equipment (such as the device end in the previous embodiment), leading to changes in camera extrinsic parameters, camera calibration failure, and recognition errors. This embodiment sets up multiple marker points, which not only improves calculation accuracy but also allows the device to perform redundant verification from multiple dimensions of verticality judgment, namely the first and second vertical features mentioned above, thereby analyzing whether the camera has shifted and enabling timely camera calibration.
[0057] It is important to understand that the first and second vertical features in this embodiment are merely innovatively designed feature parameters for a rough assessment of verticality from a specific subdivision perspective, and do not represent actual vertical data. For example, in Figure 9 When the stake tilts closer to or further away from the camera, the vertical distance between the centers of the two identification codes increases or decreases, while the horizontal distance remains unchanged. Based on this difference in center position, a rough assessment of whether the stake is tilted can be made; this rough assessment result is the first vertical feature. Simultaneously, it can also be observed that this tilt causes the polygonal encoding array in the identification code to exhibit perspective distortion with varying widths at the top and bottom. Similarly, based on this perspective distortion, a rough assessment of whether the stake is tilted can also be made; this rough assessment result is the second vertical feature. Figure 10 In this process, the vertical and horizontal distances between the centers of the two identification codes will change. Based on these changes, the tilt of the pile can be roughly assessed, yielding the first vertical feature. Simultaneously, it can also be observed that... Figure 10 Since there is no perspective change between the two identification codes, although the second vertical feature, which is roughly judged, may indicate that the pile is still vertical, in this embodiment, both the first and second vertical features are roughly estimated verticality and are mainly used to evaluate camera displacement rather than verticality judgment. Therefore, such error can be tolerated, as will be explained again later.
[0058] Specifically, the horizontal or vertical distance can be roughly mapped to the tilt direction and angle of the pile. The two-dimensional array of direction and angle can be used as the first vertical feature, or it can be mapped to a single feature value. Features such as the length difference between the top and bottom edges of the identifier due to perspective distortion, and the relative positional relationship of at least two feature points within the same identifier can be extracted. These features can also be roughly mapped to the tilt direction and angle of the pile, and similarly, the two-dimensional array of direction and angle can be used as the second vertical feature, or it can be mapped to a single feature value. In this way, the first and second vertical features can be compared, and by comparing them, it can be determined whether the camera has shifted.
[0059] like Figure 11 As shown, when the camera's distance from the pile changes, the size of the identification codes in the image changes. The vertical distance between the centers of the two identification codes increases or decreases, while the horizontal distance remains unchanged. Analyzing only from the perspective of the first vertical feature, the pile appears to be tilted. Simultaneously, it can be observed that the identification codes do not exhibit perspective; therefore, analyzing only from the perspective of the second vertical feature, the pile does not appear to be tilted. At this point, the first and second vertical features are inconsistent. When the difference between them exceeds a preset standard, it can be determined that the camera has shifted.
[0060] like Figure 12 As shown, when the camera undergoes displacement within its imaging plane or rotation based on its vertical axis, the size of the identification code in the image may not change significantly. In this case, the vertical and horizontal distances between the centers of the two identification codes remain unchanged, and from the perspective of only the first vertical feature, the pile does not appear to be tilted. However, it can be observed that the identification code exhibits perspective (which can be considered as...). Figure 9 and Figure 10 If the pile is in a mixed state, then from the perspective of the second vertical feature alone, the pile body is tilted. At this time, the first and second vertical features are inconsistent. When the difference between the two is greater than the preset standard, it can be determined that the camera has shifted.
[0061] Back to Figure 9 and Figure 10 Admittedly, when the camera undergoes changes in pitch angle or displacement based on the vertical axis, variations will also occur. Figure 9 The situation shown also occurs when the camera rotates within its imaging plane. Figure 10In this situation, the equipment cannot distinguish between camera displacement and pile tilt. However, regardless of whether it is pile tilt or camera displacement, it can be uniformly assumed that the pile is tilted, the machine is stopped, and manual intervention is required. Alternatively, the equipment in this embodiment is equipped with an angle sensor that measures the pitch or roll angle, which is mainly used to track the continuously moving marker during pile driving. In this embodiment, the angle monitoring data of the angle sensor can be further combined with the angle change step size, along with the first and second vertical features, to determine whether the camera has shifted. For example, if the value of the angle monitoring data exceeds a preset angle threshold (such as 0.5 degrees, which can be set according to the theoretical angle change of the camera's field of view during each hammer blow), it can be roughly considered that the camera has shifted.
[0062] Furthermore, in a more specific embodiment, the above step of comparing the consistency of the first vertical feature and the second vertical feature to determine whether camera extrinsic parameters need to be corrected specifically includes: Acquire camera angle monitoring data to obtain angle change data for each hammer strike; Compare the angle change data with the preset angle threshold; If the angle change data exceeds the angle threshold, it is determined that the camera has shifted and the camera extrinsic parameters need to be corrected. If the angle change data does not exceed the angle threshold, then compare the consistency between the first vertical feature and the second vertical feature. If the first vertical feature and the second vertical feature are inconsistent, it is determined that the camera has shifted and the camera extrinsic parameters need to be corrected.
[0063] A more specific example of the determination rule for the above process is as follows: If the angle change data exceeds the angle threshold, then regardless of what the first vertical feature and the second vertical feature represent, the camera is determined to be shifted. If the angle change data does not exceed the angle threshold, then further compare the first vertical feature and the second vertical feature: If both the first and second vertical features indicate verticality, then it can be assumed that the camera is stable in pitch and roll, and the pile body is not obviously tilted. If both the first vertical feature and the second vertical feature indicate inclination, and the inclination angles they roughly represent are consistent or not significantly different, then the pile body inclination should be determined first, and relevant response measures can be directly adopted or the consistency judgment of the next round can be waited for. If both the first vertical feature and the second vertical feature indicate tilt, but the tilt angles they roughly represent are inconsistent and the difference is large, then the measurement is determined to be abnormal, triggering a verification or recalibration procedure. If the first vertical feature indicates tilt and the second vertical feature indicates verticality, then it is determined that there is a suspected camera translation, yaw, or measurement anomaly, and further relevant response measures can be taken. If the first vertical feature indicates verticality and the second vertical feature indicates tilt, then it is determined that the camera is suspected of being yawed, the identification code is abnormal, or there is an identification error, and further relevant response measures can be taken.
[0064] The above scenarios are simplified hypothetical situations. In reality, due to the curvature of the pile itself and the superposition of the various states mentioned above, the difference between the first and second vertical features will be further amplified, increasing the sensitivity of self-correction. In summary, this embodiment, based on multiple identification codes and in conjunction with the design of the first and second vertical features, achieves automatic identification of the camera's own displacement during pile driving monitoring. This allows the operator to respond promptly when the camera deviates, eliminating the need for continuous and repeated manual verification, and improving the fault tolerance, accuracy, and convenience of the monitoring process.
[0065] Further, in a preferred embodiment, step 401, obtaining the settlement and verticality of the pile foundation based on decoding the polygonal encoding array of the identifier code in the pile driving image according to real-time data, further includes: If it is necessary to correct the camera's extrinsic parameters, the pile foundation is identified based on the pile driving images; The camera extrinsic parameters are corrected based on the geometric prior values of the pile foundation and the identification code.
[0066] In image recognition technology, the camera parameters that need to be calibrated before decoding are mainly camera extrinsic parameters, specifically the rotation and translation matrices of coordinate transformation. The calibration of these data requires the participation of camera intrinsic parameters and fixed geometric prior values, such as the pile diameter, side length, pile position, identification code size, distance between identification codes, and the positions of other reference objects. Generally, recalibrating camera extrinsic parameters requires manual intervention, completed by determining and recording the size and position of the calibration objects, a process that obviously requires machine downtime. Compared to existing technologies, in the application scenario of this embodiment, the pile driving image naturally contains parameters of known and fixed dimensions, namely the geometric prior values of the pile and identification codes, such as the width of the pile itself, the position of the contact line between the pile and the ground, the size of the identification codes, the distance between the identification codes, and the installation position of the identification codes on the pile. Therefore, the aforementioned geometric prior values of the pile and identification codes can be used as hyperparameters for correction, enabling the reverse calculation of camera extrinsic parameters and thus achieving camera self-calibration.
[0067] Specifically, in existing technologies, the primary function of camera extrinsic parameters is to perform coordinate transformation. The general process involves multiplying the object's coordinates in the world coordinate system with a rotation / translation matrix to obtain the object's coordinates in the camera coordinate system. Then, the camera's intrinsic parameters are used for perspective mapping to the image coordinate system, followed by a simple two-dimensional transformation to obtain the pixel coordinates. In this embodiment, the pixel coordinates are known quantities, which can be identified by existing target recognition technology in the image. The two-dimensional transformation matrix used to calculate the pixel coordinates is also known; therefore, the coordinates in the image coordinate system can be deduced from the pixel coordinates. The main parameter in the camera's intrinsic parameters used to calculate the image coordinates is the camera's focal length, which can be obtained from the camera itself. Therefore, the camera's intrinsic parameters can also be considered known. The focal length can be used to supplement the missing depth information in the two-dimensional image coordinates, and the coordinates in the three-dimensional camera coordinate system can be deduced from the camera's intrinsic parameters. Since the geometric prior values of the pile foundation and the identification code are known and fixed, the correct extrinsic parameters of the camera can be further deduced when the camera is determined to have shifted. In practice, the above process can be performed by multiple cameras for cross-validation.
[0068] This embodiment can achieve self-calibration of camera extrinsic parameters to a certain extent, so that there is no need to stop the machine for recalibration every time the camera position changes. Relevant personnel only need to recalibrate the camera in half a day, a day, or when the error is extremely large. This significantly reduces the frequency of needing to stop the machine for recalibration and further improves the efficiency of the present invention for pile driving monitoring.
[0069] In summary, the present invention has the following advantages: 1. During measurement, this invention does not require drilling holes on the surface of the pile. Simply use AB glue to attach the reflective coding mark to the surface of the pile in advance. There is no need to stop the machine for complicated operations, making it simple and efficient.
[0070] 2. This invention is a non-contact measurement method, which effectively reduces the safety risks to surveyors during pile driving operations.
[0071] 3. This invention can acquire multiple parameters such as pile settlement, penetration, verticality, rebound, hammer speed, hammer acceleration, soil bearing capacity, and number of hammer blows in real time with only one device, effectively reducing the testing cost.
[0072] 4. When applied to pile driving monitoring and measurement, the equipment only needs to be aligned with the precast pile to automatically complete the data collection, storage, processing and analysis without manual intervention, thus improving the product's intelligence level.
[0073] Please refer to the following: Figure 2 The present invention also provides a rapid non-contact piling monitoring method, applied to the rapid non-contact piling monitoring device described in any of the above claims, the method comprising: S201. Collect real-time data during pile driving. The real-time data includes pile driving images, which include the pile foundation and the identification code on the pile foundation. S202. Based on real-time data, pile driving monitoring data is obtained using a polygonal encoding array of the identification codes in the pile driving images.
[0074] This invention provides a rapid, non-contact pile driving monitoring device, comprising an identification code and a monitoring device. The identification code is fixed to the pile foundation, and the pattern on the identification code includes a polygonal code array. The monitoring device includes a monitoring module for collecting real-time data during pile driving, including pile driving images that show the pile foundation and the identification code on it. An analysis module is used to obtain pile driving monitoring data based on the real-time data and the polygonal code array of the identification code in the pile driving image. This invention, through the setting of the identification code, enables the monitoring device to identify changes in the position of the pile foundation during pile driving. Furthermore, through the perspective distortion of the polygonal code array on the identification code, the monitoring device can also identify changes in the posture of the pile foundation. Thus, this device can simultaneously monitor multiple pile driving parameters. Moreover, the invention requires no complex operation; besides fixing the identification code, no complex layout and installation work is needed, and multiple workers are not required during pile driving, solving the problem of low efficiency in existing pile driving monitoring technologies.
[0075] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.
[0076] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A rapid non-contact pile driving monitoring device, characterized in that, It includes identification codes and monitoring equipment, wherein the identification codes are used to fix the pile foundation, and the pattern on the identification codes includes a polygonal code array; the monitoring equipment includes: The monitoring module is used to collect real-time data during piling. The real-time data includes piling images, which include the pile foundation and the identification code on the pile foundation. The analysis module is used to obtain pile driving monitoring data based on real-time data and the polygonal encoding array of the identification codes in the pile driving images.
2. The rapid non-contact pile driving monitoring device according to claim 1, characterized in that, The pile driving monitoring data includes the real-time settlement and verticality of the pile foundation; Based on real-time data, and using a polygonal coded array of identifiers in the pile driving images, pile driving monitoring data is obtained, including: Based on real-time data, the settlement and verticality of the pile foundation are obtained by decoding the polygonal encoding array of the identification code in the pile driving image.
3. The rapid non-contact pile driving monitoring device according to claim 2, characterized in that, Based on real-time data, pile driving monitoring data is obtained using a polygonal coded array of identifiers in the pile driving images, and also includes: Based on the settlement, the velocity and acceleration of the pile foundation descent are obtained; Based on the comparison between speed and preset speed threshold, and acceleration and preset acceleration threshold, it is determined whether the real-time data is valid hammering data. Valid hammering data means that the real-time data is the data corresponding to a valid hammering action. Based on the effective hammering data, pile driving monitoring data is obtained.
4. The rapid non-contact pile driving monitoring device according to claim 3, characterized in that, Piling monitoring data also includes penetration depth, rebound rate, and bearing capacity; based on effective hammer blow data, piling monitoring data includes: The start time of obtaining continuous valid hammer impact data is taken as the start time of a single hammer impact. The maximum settlement value is calculated within a preset time window based on the start time to obtain the maximum settlement value for this hammer blow, wherein the start time of the preset time window is earlier than the start time. The effective settlement of this hammer blow is obtained based on the settlement after the maximum settlement within a preset time window based on the start time. The penetration depth of the hammer blow is obtained by comparing the effective settlement of the current blow with that of the previous blow. The rebound amount of the hammer blow is obtained by the difference between the maximum settlement and the effective settlement of the hammer blow. Based on the penetration and rebound of the hammer blow, the bearing capacity of the hammer blow is obtained using the Hayek formula.
5. The rapid non-contact pile driving monitoring device according to claim 4, characterized in that, Based on valid hammering data, pile driving monitoring data is obtained, which also includes: Obtain the time interval between the start times of two consecutive hammer blows, and use it as the first reference window; The time interval corresponding to the data acquisition time of the maximum settlement between two consecutive hammer blows is obtained and used as the second reference window; The preset time window is adjusted based on the first reference window and the second reference window.
6. The rapid non-contact pile driving monitoring device according to claim 5, characterized in that, The effective settlement of the hammer blow is obtained based on the settlement after the maximum settlement in the preset time window based on the start time, including: taking the value of the settlement at the end of the preset time window based on the start time as the effective settlement of the hammer blow; and the preset time window is corrected based on the first reference window and the second reference window, including: taking the average value of the first reference window, the second reference window and the preset time window to obtain the corrected preset time window.
7. The rapid non-contact pile driving monitoring device according to claim 2, characterized in that, The number of identification codes is at least two, with different patterns on each code, and at least two codes are vertically arranged on the pile foundation. Based on real-time data, the settlement and verticality of the pile foundation are obtained by decoding the polygonal encoding array of the identification codes in the pile driving images, including: Obtain the center position difference of multiple identification codes in the same piling image, and obtain the first vertical feature based on the center position difference; The second vertical feature is obtained based on the perspective deformation of the polygonal coding array in the identifier code; Compare the consistency between the first vertical feature and the second vertical feature to determine whether the camera extrinsic parameters need to be corrected.
8. The rapid non-contact pile driving monitoring device according to claim 7, characterized in that, Based on real-time data, the settlement and verticality of the pile foundation are obtained by decoding the polygonal encoding array of the identifiers in the pile driving images, and also include: If it is necessary to correct the camera's extrinsic parameters, the pile foundation is identified based on the pile driving images; The camera extrinsic parameters are corrected based on the geometric prior values of the pile foundation and the identification code.
9. The rapid non-contact pile driving monitoring device according to claim 3, characterized in that, The identification code surface is coated with infrared reflective material; the monitoring equipment includes a device end and a display end, wherein the device end includes a connected tripod, a two-dimensional pan-tilt unit, and an industrial control computer, infrared lens, battery, wireless router, angle sensor, industrial camera and infrared light source mounted on the two-dimensional pan-tilt unit, and the monitoring module and analysis module are both located in the industrial control computer; the display end is used to synchronously display real-time data and pile driving monitoring data; the industrial control computer is equipped with a dynamic cache unit and a local storage unit, with real-time data stored in the dynamic cache unit and effective hammer impact data stored in the local storage unit.
10. A rapid non-contact pile driving monitoring method, characterized in that, The method, applied to the rapid non-contact pile driving monitoring device according to any one of claims 1-9, comprises: Collect real-time data during pile driving, including pile driving images, which include the pile foundation and the identification code on the pile foundation. Based on real-time data, pile driving monitoring data is obtained using a polygonal encoding array of identifiers in the pile driving images.