Equipment, system and method for intelligent construction of bored piles in confined spaces

Abstract

FIELD: construction.SUBSTANCE: invention relates to equipment and a system for implementing a method for intelligently constructing bored piles in confined spaces. The equipment for intelligent construction of bored piles in confined spaces includes: a running gear (100), a chassis (101), a forward drive mechanism (102) and a steering mechanism (103), a multi-section drill rod system with high-precision control (200) including a mast (201), a lifting frame (202), a threaded drill rod (203), a rotary cutting bit (204), a lower support frame (205), a laser level (206), a laser rangefinder (207), a deviation correction mechanism (208) and an acoustic wave detection sensor (209). The mast (201) is installed on the chassis (101), the lifting frame (202) is mounted on the mast (201), a drive is installed on the lifting frame (202), the output of which is connected to the gearbox; the threaded drill rod (203) is connected to the gearbox and the rotary cutting bit (204) by means of internal and external threaded connections, and adjacent threaded drill rods (203) are connected in series by threaded connections; the lower support frame (205) is installed on the chassis (101) and put on the outer part of the drill rod; two sets of laser levels (206) are installed on the chassis (101) and are located at an angle of 90°; a laser range finder (207) is mounted on a chassis (101); two sets of deviation correction mechanisms (208) are mounted on the chassis (101) for correcting the position of the threaded drill rod (203) in the forward-backward and left-right directions; and four sets of acoustic wave detection sensors (209) are arranged on the outer side of the borehole, respectively; a vacuum separation and auger soil extraction unit (300), including a high-pressure fan (301), a cyclone separator (302) and a pressure sensor (303).EFFECT: providing intelligent control of bored pile construction operations in confined spaces and at deep drilling sites, providing intelligent scanning and model creation, intelligent marking and projection of points onto the terrain, intelligent planning of construction route, intelligent determination of borehole location, intelligent adjustment of spatial position and intelligent control of verticality and drilling depth.14 cl, 29 dwg

Description

[0001] CROSS-REFERENCES TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese Patent Application No. 202510111666.2 filed on [filing date - please fill in], entitled "EQUIPMENT, SYSTEM AND METHOD FOR INTELLIGENT DRILLING OF BORED PILES IN A CONFINED SPACE", the entire contents of which are incorporated herein by reference.

[0003] FIELD OF TECHNOLOGY

[0004] This application relates to the technical field of pile borehole construction in engineering design, in particular, to equipment, system and method for intelligent construction of bored piles in limited space conditions.

[0005] STATE OF THE ART

[0006] Rotary drilling rigs are modern engineering equipment that have been used for many years in the construction of infrastructure projects, including the installation of pile foundations for roads, bridges, and tunnels. However, with increasing urbanization, available space for work is becoming increasingly limited. Many traditional rotary drilling rigs are very tall and unsuitable for working in confined spaces. This has led to the active development of low-profile equipment for bored pile drilling, whose designs are constantly being optimized and manufacturing technologies are being improved.

[0007] A patent search revealed Chinese patent application CN202111104328.4, which describes the design of a low-profile rotary drilling rig. This rig comprises a tracked vehicle with a downward-pressure feed mechanism for the drilling tool. The drilling mechanism includes a drill rod, under which a soil hoisting mechanism is located. The soil hoisting mechanism includes a casing pipe mounted on the outside of the drill rod. A bulldozer attachment is mounted beneath the tracked vehicle. An advantage of this invention is the use of two motors and four gearboxes to drive the gearbox, providing increased rig power. Furthermore, the lateral placement of the motors relative to the gearbox reduces the vertical dimensions of the system, simplifying tunnel boring operations.

[0008] Chinese Patent Application CN202121838118.3 describes a low-profile piling drilling rig classified as construction equipment. The rig consists of a base platform, a mounting mast attached to the top of the platform, and a sliding carriage connected to the side of the mast. A transmission is mounted on the side of the sliding carriage, with a drive motor mounted on top. The motor output shaft is rigidly connected to the drill rod via the transmission. A gravity hook is mounted on the side of the drill rod. This low-profile piling drilling rig is additionally equipped with an expanding rotary bucket mounted on the auger drill. As the drill bit penetrates, the bucket rotates, breaking up the soil, thereby accelerating the drilling process.This technology prevents hazardous situations, reduces costs, and accelerates project progress, ensuring efficient operation. The installation's design is flexible and simple, and its height can be adjusted by adding or removing mast sections, ensuring safe operation in confined spaces beneath high-voltage power lines.

[0009] However, these prior art solutions lack a precise description of the technological process for intelligently constructing bored piles in confined spaces. Specifically, they lack sufficient detail on intelligent marking and route planning, precise control of drilling verticality and depth, targeted correction of drill rod deviation, and intelligent quality control of the completed borehole.

[0010] SUMMARY OF THE INVENTION

[0011] This invention addresses the technical problem of providing intelligent control for bored pile construction operations in confined spaces and at deep-drilling sites. These operations include intelligent scanning and model creation, intelligent marking and projection of points onto the ground, intelligent construction route planning, intelligent borehole location determination, intelligent spatial position adjustment, and intelligent control of verticality and drilling depth.

[0012] To solve the above technical problem, the author, based on practical activities and generalization of experience, developed a technical solution proposed in the present invention. The present invention offers the following technical solutions:

[0013] A method for intelligent construction of bored piles in confined spaces, including the following steps:

[0014] Step 1: Scanning the construction site and creating a model

[0015] Conducting a comprehensive scan of the construction site to obtain accurate 3D point cloud data. The point cloud data is converted into a 3D model using software, which is then integrated in real time with data received from the control system. This data fusion enables comprehensive monitoring and visualization of the construction site.

[0016] Stage 2: Marking, projecting points onto the terrain and adjustments

[0017] Contour marking of construction site boundaries. Adjustment of markings and assigned points using real-time data monitoring.

[0018] Stage 3: Automatic route planning for construction work

[0019] 3D image of the construction site is displayed. An automated route planning algorithm is used to create an optimal route for construction equipment. Drilling equipment follows the optimal route to the work site.

[0020] Step 4: Determining the location of the borehole

[0021] Marking the borehole location. When the drilling equipment approaches within 1 meter of the borehole location, the location is identified and a relative position signal is transmitted to the industrial personal computer (IPC).

[0022] After receiving the signal, the industrial PC calculates the required duration of the equipment's rotation and translation movements based on the measured relative distance. The industrial PC then sends signals to the PLC (programmable logic controller) control system. The PLC control system adjusts the duration of the rotation and translation movements to ensure a distance of less than 5 mm between the drill bit position and the center of the bored pile, after which the positioning process is complete.

[0023] Stage 5: Preparatory Operations Before Drilling

[0024] Select four points around the borehole location so that the bored pile is inscribed in a circle for these four points, and the distance from each point to the center of the bored pile is equal.

[0025] Installing an acoustic wave detection sensor at each point to conduct spectral and temporal analysis of the recorded acoustic signals.

[0026] Aligning the drilling equipment horizontally.

[0027] Stage 6: Drilling operations

[0028] The verticality control system detects whether the drill rod is exactly horizontal and vertical.

[0029] When the control system detects that the drill rod is in the vertical position, the drilling equipment will feed the drill rod down to perform drilling operations until the set depth is reached.

[0030] When a drill rod deviation is detected, the PLC-based control system immediately transmits the information to the operator. Using the data from the verticality control system, the operator uses the PLC-based control system to precisely adjust the drill rod's position, ensuring it maintains the specified angle.

[0031] Based on spectral and temporal analysis of acoustic signals received from acoustic wave detection sensors, the presence of damage to the soil structure around the bored pile that occurred during the drilling process is determined.

[0032] The drill bit rotation speed and drilling pressure are adjusted according to the acoustic monitoring results to minimize soil damage around the borehole.

[0033] Step 7: Retrieving the drill rod and monitoring the wellbore condition

[0034] After the well is formed, the drilling equipment extracts the rod from the borehole. During the extraction process, the well's condition is monitored in real time.

[0035] In one embodiment of this application, the actions within Stage 2 are performed as follows:

[0036] Step 21: Establishing a reference point for marking within the construction site.

[0037] Step 22: Using a laser surveying instrument to mark the boundaries of the construction site.

[0038] Step 23: In conjunction with real-time data monitoring, possible deviations in boundaries and marking points are determined.

[0039] If there are any deviations, the position of the markings is adjusted, after which Steps 21-23 are repeated.

[0040] If there are no deviations, the marking position is fixed, the data is recorded and archived, which completes the operation of marking, projecting points onto the terrain and adjusting them.

[0041] In one embodiment of the present application, the actions within Stage 3 are performed as follows:

[0042] Step 31: Obtaining 3D image and location of boreholes using laser scanner.

[0043] Step 32: Monitor the position and status of the equipment using the absolute positioning method.

[0044] Step 33: Planning the travel route according to the specified well locations.

[0045] Step 34: Using sensors to monitor the position and status of equipment in real time.

[0046] Step 35: Determine the presence of dynamic obstacles.

[0047] When an obstacle is detected, the system will generate an alarm on the display, and the PLC control system will initiate a speed reduction or a complete stop; then Steps 33-35 will be performed again.

[0048] If there are no obstacles, the movement continues until the target position is reached, which completes the automated construction route planning operation.

[0049] In one embodiment of the present application, Step 5 further includes intelligent adjustment of spatial position:

[0050] The drilling rig is equipped with a position sensor. The sensor's output signal is connected to the input interface of the PLC control system, and the control signal from the PLC control system's output is sent to an electronic hydraulic valve.

[0051] The PLC control system is activated, and the attitude sensor is simultaneously activated. The sensor detects the equipment's tilt angle in real time and transmits the measurement data to the PLC control system.

[0052] The PLC-based control system determines the horizontal position of the drilling equipment based on data from the attitude sensor and compares the measured level value with the system setpoint. If an inclination deviation is detected, the PLC-based control system calculates the position of the leveling hydraulic cylinder, which requires correction.

[0053] The PLC control system transmits a control signal to the electronic hydraulic valve to adjust the extension amount of the leveling hydraulic cylinder rod until the chassis is brought to a horizontal position.

[0054] In one embodiment of the present application, at Step 6, the verticality control system includes two sets of laser levels, and the deviation correction system includes two sets of deviation correction mechanisms. The two sets of laser levels are located along the X and Y axes, respectively; the two sets of deviation correction mechanisms are also located along the X and Y axes.

[0055] The steps of verticality control and deviation correction are as follows:

[0056] Step 61: Laser levels determine the horizontality of the chassis along the X and Y axes.

[0057] Step 62: The chassis horizontality along the X-axis is checked.

[0058] Step 63: When the X-axis deviation is out of the horizontal position, the X-axis deviation correction mechanism fine-tunes the drill rod position in the opposite direction until the X-axis chassis is horizontal; if the X-axis is horizontal, the process for that axis is completed.

[0059] Step 64: The chassis Y-axis levelness is checked.

[0060] Step 65: When the Y-axis deviation is out of the horizontal position, the Y-axis deviation correction mechanism fine-tunes the drill rod position in the opposite direction until the Y-axis chassis is horizontal; if the Y-axis is horizontal, the process for this axis is completed.

[0061] In one embodiment of the present application, a sealing system is provided on the upper outer portion of the rotary cutting bit. This system is designed to seal the gap between the upper portion of the rotary cutting bit and the borehole wall.

[0062] In one embodiment of the present application, the aforementioned sealing system includes first and second air chambers, positioned one above the other. A retaining sleeve is mounted on the inner sides of each chamber, pre-installed with air supply and air outlet channels connected to the air chambers. The retaining sleeve is secured to the outer side of the rotary cutting bit. The first and second air chambers operate alternately.

[0063] In one embodiment of the present application, the aforementioned sealing system includes an annular pneumatic chamber. An internal sleeve is mounted on the inner side of the annular pneumatic chamber, which, in turn, is mounted on the outer upper surface of the rotary cutting bit and does not rotate relative to it. Limiting discs, whose outer diameter is smaller than the borehole diameter, are located on the upper and lower portions of the internal sleeve.

[0064] An elastic spiral rib is built into the annular pneumatic chamber. A transfer spiral rib is mounted on the outer side of the inner sleeve. During rotary drilling with a rotary cutting bit, the transfer spiral rib engages with the elastic spiral rib on the inner wall of the annular pneumatic chamber, causing the annular pneumatic chamber to rotate autonomously between two restrictor discs, while its outer wall maintains tight contact with the borehole wall.

[0065] In one embodiment of the present application, a rotary cutting bit comprises a drill bit body, as well as first and second cutting plates located axially on the outer side of the drill bit body. The lower portion of the drill bit body has an open structure. The first cutting plate is located below the second.

[0066] In one embodiment of the present application, the second cutting insert includes a cutting insert body rotatably mounted on the lower outer portion of the bit body. A push rod is mounted on the inner side of the upper portion of the cutting insert body, one end of which is rotatably located on the cutting insert body, and the other end of which is rotatably connected to a slider. The slider is axially slidable on the outer side of the bit body. The axial position of the slider relative to the bit body is adjustable.

[0067] In one embodiment of the present application, a protective housing is mounted on the outside of the bit body, containing a detection device. A rotating sealing plate is mounted at the bottom of the protective housing. An electric telescopic rod is connected to the bottom of the sealing plate, and the outlet end of the rod is rotatably mounted on a slider.

[0068] In one embodiment of the present application, an axial guide rack is mounted on the outer side of the drill bit body for mounting a slider. A retaining toothed rack is located in the middle of the axial guide rack. The slider is equipped with a slotted groove, inside which a sliding T-shaped block is installed. The direction of movement of the T-shaped block is perpendicular to the location of the axial guide rack. The T-shaped block is equipped with a through groove and an adjustment groove, which are interconnected and located perpendicular to each other. The output end of the electric telescopic rod passes through the through groove and is connected to a connecting block. The connecting block is mounted so as to slide inside the adjustment groove. The adjustment groove gradually deviates from the axial guide rack in the direction away from the electric telescopic rod.On the side of the T-shaped block facing the retaining toothed rack, an elastic retaining block is installed, which is designed to engage with the retaining toothed rack.

[0069] In one embodiment of the present application, the elastic retaining block includes a mounting groove formed on the side of the T-shaped block and adjacent to the retaining rack. A spring housing and a movable element are installed in the mounting groove. A limiting plate is placed on the outer part of the movable element and secured to the side of the T-shaped block adjacent to the retaining rack. A unidirectional toothed block, interacting with the retaining rack, is secured to the end of the movable element at a distance from the mounting groove.

[0070] Intelligent system for construction of bored piles in limited space conditions, comprising:

[0071] Construction site scanning and modeling module, including laser scanner to perform comprehensive scanning of the construction site.

[0072] Construction boundary marking and point projection module, including a laser surveying device for marking the boundaries of a construction site.

[0073] A route planning module for equipment movement and construction work, incorporating ultrasonic sensors and an automated route planning module. Ultrasonic sensors are used to detect dynamic obstacles during movement, while the automated route planning module uses a 3D image obtained by a laser scanner and dynamic obstacle information to automatically plot a route.

[0074] Borehole Location Module Including a Visual Inspection Camera. The visual inspection camera is designed to locate the borehole and transmit the relative position signal to an industrial personal computer (IPC).

[0075] The intelligent bored pile construction equipment in limited space, as described previously, is used to carry out drilling work at the borehole location.

[0076] An automatic leveling module consisting of a position sensor, leveling hydraulic cylinders, and an electronic hydraulic valve. The position sensor is used to determine the real-time tilt angle of the construction equipment, the leveling hydraulic cylinders are mounted on the drilling equipment, and the electronic hydraulic valve is used to adjust the extension of the leveling hydraulic cylinders.

[0077] PLC-based control system and industrial PC. The PLC-based control system and industrial PC are interconnected. The PLC-based control system is additionally connected to a laser scanner, a laser surveyor, ultrasonic sensors, a visual inspection camera, a spatial position sensor, and an electronic hydraulic valve.

[0078] Compared with the prior art, the present invention has the following advantages:

[0079] 1. The construction method described in this invention is based on an intelligent control approach, enabling automation of the construction process. A laser scanner scans the construction site to create a 3D model, which is then combined in real time with control system data using data fusion technology, enabling comprehensive site monitoring and visualization. Next, a laser surveyor marks the boundaries of the construction zone. The laser scanner then recreates the 3D image, and an automated route planning algorithm generates the optimal route. A visual control camera determines the location of the drillhole, which is transmitted to an industrial PC. After calculations, the forward and slewing mechanism operating times are adjusted to precisely position the drill bit at a distance of less than 5 mm from the borehole location.Acoustic wave detection sensors are embedded around the bored pile to monitor the borehole wall quality. During drilling, two sets of laser levels determine the verticality of the drill rod along the X and Y axes. If there is any deviation, appropriate correction components are used to adjust the drill rod's position. After drilling is completed, the borehole condition can be monitored in real time during the extraction of the drill rod, preventing problems with the bored pile quality that may arise from previously undetected borehole wall collapses.

[0080] 2. This invention features intelligent marking. Based on the resulting 3D model of the construction site, data is merged for real-time monitoring and visualization of the construction site. Intelligent marking also enables automatic marking and drilling of boreholes on the construction site.

[0081] 3. This invention features intelligent construction route planning. Based on a 3D image reconstructed by a laser scanner and the location of drill holes, an automated route planning algorithm generates an optimal route for moving construction equipment to the target area.

[0082] 4. This invention features intelligent borehole location detection. A visual inspection camera detects the borehole's location near the target zone and transmits a relative position signal to an industrial PC. Equipment adjustment parameters are then calculated. Since the forward and slewing speeds remain constant, the PLC-based control system adjusts the equipment's forward and slewing times, ensuring the distance between the drill bit and the borehole is less than 5 mm.

[0083] 5. This invention features intelligent control of drilling verticality and depth. Two sets of laser levels are used to continuously monitor the horizontal plane. If any deviation from the vertical occurs, the PLC-based control system and industrial PC automatically configure and monitor the corresponding correction components to intelligently adjust the drill rod position. At the initial stage of drilling, the drill bit is set to a position of minimal contact with the ground. A laser rangefinder is installed on the chassis, measuring the initial distance between the lower surface of the lifting frame and the rangefinder itself, the value of which is set to x0. Let m be the number of drill rod sections already installed, with an initial value of 0, and the value of m is increased by 1 each time the rod is replaced.During drilling, the actual distance from the laser rangefinder to the bottom surface of the lifting frame is measured as x1 and transmitted to the PLC. When x0 − x1 = L, where L is the length of one drill rod section, the current drill rod reaches its maximum position. Drilling stops, and the rod change process begins. After the rod change, drilling continues. The total drilling depth in real time, x3, can be determined from x3 = mL + (x0 − x1), allowing for precise control of the bit's penetration depth.

[0084] 6. The present invention has the function of intelligently assessing the integrity of the soil structure during drilling operations. Acoustic monitoring sensors are embedded within a marked circular area of ​​the soil. Each acoustic monitoring sensor is located approximately 50-60 cm from the marked point. The sensors can determine the integrity of the soil structure by collecting acoustic data between the drill rod and the soil layer, and drilling operations can be adjusted based on the feedback data.

[0085] 7. The present invention has an intelligent leveling function. The PLC-based control system is activated, and the attitude sensor is simultaneously activated. The sensor detects the tilt angle of the equipment in real time and transmits the measurement data to the PLC-based control system. The PLC-based control system determines the horizontality of the chassis based on the data from the attitude sensor and compares the measured level value with the set system value. Upon detecting an inclination or height deviation, the PLC-based control system calculates the position of the leveling hydraulic cylinder, which requires correction. The PLC-based control system transmits a control signal to the electronic hydraulic valve to adjust the extension of the leveling hydraulic cylinder until the chassis is level.

[0086] 8. The drilling equipment used in this invention is a multi-section drill rod system with high-precision control. The rods are assembled and connected using internal and external threaded connections. A rotary cutting bit is mounted at one end, and the other end is connected to a gearbox and a corresponding drive motor. The motor rotates the bit to form a hole of a predetermined depth. The standard length of the multi-section drill rods ensures precise control of the drilling depth. In conjunction with the vacuum separation unit and auger soil extraction system, internal soil is removed from the pile. A pressure sensor monitors the pressure in the soil unloading system in real time. If the pressure is exceeded, the system detects a blockage, causing a shutdown for diagnostics and repairs, preventing damage to the equipment.

[0087] 9. The drill bit used in the present invention has a sealed structure, ensuring effective sealing at the base. Compared with the seals of traditional wellbore cleaning designs, the seal in the present application is dynamic. The technical challenge lies in using a sealing structure at the top of the bit to enhance the negative pressure at its bottom during continuous rotary downfeed drilling, ensuring effective and timely removal of the pile's internal soil.While simply increasing the negative pressure power may improve the soil removal efficiency of the pile, it will have the following consequences: first, energy consumption will increase significantly, and the large dimensions of the high-pressure fan contradict the concept of minimizing equipment size; second, the noise characteristics and intensity of the removed air will be significant, which, in confined spaces, can easily damage the soil structure near the construction zone (at the top or sides); third, increased vibration will affect the soil structure inside the borehole and may also increase the likelihood of acoustic sensor errors. The use of dynamic compaction also allows for the application of a certain pressure on the borehole wall structure, reducing the risk of borehole collapse and soil shedding caused by loose soil on the walls.Finally, the dynamic compaction method prevents the drill bit from shifting during the downward movement, which significantly reduces the risk of deviation during rotary drilling.

[0088] The second cutting plate at the top of the drill bit used in this invention has two states. The first is the deployed state during rotation: the detection device is located inside the protective cover in an inactive mode. The second is the retracted state during extraction: the detection device extends from the protective cover. Firstly, this ensures that the cutting plate does not contact the borehole wall, reducing the risk of soil collapse and soil slumping during bit extraction. Secondly, the detection device can monitor the borehole space during tool retrieval, identifying collapsed soil, loose sections, or defects in the borehole, enabling timely repairs.

[0089] BRIEF DESCRIPTION OF DRAWINGS

[0090] Fig. 1 is a block diagram of a construction method according to the present invention.

[0091] Fig. 2 is a block diagram of the process of marking, projecting points onto the terrain and adjusting according to the present invention.

[0092] Fig. 3 is a block diagram of the automated route planning of construction work according to the present invention.

[0093] Fig. 4 is a block diagram of the verticality control process according to the present invention.

[0094] Fig. 5 is a block diagram of the control principle of the construction system according to the present invention.

[0095] Fig. 6 is a diagram of the structure of construction equipment according to the present invention.

[0096] Fig. 7 is a partially enlarged image of the area marked A in Fig. 6.

[0097] Fig. 8 is a first diagram of the structure of a rotary cutting bit according to the present invention.

[0098] Fig. 9 is a second diagram of the structure of a rotary cutting bit according to the present invention.

[0099] Fig. 10 is a phase diagram showing the first air chamber after it has been lifted in Fig. 9.

[0100] Fig. 11 is a partially enlarged image of the area marked B in Fig. 9.

[0101] Fig. 12 is a diagram showing the relationship between the slider and the T-block in Fig. 11.

[0102] Fig. 13 is a diagram of the design of the slider according to the present invention.

[0103] Fig. 14 is a diagram of the structure of the elastic retaining block according to the present invention.

[0104] Fig. 15 is a third diagram showing the structure of a rotary cutting bit according to the present invention.

[0105] Fig. 16 – diagram of the design of the annular pneumatic chamber shown in Fig. 15.

[0106] Fig. 17 is a diagram of the design of the protective casing according to the present invention.

[0107] Fig. 18 is a diagram of the structure of the lower support frame according to the present invention.

[0108] Fig. 19 is a diagram of the structure of the deviation correction system according to the present invention.

[0109] Fig. 20 is a diagram of the structure of the first manipulator for moving the rotating tool holder according to the present invention.

[0110] Fig. 21 is a diagram of the structure of the second manipulator for moving the rotating tool holder according to the present invention.

[0111] Fig. 22 is a diagram of the structure of a rack for storing drill rods according to the present invention.

[0112] Fig. 23 is a diagram of the design of the running gear according to the present invention.

[0113] Fig. 24 is a diagram showing the arrangement of acoustic wave detection sensors according to the present invention.

[0114] Fig. 25 is a diagram of the design of a drill bit body with an integrated cleaning system according to the present invention.

[0115] Fig. 26 is a diagram of the design of the cleaning system according to the present invention.

[0116] Fig. 27 is a vertical sectional view of a connecting ring according to the present invention.

[0117] Fig. 28 is a cross-sectional view of the connecting ring and the body of the drill bit according to the present invention.

[0118] Fig. 29 is a partially enlarged image of the area marked C in Fig. 28.

[0119] Item numbers:

[0120] 100: Chassis

[0121] 101: Chassis

[0122] 102: Forward mechanism

[0123] 103: Steering gear

[0124] 200: Multi-section drill rod system with high precision control

[0125] 201: Mast

[0126] 202: Lifting frame

[0127] 203: Threaded Drill Rod

[0128] 204: Rotary cutting bit

[0129] 2041: Drill bit body

[0130] 20411: Connecting ring

[0131] 20412: Connecting rod

[0132] 20413: Cleaning system

[0133] 20414: Electromagnet

[0134] 20415: Elastic element

[0135] 20416: Nesting case

[0136] 20417: Annular pneumatic chamber

[0137] 20418: Pump module

[0138] 2042: First cutting plate

[0139] 2043: Second cutting plate

[0140] 20431: Plate body

[0141] 20432: Push rod

[0142] 20433: Crawler

[0143] 20434: Protective cover

[0144] 20435: Electric telescopic rod

[0145] 20436: Detection Tool

[0146] 20437: Axial guide rack

[0147] 20438: T-block

[0148] 20439: Through groove

[0149] 204310: Connection block

[0150] 204311: Adjustment groove

[0151] 204312: Elastic retaining block

[0152] 2043121: Spring housing

[0153] 2043122: Movable element

[0154] 2043123: Limit plate

[0155] 2043124: Unidirectional gear block

[0156] 204313: Retaining toothed rack

[0157] 205: Lower support frame

[0158] 206: Laser level

[0159] 207: Laser rangefinder

[0160] 208: Deviation Correction Mechanism

[0161] 209: Acoustic Wave Detection Sensor

[0162] 210: Sealing system

[0163] 211: First air chamber

[0164] 212: Second air chamber

[0165] 213: Annular pneumatic chamber

[0166] 214: Inner bushing

[0167] 215: Limiter disk

[0168] 216: Elastic spiral rib

[0169] 217: Transfer Spiral Rib

[0170] 218: Locking sleeve

[0171] 219: First manipulator for moving the rotating tool holder

[0172] 220: Second manipulator for moving the rotating tool holder

[0173] 221: Drill Rod Storage Rack

[0174] 300: Vacuum Separation and Auger Soil Extraction Unit

[0175] 301: High pressure fan

[0176] 302: Cyclone separator

[0177] 303: Pressure sensor

[0178] 304: Connecting tube

[0179] 400: Laser Scanner

[0180] 500: Laser surveying instrument

[0181] 600: Ultrasonic sensor

[0182] 700: Visual inspection camera

[0183] 800: Attitude Sensor

[0184] 900: Leveling hydraulic cylinder

[0185] 1000: Electronic hydraulic valve

[0186] DETAILED DESCRIPTION

[0187] The technical solutions in the embodiments of the present invention will be described in detail and fully below in conjunction with the drawings provided in the examples of the present invention. However, it should be understood that the described examples represent only a portion of the embodiments of the invention, and are not an exhaustive list of all possible embodiments.

[0188] As shown in Fig. 1, the intelligent construction method of bored piles in limited space includes the following steps:

[0189] Step 1: Scanning the construction site and creating a model

[0190] Conduct a comprehensive scan of the construction site to obtain accurate 3D point cloud data. The point cloud data is converted into a 3D model using software, which is then integrated with real-time data received from the control system. This data fusion enables comprehensive monitoring and visualization of the construction site.

[0191] Stage 2: Marking, projection of points onto the terrain and adjustment

[0192] Contour marking of construction site boundaries. Adjustment of markings and assigned points using real-time data monitoring.

[0193] Stage 3: Automatic route planning for construction work

[0194] 3D image of the construction site. An automated route planning algorithm is used to create an optimal route for construction equipment. Drilling equipment follows the optimal route to the work site.

[0195] Step 4: Determining the location of the borehole

[0196] Marking the borehole location. When the drilling equipment approaches within 1 meter of the borehole location, the location is identified and a relative position signal is transmitted to the industrial personal computer (IPC). After receiving the signal, the IPC calculates the required duration of the equipment's rotation and translation movements based on the measured relative distance. The IPC then sends signals to the PLC-based control system. The PLC-based control system adjusts the duration of the rotation and translation movements to ensure a distance of less than 5 mm between the drill bit position and the bored pile center, after which the positioning process is completed.

[0197] Step 5: Preparatory Operations Before Drilling

[0198] Select four points around the borehole location such that the bored pile is inscribed within a circle for these four points, and the distance from each point to the bored pile center is equal. Install an acoustic wave detection sensor 209 at each point to conduct spectral and temporal analysis of the recorded acoustic signals. Align the drilling equipment horizontally.

[0199] Stage 6: Drilling operations

[0200] The verticality control system determines whether the drill rod is horizontal or vertical. If the control system detects that the drill rod is vertical, the drilling equipment feeds the rod down to perform drilling operations until the set depth is reached. If any deviation of the drill rod is detected, the PLC-based control system immediately transmits the information to the operator. Based on the data from the verticality control system, the operator uses the PLC-based control system to precisely adjust the position of the drill rod, ensuring its alignment with the set angle. Based on spectral and temporal analysis of acoustic signals received from 209 acoustic wave detection sensors, the presence of damage to the soil structure around the bored pile caused by the drilling process is determined.The drill bit rotation speed and drilling pressure are adjusted according to the acoustic monitoring results to minimize damage to the soil around the borehole.

[0201] Step 7: Retrieving the drill rod and monitoring the wellbore condition

[0202] After the well is formed, the drilling equipment extracts the rod from the borehole. During the extraction process, the well's condition is monitored in real time.

[0203] As shown in Fig. 2, the actions in Stage 2 are performed as follows:

[0204] Step 21: Establishing a reference point for marking within the construction site.

[0205] Step 22: Using the 500 laser surveying instrument to mark the boundaries of the construction site.

[0206] Step 23: In conjunction with real-time data monitoring, possible deviations in boundaries and marking points are determined.

[0207] If there are any deviations, the position of the markings is adjusted, after which Steps 21-23 are repeated.

[0208] If there are no deviations, the marking position is fixed, the data is recorded and archived, which completes the operation of marking, projecting points onto the terrain and adjusting them.

[0209] As shown in Fig. 3, the actions in Step 3 are as follows:

[0210] Step 31: Obtaining 3D image and location of boreholes using laser scanner 400.

[0211] Step 32: Monitor the position and status of the equipment using the absolute positioning method.

[0212] Step 33: Planning the travel route according to the specified well locations.

[0213] Step 34: Using sensors to monitor the position and status of equipment in real time.

[0214] Step 35: Determine the presence of dynamic obstacles.

[0215] When an obstacle is detected, the system will generate an alarm on the display, and the PLC control system will initiate a speed reduction or a complete stop; then Steps 33-35 will be performed again.

[0216] If there are no obstacles, the movement continues until the target position is reached, which completes the automated construction route planning operation.

[0217] Stage 5 implements intelligent attitude control: an attitude sensor 800 is installed on the drilling rig. The output signal of the attitude sensor 800 is connected to the input interface of the PLC control system, and the control signal from the output of the PLC control system is sent to the electronic hydraulic valve 1000. The PLC control system is started, and the attitude sensor 800 is simultaneously activated. The attitude sensor 800 detects the tilt angle of the equipment in real time and transmits the measurement data to the PLC control system. The PLC control system determines the horizontality of the drilling rig based on the data from the attitude sensor 800 and compares the measured level value with the set system value. When an inclination deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder 900, which requires correction.The PLC-based control system transmits a control signal to the electronic hydraulic valve 1000 to adjust the amount of extension of the rod of the leveling hydraulic cylinder 900 until the chassis 101 is brought to a horizontal position.

[0218] As shown in Fig. 4, the actions in Step 6 are performed as follows:

[0219] Step 61: Laser levels 206 determine the horizontality of chassis 101 along the X and Y axes.

[0220] Step 62: The chassis horizontality along the X-axis is checked.

[0221] Step 63: When the X-axis deviation is not horizontal, the X-axis deviation correction mechanism 208 finely corrects the position of the drill rod in the opposite direction until the X-axis chassis 101 reaches horizontal; if the horizontal is reached, the process for this axis is completed.

[0222] Step 64: The chassis Y-axis levelness is checked.

[0223] Step 65: When the Y-axis deviation is not horizontal, the Y-axis deviation correction mechanism 208 finely corrects the position of the drill rod in the opposite direction until the Y-axis chassis 101 reaches horizontal; if the horizontal is reached, the process for this axis is completed.

[0224] As shown in Fig. 6, the equipment for intelligent construction of bored piles in limited space conditions, designed to implement the above-mentioned method, includes:

[0225] The running gear 100 includes a chassis 101, a forward gear 102, and a steering gear 103. The forward gear 102 and the steering gear 103 are used for forward movement and turning, respectively. The forward gear 102 includes a battery, a 7.5 kW motor, a pulley drive system, a gearbox, a differential, a PLC touch panel, and a speed sensor. The steering gear 103 includes a differential. The battery is connected to the 7.5 kW motor to supply electric power. The forward / reverse rotation and speed of the motor are adjusted by the PLC programmable controller. The 7.5 kW electric motor transmits power to the gearbox through the pulley drive system. The gearbox reduces the speed of the motor and increases the torque, which is transmitted to the differential, and the differential distributes the power to the left and right wheels.The speed sensor is mounted on the engine output shaft and provides feedback on the tracked vehicle's operating speed. The PLC touchscreen control panel implements closed-loop control based on the speed sensor's feedback signal. System status monitoring and control are accomplished through the touchscreen interface, providing full control over the speed, direction, start, and stop of the 7.5 kW motor.

[0226] As shown in Fig. 6-20, the high-precision control multi-section drill rod system 200 includes a mast 201, a lifting frame 202, a threaded drill rod 203, a rotary cutting bit 204, a lower support frame 205, a laser level 206, a laser range finder 207, a deviation correction mechanism 208, an acoustic wave detection sensor 209, as well as a first manipulator for moving a rotating tool holder 219, a second manipulator for moving a rotating tool holder 220 and a drill rod storage rack 221. Several sections of threaded drill rods 203 are orderly arranged in the drill rod storage rack 221. The second manipulator for moving a rotating tool holder 220 removes the threaded drill rod 203 from the drill rod storage rack 221, and the first The manipulator for moving the rotating tool holder 219 installs it into the connecting port of the gearbox and the corresponding threaded drill rod 203.The first and second manipulators for moving the rotating tool holder (219, 220) are capable of gripping, placing and rotating the drill rod in a horizontal plane, as well as adjusting its vertical position, thereby ensuring the gripping, placement, assembly and disassembly of the drill rod.

[0227] Mast 201 is mounted on chassis 101. Lifting frame 202 is mounted on mast 201 and can be adjusted in height relative to mast 201. Lifting frame 202 is in vertical sliding engagement with mast 201. A drive mechanism is mounted on mast 201, which can be implemented as a hydraulic cylinder or other means for driving lifting frame 202 in reciprocating up and down motion.

[0228] A drive (preferably a servo motor) is mounted on the lifting frame 202, the output of which is connected to a gearbox. A threaded drill rod 203 is connected to the gearbox and a rotary cutting bit 204 via internal and external threaded connections, and adjacent threaded drill rods 203 are connected in series by threaded connections. A lower support frame 205 is mounted on the chassis 101 and put on the outer part of the drill rod; it is used to maintain the borehole within a certain vertical range during the drilling process, preventing excessive deviation that can lead to jamming and damage to the equipment. The drive, through the gearbox, rotates the threaded drill rod 203 and the rotary cutting bit 204 to excavate the soil at the drilling site. At the same time, the drive mechanism drives the lifting frame 202 to move downward, performing soil excavation and drilling operation.When the upper portion of one section of threaded drill rod 203 reaches the desired depth, its upper portion is disconnected from the gearbox, and the drive mechanism returns the lifting frame 202 to its original position. The manipulators extract the next threaded drill rod 203 and, together with the drive, install it on the upper portion of the lower rod, forming a single unit. The upper portion is then connected to the gearbox to complete the assembly. After assembly, rotary drilling continues until the desired depth is reached. Upon completion of the drilling operation, the threaded drill rods 203 are extracted one by one in reverse order.

[0229] Two sets of laser levels 206 are installed on the chassis 101: one at the front (X axis) of the threaded drill rod 203, and the other at the side (Y axis); both sets are located at an angle of 90°. A laser rangefinder 207 is installed on the chassis 101. The two sets of laser levels 206 form a verticality control system. Two emitted laser beams indicate whether the drill rod is in the vertical position. When deviations are detected, the PLC-based control system activates the deviation correction mechanism 208 to finely adjust the position of the drill rod in the opposite direction until the set position is reached. The verticality control system determines whether the drill rod is exactly horizontal and vertical. If the control system detects that the drill rod is in the vertical position, the drilling equipment feeds the drill rod downward to perform drilling operations until the set depth is reached.When a drill rod deviation is detected, the PLC-based control system immediately transmits the information to the operator. Using data from the verticality control system, the PLC-based control system uses the deviation correction system to precisely adjust the drill rod's position, ensuring it maintains the specified angle.

[0230] Procedure: 1. The laser levels 206 detect the horizontality of the chassis 101 along the X and Y axes. 2. The horizontality of the chassis along the X axis is checked. 3. If it is not horizontal, the X axis deviation correction mechanism 208 fine-adjusts the position of the drill rod in the opposite direction and proceeds to step 4; if it is horizontal, the process is completed. 4. Repeat steps 1 and 3 until the chassis 101 along the X axis is horizontal. 5. The horizontality of the chassis along the Y axis is checked. 6. If it is not horizontal, the Y axis deviation correction mechanism 208 fine-adjusts the position of the drill rod in the opposite direction and proceeds to step 7; if it is horizontal, the process is completed. 7. Repeat steps 1, 5 and 6 until the chassis 101 along the Y axis is horizontal.

[0231] Two sets of deviation correction mechanisms 208 are installed on the chassis 101 to correct the position of the threaded drill rod 203 in the forward-backward and left-right directions. The deviation correction mechanisms 208 are two electric grippers used to finely adjust the position of the threaded drill rod 203 in the forward-backward and left-right directions. The two sets of deviation correction mechanisms 208 form a deviation correction system.

[0232] The laser rangefinder 207 is used to monitor the distance between the lower surface of the lifting frame 202 and the rangefinder 207 itself in real time, which in turn can accurately control the drilling depth based on the number of drill rod sections installed.

[0233] At the initial stage of drilling, the drill bit is set to the position of minimum contact with the ground. Since the laser rangefinder 207 is pre-installed on the chassis 101, the initial distance between the bottom surface of the lifting frame 202 and the laser rangefinder 207 itself is measured and set as x0. Let m be the number of already installed drill rod sections with an initial value of 0, and the value of m is increased by 1 with each rod change. During drilling, the actual distance from the laser rangefinder 207 to the bottom surface of the lifting frame 202 is measured as x1 and transmitted to the PLC. When x0−x1 =L, where L is the length of one drill rod section, the current drill rod reaches its limit position. Drilling stops, and the rod change process begins. After the rod change, drilling continues. The total drilling depth in real time x3 can be determined from x3 = mL+(x0−x1), which allows for precise control of the bit penetration depth.

[0234] During drilling operations, during deepening and removal of loads, associated impacts may occur that lead to disruption of the soil integrity on the borehole walls. Therefore, an assessment of the soil condition on the borehole walls is required.

[0235] Four sets of acoustic wave detection sensors 209 are respectively placed on the outer side of the borehole such that the borehole forms an inscribed circle for the four sets of sensors 209. Each set of acoustic wave detection sensors 209 is located at a distance of 50-60 cm from the borehole. As an example, for a bored pile with a depth of 9 m in this embodiment, the sensors are buried 4.5 m below the soil layer. Based on the spectral and temporal analysis of the acoustic signals received from the acoustic wave detection sensors, the system determines the presence of damage to the soil structure around the bored pile caused by drilling. The drill bit rotation speed and drilling pressure are adjusted according to the acoustic monitoring results to minimize damage to the soil around the borehole.Ultrasonic testing, which uses ultrasonic waves propagating through the environment and reflecting or refracting upon encountering defects (cavings, cracks), allows for the structural integrity of bored piles to be assessed by analyzing the received ultrasonic signals. If a collapse occurs, the debris inside the borehole is cleared, followed by the injection of cement slurry or hardener into the collapsed area to further strengthen it and prevent further collapses.

[0236] The vacuum separation and auger soil extraction unit 300 includes a high-pressure fan 301, a cyclone separator 302, and a pressure sensor 303. The high-pressure fan 301 is connected to the cyclone separator 302 via a tube system, and a dust collector is installed on the air exhaust duct of the high-pressure fan 301. The cyclone separator 302 is connected to the connecting tube 304 via a flexible hose. The connecting tube 304 is mounted on the lifting frame 202 and connected to the internal cavity of the threaded drill rod 203. The pressure sensor 303 monitors the pressure data inside the unit and transmits feedback to the control system. The high-pressure fan 301, interacting with the hollow structure of the drill rod and bit, ensures the unloading of loess soil from the borehole. The soil undergoes phase separation in a cyclone separator 302, and the extracted rock is fed to a soil storage tank for centralized disposal.The gas is discharged directly after filtration in the dust collector.

[0237] Due to the use of rotary drilling in combination with vacuum soil removal, as well as the characteristics of loess soil and the open-top design of the bit, the power of the high-pressure fan 301 is insufficient to ensure timely and effective soil removal during rotary drilling. As a result, soil may accumulate near the bit's relief hole, potentially causing clogging. Simply increasing the power of the high-pressure fan 301 would increase the equipment's size and exhaust air volume, which, in a confined space, could easily affect the soil structure and contradict the intent of minimizing the equipment's size according to this invention.

[0238] In the above-mentioned construction equipment, a sealing system 210 is provided on the upper outer portion of the rotary cutting bit 204. The sealing system 210 is designed to seal the gap between the upper portion of the rotary cutting bit 204 and the borehole wall. This sealing system is a dynamic sealing structure. Compared with the static seals of traditional borehole cleaning structures, this sealing system can effectively ensure rapid soil discharge during rotary drilling.

[0239] In one embodiment of the dynamic compaction method, as shown in Fig. 9 and 10, the compaction system 210 includes a first air chamber 211 and a second air chamber 212, located one above the other. On the inner sides of the first and second air chambers (211, 212), a locking sleeve 218 is installed, in which air supply and air outlet channels are pre-installed, connected to the air chambers. The locking sleeve 218 is fixed on the outer side of the rotary cutting bit 204. The first and second air chambers (211, 212) operate alternately.

[0240] When performing rotary drilling with immersion of the rotary cutting bit 204, the air supply to the corresponding air supply and air outlet channels of the air chambers is performed in such a way as to ensure the alternate operation of the first air chamber 211 and the second pneumatic chamber 212, thereby sealing the upper part of the bit. As shown in Fig. 9 and Fig. 10, the side of the first and second air chambers (211, 212) that contacts the locking sleeve 218 is partially accommodated in the recess of the sleeve, and the rest of the structure fits tightly against its surface. During drilling with immersion of the tool, both air chambers (211, 212) can individually move upward by a certain distance relative to their locking sleeves 218. As shown in Fig.10, in the operating mode of the first air chamber 211, its inflated outer wall is pressed tightly against the borehole wall, while the second air chamber 212 is in a deactivated state (deflated) and does not interact with the borehole wall. During the deepening of the rotary cutting bit 204, the outer wall of the first air chamber 211 encounters resistance from the borehole wall, which leads to its upward movement relative to the rotary cutting bit 204. The second air chamber 212 operates similarly: when it is inflated and pressed against the borehole wall, the first chamber 211 is in a deactivated state (deflated). During the deepening of the rotary cutting bit 204, the outer wall of the second air chamber 212 encounters resistance. The reciprocating alternating operation of chambers 211 and 212 ensures continuous progressive deepening of bit 204.At the same time, pneumatic chambers perform preliminary compaction of the soil on the borehole walls, preventing the collapse of loose soil, which eliminates the need for a structure in the upper part to capture and remove collapsed soil within the framework of this application.

[0241] As shown in Fig. 15 and 16, in one embodiment of the dynamic compaction method, the compaction system 210 includes an annular pneumatic chamber 213. An internal sleeve 214 is mounted on the inner side of the annular pneumatic chamber 213, which, in turn, is mounted on the outer upper surface of the rotary cutting bit 204 and does not rotate relative to it. In the upper and lower parts of the inner sleeve 214, restrictive disks 215 are located, the outer diameter of which is smaller than the diameter of the well.

[0242] An elastic spiral rib 216 is built into the annular pneumatic chamber 213. A section of the elastic spiral rib 216 on the outer side of the annular pneumatic chamber 213 is stretched and thinned, while a section of the inner part is compressed and thickened, protruding outward and forming a leading spiral rib. A transmission spiral rib 217 is installed on the outer side of the inner sleeve 214. During rotary drilling with a cutting bit, the transmission spiral rib 217 engages with the elastic spiral rib 216 on the inner wall of the annular pneumatic chamber 213, causing autonomous rotation of the annular pneumatic chamber 213 between two limiting disks 215 according to a principle reminiscent of the operation of a transmission. During rotation of the annular pneumatic chamber 213, its outer wall is in tight contact with the borehole wall.

[0243] In the operating mode, while the inner sleeve 214 rotates together with the rotary cutting bit 204, the annular pneumatic chamber 213 is pre-filled with a certain amount of gas, which ensures its pressing against the borehole wall surface during drilling. The rotation of the inner sleeve 214 transmits the force through the transfer spiral rib 217 to the elastic spiral rib 216 located on the inner side of the end pneumatic chamber 213, causing its translational downward movement. As a result, the annular pneumatic chamber 213 rolls up along the outer side and down along the inner side between two limiting disks 215, due to which the outer wall of the annular pneumatic chamber 213 is constantly pressed against the borehole wall. The gas inside the annular pneumatic chamber 213 ensures its adhesion to the surface of the borehole wall, which also creates a certain degree of compaction of the borehole walls and minimizes the problem of loose soil crumbling.When the drill rod is extracted, gas is released from the annular pneumatic chamber 213 (an electromagnetic one-way diaphragm can be used for this purpose), which leads to a decrease in the thickness of the walls of the annular pneumatic chamber 213 and prevents damage to the borehole walls during the extraction process.

[0244] In the above-mentioned construction equipment, the rotary cutting bit 204 includes a drill bit body 2041, and first and second cutting plates (2042, 2043) axially disposed on the outer side of the drill bit body 2041. The lower part of the drill bit body 2041 has an open structure. The first cutting plate 2042 is located below the second cutting plate 2043. The working area of ​​the second cutting plate 2043 is larger than the working area of ​​the first cutting plate 2042, which achieves two-stage rotary drilling of the soil. This avoids the problem of excessive wear in single-stage drilling and promotes more efficient rotary downhole drilling to form a borehole. For example, a structure with fixed plates, as shown in Fig. 8, can be used.

[0245] In the above-mentioned construction equipment, the fixed plate structure has two states: retracted and extended, as shown in Fig. 9 and 15. The second cutting plate 2043 includes a plate body 20431 rotatably mounted on the lower outer portion of the bit body 2041. A pushing rod 20432 is mounted on the inner side of the upper portion of the plate body 20431, one end of which is rotatably located on the plate body 20431, and the other end thereof is rotatably connected to the slider 20433. The slider 20433 is slidably mounted on the outer side of the bit body 2041 in its axial direction. The axial position of the slider 20433 relative to the bit body 2041 is adjustable.Adjusting the axial position of slider 20433 controls the extension / retraction of plate body 20431, allowing for free switching between two positions: extended for rotary drilling and retracted for retrieving the drill rod. This solution prevents damage to the borehole walls and soil collapse, which could negatively impact the quality of the bored pile.

[0246] As shown in Fig. 9 and 15, in the above-mentioned construction equipment, a protective cover 20434 is installed on the outer side of the bit body 2041, inside which a detection means 20436 is located. A sealing plate with rotation is installed at the lower part of the protective cover 20434. An electric telescopic rod 20435 is rotatably connected to the lower part of the sealing plate, and the output end of the rod 20435 is rotatably fixed to the slider 20433.

[0247] The electric telescopic rod 20435 drives the runner 20433 along the axis of the bit body 2041, allowing free switching between the retracted and extended states. When retracting to retrieve the bit, the sealing plate flips down, opening the lower part of the protective cover 20434, providing access to the internal detection means 20436 for monitoring the borehole condition and promptly detecting soil collapses. When retracting for rotary drilling, the sealing plate rises, sealing the lower part of the protective cover 20434 and protecting the detection means 20436 from the impact of drilled soil.

[0248] As shown in Fig. 9-14, in the above-mentioned construction equipment, the axial guide rack 20437 is installed on the outer side of the drill bit body 2041. At both ends of the axial guide rack 20437, sealing plates are installed, which set the range of retraction and extension of the plate body 20431. The slider 20433 is mounted inside the axial guide rack 20437. In the middle of the axial guide rack 20437, the holding toothed rack 204313 is located. The slider 20433 is equipped with a slotted groove, inside which a sliding T-shaped block 20438 is installed. The direction of movement of the T-shaped block 20438 is perpendicular to the location of the axial guide rack 20437. The T-shaped block 20438 is equipped with a through groove 20439 and an adjusting groove 204311, which are interconnected and positioned perpendicular to each other. The output end of the electric telescopic rod 20435 passes through the through groove 20439 and is connected to the connecting block 204310.The connecting block 204310 is mounted with the possibility of sliding inside the adjusting groove 204311. The adjusting groove 204311 gradually deviates from the axial guide rack 20437 in the direction from the electric telescopic rod 20435. On the side of the T-shaped block 20438 facing the retaining toothed rack 204313, an elastic retaining block 204312 is mounted, which is intended to engage with the retaining toothed rack 204313.

[0249] Under actual operating conditions, the resistance during rotary downhole drilling increases significantly. The force exerted by the electric telescopic rod 20435 alone is insufficient to ensure the effective operation of the plate body 20431. When encountering hard rocks or underground obstacles, the resistance may reach critical values, causing damage to the electric telescopic rod 20435. To ensure two operating modes of the plate body 20431 while maintaining the efficiency of rotary downhole drilling, this design implements the directional movement of the slider 20433 along the axial guide rail 20437 until it fixes the extreme position along the axis of the drill bit body 2041. The position of the slider 20433 is fixed by extending the electric telescopic rod 20435.The elastic holding block 204312 together with the holding toothed rack 204313 prevents the reverse movement of the slider during drilling, which eliminates the transfer of working loads to the electric telescopic rod 20435. When retracting and adjusting the axial position of the slider 20433 upward, the connecting block 204310 shifts the T-shaped block 20438 from the holding toothed rack 204313, causing the disengagement of the elastic holding block 204312 and the holding toothed rack 204313. Subsequent retraction of the rod allows the body of the plate 20431 to fold, allowing the lifting of the drill rod without damaging the walls of the borehole.

[0250] As shown in Fig. 11 and 12, in the above-mentioned construction equipment, the elastic retaining block 204312 includes a mounting groove formed on the side of the T-shaped block 20438 and adjacent to the retaining toothed rack 204313. In the mounting groove, the spring housing 2043121 and the movable element 2043122 are installed. The limiting plate 2043123 is put on the outer part of the movable element 2043122 and is fixed on the side of the T-shaped block 20438 adjacent to the retaining toothed rack 204313. The unidirectional toothed block 2043124, interacting with the retaining toothed rack 204313, is fixed on the end of the movable element 2043122 at a distance from the mounting groove.In the extended position of the housing 20431, the spring housing 2043121 presses the unidirectional toothed block 2043124 against the retaining toothed rack 204313, ensuring the locking of the position of the slider 20433 and preventing its reverse movement, which eliminates the transfer of working loads to the electric telescopic rod 20435.

[0251] As shown in Figs. 25, 26, 27, 28, and 29, the above-mentioned construction equipment is equipped with a cleaning system on the outer side of the bit body 2041. The cleaning system includes a connecting ring 20411, which is mounted on the outer side of the bit body 2041 via a connecting element. The connecting element and the bit body 2041 are designed to be disassembled and reconnected. The lower part of the connecting ring 20411 is connected to the cleaning system by means of the connecting rod 20412. The cleaning system 20413 is located on the inner side of the drill bit body 2041. The connecting element includes a mounting hole formed on the inner side of the connecting ring 20411. An electromagnet 20414, an elastic element 2041, a socket body 20416 and a locking element holding the socket body 20416 within the mounting hole are installed in the mounting hole.One end of socket body 20416 passes through the locking element and enters a corresponding opening in the side wall of bit body 2041. When activated, electromagnet 2041 attracts socket body 20416, causing socket body 20416 to compress elastic element 20415 and exit the corresponding opening. To restore the locking element, electromagnet 20414 must be deactivated.

[0252] The size of the connecting ring 20411 is smaller than the working area of ​​the first cutting plate. The connecting ring 20411 is equipped with an annular pneumatic chamber 20417 and a pump module 20418, designed to inflate and deflate the annular pneumatic chamber 20417.

[0253] When pressure sensor 303 detects a change in pipeline pressure exceeding a set value, the system detects a blockage. Pump module 20418 receives the system command and inflates annular pneumatic chamber 20417 until it makes firm contact with the borehole wall. When activated, solenoid 20414 attracts socket housing 20416, removing it from the corresponding hole. The cyclic up-and-down movement of bit housing 2041 allows cleaning system 20413 to clean the interior of housing 2041. Upon completion of cleaning, solenoid 20414 is deactivated. Under the action of the elastic element 20415, the socket body 20416 returns to the corresponding hole, providing a connection between the connecting ring 20411 and the body of the bit 2041. After this, the pump module 20418 deflates the annular pneumatic chamber 20417, as a result of which it is compressed and returns to its original position.

[0254] Intelligent system for construction of bored piles in confined spaces, comprising:

[0255] A construction site scanning and modeling module, including a 400-degree laser scanner, performs comprehensive scanning of the construction site and generates accurate 3D point cloud data. The point cloud data is converted into a 3D model using software, which is then integrated with real-time data from the control system. This data fusion enables comprehensive monitoring and visualization of the construction site.

[0256] A construction boundary marking and point projection module, including a 500 laser surveying device for marking construction site boundaries. Adjustments to the markings and assigned points are made through real-time data monitoring. The steps are as follows: 1. The system determines a reference point for the marking within the construction site. 2. The 500 laser surveying device marks the construction site boundaries. 3. In conjunction with the real-time data monitoring system (laser scanner), potential deviations in the boundaries and marking points are identified. If deviations are detected, the marking position is adjusted, after which Steps 1-3 are repeated. If no deviations are found, the marking position is recorded, and the data is recorded and archived, completing the marking, point projection, and adjustment process.

[0257] A route planning module for equipment movement and construction work, including an ultrasonic sensor 600 and an automated route planning module. The ultrasonic sensor 600 is used to detect dynamic obstacles during movement, and the automated route planning module uses a 3D image obtained by a laser scanner 400, as well as dynamic obstacle information, to automatically generate a route. In sync with the reconstruction of a 3D image of the construction site and the determination of drillhole locations by the laser scanner 400, the algorithm built into the automated route planning module generates an optimal route for the drilling equipment. The drilling equipment follows the optimal route to the work site. The position and status of the equipment are monitored using the absolute positioning method.Route planning is performed according to the specified borehole locations. The 600 ultrasonic sensor monitors the equipment's position and status in real time to detect dynamic obstacles. When an obstacle is detected, the system generates an alarm on the display, and the PLC control system initiates a speed reduction or a complete stop. The system then automatically plans the equipment's position and evaluates dynamic obstacles. If no obstacles are detected, movement continues until the specified position is reached, completing the automated route planning process.

[0258] A borehole location module including a 700 visual inspection camera. The 700 visual inspection camera is designed to locate the borehole and transmit a relative position signal to an industrial PC. The borehole location is marked. When the drilling equipment approaches within 1 meter of the borehole location, the 700 visual inspection camera identifies the borehole location and transmits a relative position signal to the industrial PC. After receiving the signal, the industrial PC calculates the required duration of the equipment's rotation and translation movements based on the measured relative distance. The industrial PC then sends signals to the PLC-based control system.The PLC-based control system regulates the duration of the rotary and translational movements to ensure that the distance between the drill bit position and the center of the bored pile is less than 5 mm, after which the positioning process is completed.

[0259] The intelligent bored pile driving equipment for confined spaces according to the above-described implementation options is used to carry out drilling operations at the well location.

[0260] The automatic leveling module includes an attitude sensor 800, leveling hydraulic cylinders 900, and an electronic hydraulic valve 1000. The attitude sensor 800 is used to detect the inclination angle of the construction equipment in real time, the leveling hydraulic cylinders 900 are installed on the drilling equipment, and the electronic hydraulic valve 1000 is used to adjust the extension amount of the piston rods of the leveling hydraulic cylinders 900. The PLC-based control system is started, and the attitude sensor 800 is simultaneously activated. The attitude sensor 800 detects the inclination angle of the equipment in real time and transmits the measurement data to the PLC-based control system. The PLC-based control system determines the horizontality of the drilling equipment based on the data from the attitude sensor 800 and compares the measured level value with the set system value.When tilt deviation is detected, the PLC-based control system calculates the position of the leveling hydraulic cylinder 900, which requires adjustment. The PLC-based control system transmits a control signal to the electronic hydraulic valve 1000 to adjust the extension of the leveling hydraulic cylinder 900 until the chassis 101 is leveled.

[0261] PLC-based control system and industrial PC. The PLC-based control system and industrial PC are interconnected. The PLC-based control system is additionally connected to a laser scanner 400, a laser surveying instrument 500, an ultrasonic sensor 600, a visual inspection camera 700, a spatial position sensor 800, and an electronic hydraulic valve 1000.

Claims

1. Equipment for intelligent construction of bored piles in confined spaces, wherein said equipment is intended for use in the process of intelligent construction of bored piles in confined spaces, which includes the following stages: Stage 1: Scanning the construction site and creating a model; Stage 2: marking, projection of points onto the terrain and adjustment; Stage 3: Automatic planning of the construction route; Step 4: Determining the location of the borehole; Stage 5: Preparatory operations before drilling, including the following steps: selecting four points around the location of the borehole so that the bored pile is inscribed in a circle for these four points, and the distance from each point to the center of the bored pile is equal; installing an acoustic wave detection sensor (209) at each point to perform spectral and temporal analysis of the recorded acoustic signals; and horizontal alignment of drilling equipment; Stage 6: drilling operations, including the following steps: determining, using a verticality control system consisting of two sets of laser levels (206), whether the drill rod is in an exactly horizontal and vertical position; If the system detects that the drill rod is in a vertical position, the drilling equipment feeds the drill rod downward to perform drilling operations until the specified depth is reached; when a deviation of the drill rod is detected, a fine adjustment of the position of the drill rod is performed using a deviation correction system containing two sets of deviation correction mechanisms (208), ensuring its compliance with the specified angle; based on spectral and temporal analysis of acoustic signals received from acoustic wave detection sensors (209), the presence of damage to the soil structure around the bored pile that occurred during the drilling process is determined; and Adjusting the drill bit rotation speed and drilling pressure in accordance with the acoustic monitoring results to minimize damage to the soil around the well; Step 7: Removing the drill rod and monitoring the wellbore condition, which includes the following steps: After the well is formed, the drilling equipment extracts the rod from the well, and during the extraction process the well condition is monitored in real time; wherein the said equipment for intelligent construction of bored piles in confined spaces includes: a running gear (100), a chassis (101), a forward running gear (102) and a steering gear (103), wherein the forward running gear (102) and the steering gear (103) are intended for the forward movement and rotation of the equipment, respectively; a multi-section drill rod system with high precision control (200), including a mast (201), a lifting frame (202), a threaded drill rod (203), a rotary cutting bit (204), a lower support frame (205), a laser level (206), a laser rangefinder (207), a deviation correction mechanism (208) and an acoustic wave detection sensor (209); wherein the mast (201) is installed on a chassis (101), the lifting frame (202) is mounted on the mast (201) and can be adjusted in height relative to the mast (201), a drive is installed on the lifting frame (202), the output of which is connected to a gearbox; the threaded drill rod (203) is connected to the gearbox and the rotary cutting bit (204) by means of internal and external threaded connections, and adjacent threaded drill rods (203) are connected sequentially by threaded connections; the lower support frame (205) is mounted on the chassis (101) and put on the outer part of the drill rod;two sets of laser levels (206) are mounted on the chassis (101), one set is mounted in front of the threaded drill rod (203) and the other set is mounted on the side of the rod, wherein both sets are positioned at an angle of 90°; a laser rangefinder (207) is mounted on the chassis (101) and is used to monitor the distance between the lower surface of the lifting frame (202) and the rangefinder (207) itself in real time; two sets of deviation correction mechanisms (208) are mounted on the chassis (101) for correcting the position of the threaded drill rod (203) in the forward-backward and left-right directions; and four sets of acoustic wave detection sensors (209) are respectively arranged on the outer side of the borehole such that the borehole is an inscribed circle for the four sets of sensors (209); and; a vacuum separation and auger soil extraction unit (300) comprising a high-pressure fan (301), a cyclone separator (302) and a pressure sensor (303), wherein the high-pressure fan (301) is connected to the cyclone separator (302) via a system of tubes, and a dust collector is installed on the air exhaust duct of the high-pressure fan (301), the cyclone separator (302) is connected to a connecting tube (304) via a flexible hose, the connecting tube (304) is mounted on a lifting frame (202) and is connected to the internal cavity of a threaded drill rod (203), the pressure sensor (303) monitors data on the pressure inside the unit and transmits feedback to the control system.

2. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 1, wherein the actions within stage 2 are performed as follows: Step 21: Creating a reference point for marking within the construction site; Step 22: Using a laser surveying device (500) to mark the boundaries of the construction site; and Step 23: In conjunction with real-time data monitoring, identifying possible deviations in boundaries and marking points; if there are any deviations, the position of the markings is adjusted, after which steps 21-23 are repeated; If there are no deviations, the position of the marking is recorded, and the data is recorded and archived, which completes the operation of marking, projecting points onto the terrain and adjusting them.

3. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 2, wherein the actions within stage 3 are performed as follows: Step 31: Obtaining a three-dimensional image and location of wells using a laser scanner (400); Step 32: Monitoring the position and status of the equipment using the absolute positioning method; Step 33: Planning the route of movement in accordance with the specified location of the wells; Step 34: Use sensors to monitor the position and status of equipment in real time; Step 35: Determine the presence of dynamic obstacles; When an obstacle is detected, the system generates an alarm signal on the display and the PLC control system initiates a speed reduction or a complete stop; after which steps 33-35 are repeated; and If there are no obstacles, the movement continues until the specified position is reached, which completes the operation of automated route planning for construction work.

4. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 1, wherein, within the framework of stage 5, intelligent adjustment of the spatial position is additionally performed as follows: installation of a spatial position sensor (800) on the drilling equipment, wherein the output signal of the sensor (800) is connected to the input interface of the PLC-based control system, and the control signal from the output of the PLC control system is sent to the electronic hydraulic valve (1000); bringing the PLC-based control system into operation, while simultaneously activating the spatial position sensor (800), the sensor (800) determines the tilt angle of the equipment in real time and transmits the measurement data to the PLC-based control system; determining the horizontality of the drilling equipment by means of the PLC-based control system based on the data of the spatial position sensor (800) and comparing the measured level value with the set system value; upon detection of a tilt deviation, the PLC-based control system calculates the position of the leveling hydraulic cylinder (900) that requires correction; and transmitting a control signal by the PLC-based control system to the electronic hydraulic valve (1000) to adjust the amount of extension of the rod of the leveling hydraulic cylinder (900) until the chassis (101) is brought to a horizontal position.

5. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 1, wherein, within the framework of stage 6, two sets of laser levels (206) are placed respectively along the X and Y axes and two sets of deviation correction mechanisms (208) are also placed along the X and Y axes; Moreover, the stages of verticality control and deviation correction are performed as follows: stage 61: determining the horizontality of the chassis (101) along the X and Y axes using laser levels (206); EAP 62: Checking the chassis horizontality along the X axis; Step 63: When the deviation from the horizontal occurs, the deviation correction mechanism (208) along the X-axis fine-tunes the position of the drill rod in the opposite direction until the chassis (101) along the X-axis reaches horizontality; if the horizontality is reached, the process for the X-axis is completed; Step 64: Checking the chassis horizontality along the Y axis; Step 65: When the Y-axis deviation is not horizontal, the Y-axis deviation correction mechanism (208) fine-tunes the position of the drill rod in the opposite direction until the chassis (101) is horizontal along the Y-axis; if the horizontal is achieved, the process for the Y-axis is completed.

6. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 1, wherein a sealing system (210) is provided on the upper outer part of the rotary cutting bit (204), wherein the sealing system (210) is designed to seal the gap between the upper part of the rotary cutting bit (204) and the borehole wall.

7. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 6, wherein the compaction system (210) includes first and second air chambers (211, 212) located one above the other, wherein on the inner sides of the first and second air chambers (211, 212) fixing sleeves (218) are installed, in which air supply and air outlet channels are pre-installed, connected to the air chambers, wherein the fixing sleeve (218) is secured on the outer side of the rotary cutting bit (204) and the first and second air chambers (211, 212) operate alternately.

8. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 6, wherein the compaction system (210) includes an annular pneumatic chamber (213), on the inner side of which an inner sleeve (214) is installed, which, in turn, is mounted on the outer upper surface of a rotary cutting bit (204) and does not rotate relative to it, and in the upper and lower parts of the inner sleeve (214) there are limiting disks (215), the outer diameter of which is less than the diameter of the borehole; wherein an elastic spiral rib (216) is built into the annular pneumatic chamber (213), a transfer spiral rib (217) is installed on the outer side of the inner sleeve (214) and during rotary drilling with a cutting bit, the transfer spiral rib (213) engages with the elastic spiral rib (216) on the inner wall of the annular pneumatic chamber (213), causing autonomous rotation of the annular pneumatic chamber (213) between two limiting disks (215), wherein the outer wall of the annular pneumatic chamber (213) is in tight contact with the borehole wall.

9. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 1, wherein the rotary cutting bit (204) includes a drill bit body (2041), as well as first and second cutting plates (2042, 2043) located axially on the outer side of the drill bit body (2041), wherein the lower part of the bit body (2041) has an open design and the first cutting plate (2042) is located below the second (2043).

10. Equipment for intelligent construction of bored piles in confined spaces according to claim 9, wherein the second cutting plate (2043) includes a plate body (20431) mounted with the ability to rotate on the lower outer part of the bit body (2041), wherein a pushing rod (20432) is mounted on the inner side of the upper part of the plate body (20431), one end of which is located on the plate body (20431) with the ability to rotate, and its other end is connected to a slider (20433) with the ability to rotate, wherein the slider (20433) is mounted with the ability to slide on the outer side of the bit body (2041) in its axial direction and the axial position of the slider (20433) relative to the bit body (2041) is adjustable.

11. Equipment for intelligent construction of bored piles in confined spaces according to paragraph 10, wherein a protective casing (20434) is installed on the outer side of the bit body (2041), inside which a detection means (20436) is located, and in the lower part of the protective casing (20434) a sealing plate is installed with the possibility of rotation, to the lower part of which an electric telescopic rod (20435) is connected with the possibility of rotation, and the output end of the rod (20435) is fixed on the slider (20433) with the possibility of rotation.

12. Equipment for intelligent construction of bored piles in confined spaces according to claim 11, wherein the axial guide rail (20437) is mounted on the outer side of the drill bit body (2041) for mounting the slider (20433), wherein in the middle of the axial guide rail (20437) a retaining toothed rack (204313) is located, the slider (20433) is equipped with a slotted groove, inside which a sliding T-shaped block (20438) is installed, wherein the direction of movement of the T-shaped block (20438) is perpendicular to the location of the axial guide rail (20437) and the T-shaped block (20438) is equipped with a through groove (20439) and an adjustment groove (204311), which are connected to each other and are located perpendicular to each other, wherein the output end the electric telescopic rod (20435) passes through the through groove (20439) and is connected to the connecting block (204310), which is mounted with the possibility of sliding inside the adjustment groove (204311),wherein the adjusting groove (204311) gradually deviates from the axial guide rack (20437) in the direction from the electric telescopic rod (20435), while on the side of the T-shaped block (20438) facing the retaining toothed rack (204313), an elastic retaining block (204312) is installed, which is intended to engage with the retaining toothed rack (204313)., 13. Equipment for intelligent construction of bored piles in confined spaces according to claim 12, wherein the elastic retaining block (204312) includes a mounting groove formed on the side of the T-shaped block (20438) and adjacent to the retaining toothed rack (204313), wherein the spring housing (2043121) and the movable element (2043122) are installed in the mounting groove, the limiting plate (2043123) is put on the outer part of the movable element (2043122) and is secured on the side of the T-shaped block (20438) adjacent to the retaining toothed rack (204313), wherein the unidirectional toothed block (2043124), interacting with the retaining toothed rack (204313), is secured to the end of the movable element (2043122) on distance from the mounting groove.

14. A system for intelligent construction of bored piles in confined spaces, comprising: a construction site scanning and modeling module, including a laser scanner (400) for performing a comprehensive scanning of the construction site; a module for marking construction boundaries and projecting points, including a laser surveying device (500) for marking the boundaries of a construction site; a module for planning a route for moving equipment and performing construction work, including an ultrasonic sensor (600) and an automated route planning module, wherein the ultrasonic sensor (600) is used to detect dynamic obstacles during movement, and the automated route planning module uses a three-dimensional image obtained using a laser scanner (400), as well as information about dynamic obstacles for automatic route construction; a borehole location determination module including a visual control camera (700) designed to determine the location of the borehole and transmit a relative position signal to an industrial PC; equipment for intelligent construction of bored piles in confined spaces according to paragraphs 1-13, intended for performing drilling operations at the well location; an automatic leveling module including a spatial position sensor (800), a leveling hydraulic cylinder (900) and an electronic hydraulic valve (1000), wherein the spatial position sensor (800) is used to determine in real time the tilt angle of the construction equipment, the leveling hydraulic cylinders (900) are located on the drilling equipment, and the electronic hydraulic valve (1000) is used to adjust the amount of extension of the rods of the leveling hydraulic cylinders (900); and a PLC-based control system and an industrial PC, wherein the PLC-based control system and the industrial PC are connected to each other, the PLC-based control system is additionally connected to a laser scanner (400), a laser surveying instrument (500), an ultrasonic sensor (600), a visual inspection camera (700), a spatial position sensor (800) and an electronic hydraulic valve (1000).

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