CN-121976535-A - Method and device for monitoring perpendicularity of pile body in real time and intelligently correcting deviation in pile driving process

CN121976535ACN 121976535 ACN121976535 ACN 121976535ACN-121976535-A

Abstract

The invention discloses a method and a device for monitoring pile body verticality in real time and intelligently correcting deviation in a pile driving process. The method comprises the steps of S1, before piling, establishing a local coordinate system, scanning a pile body through opposite lasers in each coordinate axis direction to obtain a reference distance, S2, continuously irradiating lasers on the same height section of the pile body in the piling process, measuring the distances between each laser beam and the surface of the pile body in real time to obtain four ranging values, S3, calculating real-time offset in two coordinate axis directions, S4, calculating the real-time perpendicularity of the pile body, comparing the real-time perpendicularity with a preset threshold value, and S5, when the real-time perpendicularity exceeds the preset threshold value, driving a deviation correcting mechanism of a pile driver to correct the pile body posture according to the direction and the size of the real-time offset. The invention realizes the effect of measuring perpendicularity in real time, greatly improves the monitoring efficiency and the efficiency of verifying the perpendicularity of piling, and provides powerful power for the rapid promotion of construction.

Inventors

XIANG NAILIANG
WANG XINGYU
BAO WEI
XU HANXIANG
WANG JIAN
GUO SHUANGNING
ZHANG SHIQI
WU XIAOXUE

Assignees

合肥工业大学

Dates

Publication Date: 20260505
Application Date: 20260122

Claims (10)

1. A pile body verticality real-time monitoring and intelligent deviation correcting method in pile driving process is characterized by comprising the following steps: Before piling, a local coordinate system is established by taking a pile core as an origin, and a pile body is scanned by at least two beams of laser in opposite directions in each coordinate axis direction, so that a reference distance from a laser emission position to the pile core is obtained; S2, continuously irradiating laser on the same height section of the pile body in the pile driving process, and measuring the distance from each laser beam to the surface of the pile body in real time to obtain four ranging values; s3, calculating real-time offset of the pile center in two coordinate axis directions based on the ranging value, the preset pile body radius and the reference distance; S4, calculating the real-time verticality of the pile body according to the real-time offset and the height of the laser monitoring section, and comparing the real-time verticality with a preset threshold value; and S5, when the real-time verticality exceeds the preset threshold, generating a control instruction according to the direction and the magnitude of the real-time offset and sending the control instruction to a control system of the pile driver, and driving a deviation correcting mechanism of the pile driver to correct the pile body posture.
2. The method for real-time monitoring and intelligent correction of pile body verticality in pile driving according to claim 1, wherein in step S3, the distance from each laser emission position to the pile body surface is calculated according to the reference distance, two coordinate axes are defined as an X axis and a Y axis respectively, and the calculation formulas of real-time offset of the pile core in the X, Y axis direction are as follows: ; ; Wherein, the For the real-time offset of the X-axis, Real-time offset for the Y-axis; 、 for two ranging values in the X-axis direction, 、 The distance from the two corresponding laser emission positions to the pile body surface is set; 、 For the ranging value in the Y-axis direction, 、 And the distance from the two corresponding laser emission positions to the pile body surface.
3. The method for monitoring and intelligently rectifying the perpendicularity of a pile body in real time in the piling process according to claim 2, wherein the calculation formula of the real-time perpendicularity is as follows: ; In the formula, For the real-time perpendicularity, The height of the cross section is monitored for laser light.
4. A method for real-time monitoring and intelligent correction of pile verticality during pile driving according to claim 3, wherein in step S4, the inclination angle of the pile is calculated, and the calculation formula is: ; In the formula, Is the tilt angle.
5. The method for real-time monitoring and intelligent deviation correcting of pile body verticality in pile driving process according to claim 1, wherein the method for real-time monitoring and intelligent deviation correcting further comprises the following steps: And S6, automatically recording and storing a ranging value sequence, an offset curve, a perpendicularity change curve and all deviation rectifying action records of the whole pile construction process, and generating a structured electronic report.
6. The method for real-time monitoring and intelligent correction of pile body verticality during pile driving according to claim 1, wherein step S5 is performed and then step S2 is performed until said real-time verticality does not exceed said preset threshold value within a preset time.
7. The method for real-time monitoring and intelligent correction of pile body verticality during pile driving according to claim 1, wherein in step S5, according to the sign and value of the real-time offset, the control instructions of the jacking force and the stroke of different lateral correction mechanisms of the pile driver are mapped to realize directional correction.
8. The method for real-time monitoring and intelligent correction of pile body verticality in pile driving according to claim 1, wherein two laser rangefinders are respectively arranged in each coordinate axis direction, the installation position of each laser rangefinder is independent of the pile driver and is kept stable, the two opposite laser rangefinders are symmetrical about the center line, and the pile body is scanned and measured by laser beams emitted by the laser rangefinders.
9. The method for real-time monitoring and intelligent correction of pile body verticality during pile driving according to claim 1, wherein when the pile body is at a designed vertical position, recording the initial distance from each laser beam to the pile core as the reference distance, and verifying the geometrical relationship among the reference distance, the pile body radius and the distance from the laser emission point to the pile body surface.
10. A pile body verticality real-time monitoring and intelligent deviation correcting device in the pile driving process, which is characterized in that the device comprises: The system deployment module is used for establishing a local coordinate system by taking a pile core as an origin before piling, scanning a pile body through at least two opposite laser beams in the direction of each coordinate axis, and obtaining the reference distance from a laser emission position to the pile core; The data acquisition module is used for continuously irradiating laser on the same height section of the pile body in the pile driving process, and measuring the distance from each laser beam to the surface of the pile body in real time to obtain four ranging values; The gesture resolving module is used for calculating real-time offset of the pile core in two coordinate axis directions based on the ranging value, the preset pile body radius and the reference distance; the judging and deciding module is used for calculating the real-time verticality of the pile body according to the real-time offset and the height of the laser monitoring section and comparing the real-time verticality with a preset threshold value; and the intelligent deviation correcting module is used for generating a control instruction according to the direction and the size of the real-time offset and sending the control instruction to a control system of the pile driver when the real-time verticality exceeds the preset threshold value, and driving a deviation correcting mechanism of the pile driver to correct the pile body posture.

Description

Method and device for monitoring perpendicularity of pile body in real time and intelligently correcting deviation in pile driving process Technical Field The invention relates to a pile body monitoring and intelligent correcting method in the technical field of engineering, in particular to a pile body verticality real-time monitoring and intelligent correcting method in the piling process, and further relates to a pile body verticality real-time monitoring and intelligent correcting device in the piling process. Background In foundation projects such as highways and buildings, perpendicularity of pile foundations is a key quality index directly influencing bearing performance and long-term stability of the projects. At present, the monitoring of pile body verticality in the construction process mainly depends on a traditional measuring instrument, such as a theodolite or a total station for manual observation. In the method, marking points are usually required to be arranged at different heights of the pile body, and the plane position of the pile core is reversely calculated through angle intersection or distance measurement, so that the vertical deviation is calculated. However, the method has the remarkable limitations that firstly, the measurement depends on stable sight with a plurality of mark points of the pile body, the measurement is difficult to realize in complex construction sites where equipment stands and dust flies, secondly, the method is usually intermittent type spot inspection, millisecond-level high-frequency monitoring cannot be realized in a continuous hammering or pressing process, instantaneous deflection of the pile body caused by dynamic construction load cannot be captured, and finally, the whole measurement, calculation and judgment process is highly dependent on experience and operation of a measurer, the efficiency is low, subjective errors are large, and the whole-course objective and traceable quality control is difficult to realize. For structures such as pile-board type roadbeds which are extremely sensitive to differential settlement, the traditional method has difficulty in meeting the modern construction requirements of high precision, real-time and intellectualization. In order to overcome the defects of the traditional manual monitoring, the construction technology is evolving towards automation and informatization, wherein the sensor-based real-time monitoring technology has become a research and application hotspot. For example, in the existing method, an inclination sensor is installed on a pile body or a pile driver to indirectly evaluate the attitude, but the method measures a local inclination, is easily influenced by equipment installation errors and pile body deformation, and cannot directly acquire the accurate plane offset of a pile core relative to a design axis. Another idea is to use visual recognition or laser scanning technology, but stability and reliability of the system are challenging in complex and severe construction environments, and the system is complex and high in cost. Therefore, the existing pile body monitoring and correcting method in the pile driving process has the technical problems of low precision and insufficient stability. Disclosure of Invention The invention provides a real-time pile body verticality monitoring and intelligent deviation rectifying method and device in the pile driving process, which aims to solve the technical problems of low precision and insufficient stability commonly existing in the existing pile body monitoring and deviation rectifying method in the pile driving process. The invention adopts the following technical scheme that the method for monitoring the perpendicularity of the pile body in real time and intelligently rectifying the deviation in the piling process comprises the following steps: Before piling, a local coordinate system is established by taking a pile core as an origin, and a pile body is scanned by at least two beams of laser in opposite directions in each coordinate axis direction, so that a reference distance from a laser emission position to the pile core is obtained; S2, continuously irradiating laser on the same height section of the pile body in the pile driving process, and measuring the distance from each laser beam to the surface of the pile body in real time to obtain four ranging values; s3, calculating real-time offset of the pile center in two coordinate axis directions based on the ranging value, the preset pile body radius and the reference distance; S4, calculating the real-time verticality of the pile body according to the real-time offset and the height of the laser monitoring section, and comparing the real-time verticality with a preset threshold value; and S5, when the real-time verticality exceeds the preset threshold, generating a control instruction according to the direction and the magnitude of the real-time offset and sending the control instruction to a control s