CN111157042A - Real-time monitoring system for tubular pile construction by hammering method - Google Patents

Real-time monitoring system for tubular pile construction by hammering method Download PDF

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Publication number
CN111157042A
CN111157042A CN201911410580.0A CN201911410580A CN111157042A CN 111157042 A CN111157042 A CN 111157042A CN 201911410580 A CN201911410580 A CN 201911410580A CN 111157042 A CN111157042 A CN 111157042A
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data
tubular pile
monitoring
signal
frequency
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田一鸣
赵翔
谢黎明
杜赛赛
徐寒亭
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Anhui Transport Consulting and Design Institute Co Ltd
Highway Traffic Energy Saving and Environmental Protection Technology and Equipment Transportation Industry R&D Center
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Anhui Transport Consulting and Design Institute Co Ltd
Highway Traffic Energy Saving and Environmental Protection Technology and Equipment Transportation Industry R&D Center
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D33/00—Testing foundations or foundation structures

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  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
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  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)

Abstract

The invention discloses a real-time monitoring system for tubular pile construction by a hammering method, wherein tubular pile data monitoring and collecting equipment is arranged on the inner wall of a tubular pile, an antenna of a wireless communication module is arranged on the outer wall of the tubular pile, a power supply of the data monitoring and collecting equipment is turned on, the wireless communication module is kept to be normally connected with the tubular pile, the data monitoring and collecting equipment can be wirelessly connected with the collecting equipment through a background system of a data monitoring and background system, when the prefabricated tubular pile is sunk for construction, the data monitoring and collecting equipment collects dynamic change signals of sinking of the tubular pile through an acceleration sensor, the collected signals are analyzed and processed through an integral algorithm to generate penetration data and hammering number data, the data are uploaded to the background system by using a wireless data transmission module, and after the background system receives the penetration and hammering number information, the operations such as data analysis, abnormal alarm and production data report derivation can be carried out by combining with, provides a more convenient automatic construction management means.

Description

Real-time monitoring system for tubular pile construction by hammering method
Technical Field
The invention relates to the technical field of tubular pile construction, in particular to a real-time monitoring system for tubular pile construction by a hammering method.
Background
The precast tubular pile is widely used in foundation engineering such as bridge pile foundation, has wide applicable foundation soil property range, and is easy to ensure engineering quality and engineering progress. The hammer method construction of the precast tubular pile has the characteristics of simple construction, easy control of construction quality, good bearing capacity of a single pile, short construction period, low manufacturing cost and the like. With the trend of the engineering construction environment towards complication and the improvement of the building quality requirement, the finally finished engineering quality not only depends on the pile foundation material, but also depends on the strict and reasonable control of the construction process. Therefore, the method is very important for monitoring the construction process of the precast pile by the hammering method in real time.
At present, in the process of piling by a hammering method, the record of penetration and hammering number is measured and counted by measurement constructors, the operation is troublesome and boring, and mistakes are easy to make. At present, some constructors automatically record the hammering number and the penetration degree through an analog circuit and laser equipment, but the method is greatly influenced by the environment such as temperature, weather and the like, and the performance is unstable.
Disclosure of Invention
In order to solve the problems, the invention provides a real-time monitoring system for tubular pile construction by a hammering method, which realizes real-time monitoring of the tubular pile construction process by the hammering method, can record the penetration degree and the hammering number of the tubular pile in real time, realizes effective acquisition and management of tubular pile construction data, and has positive significance for improving the construction management level and ensuring the construction quality.
The technical problem to be solved by the invention is realized by adopting the following technical scheme.
The utility model provides a tubular pile construction real-time monitoring system of hammering method, mainly comprises three parts: the system comprises data monitoring and collecting equipment, a data communication network and a data monitoring background system which are arranged on the wall of the tubular pile;
the data monitoring and collecting device is formed by taking an ARM processor as a control core and combining an acceleration sensor and a power supply system;
the ARM processor is mainly used for completing tasks in the aspects of data acquisition, data processing and communication;
the collected data of the acceleration sensor is transmitted to the ARM processor after being processed by two stages of signals; the first stage processing circuit converts the differential signal into an output signal with high quality and provides a bias voltage to enable the output to be a positive voltage signal; the second-stage processing circuit scales the output signal;
the power supply system adopts a battery;
the data communication network is mainly used as a communication link, and the communication link is configured in a wireless mode, specifically, a wireless communication module arranged on the outer wall of the tubular pile and a wireless communication module in a data monitoring background system;
mounting tubular pile data monitoring and collecting equipment on the inner wall of a tubular pile; opening a power supply system of the data monitoring and collecting equipment, and keeping normal connection with the wireless communication module;
the data monitoring background system acquires real-time data acquired by the tubular pile data monitoring and acquiring equipment in real time by relying on a wireless communication module; and then, carrying out effective data analysis on the monitoring data, and extracting penetration data and hammering number data.
The further technology of the invention is as follows:
preferably, the data monitoring and collecting equipment comprises an accelerometer, the accelerometer is arranged in the inner wall of the precast tubular pile, and a buffer device is added between the accelerometer and the precast tubular pile, and the buffer device is equivalent to a spring damping device;
the accelerometer and the balancing weight are tightly attached and connected with the precast tubular pile through a spring damping device or a structure equivalent to the spring damping device.
Preferably, the data monitoring and collecting device collects dynamic change signals of pipe pile sinking through the acceleration sensor, and the collected signals are analyzed and processed through an integral algorithm to generate penetration data and hammering number data.
Preferably, the penetration data integration algorithm is analyzed as follows:
the integration algorithm adopts a frequency domain integration algorithm, the frequency domain integration starts from the frequency angle of the signal to carry out integration, the signal which is close to the frequency of the acceleration signal is left in a frequency selection mode, and the signal outside the range of the frequency domain integration is directly filtered out and does not participate in the frequency domain variation integration; the frequency domain integration can fundamentally and effectively remove the trend term error, particularly the low-frequency trend error;
the frequency domain expression of the acceleration signal is:
a(t)＝Aejωt
in the formula: e.g. of the typejωt-Fourier component of acceleration signal frequency ω
A-coefficients of the above frequency components
Assuming an initial velocity component of 0, time integration of the velocity signal component can yield the velocity signal component, i.e.
Figure BDA0002349856580000031
In the formula: e.g. of the typejωtFourier component of the velocity signal frequency ω
V-coefficients of the above frequency components
The relationship of the first integral in the frequency domain is:
Figure BDA0002349856580000032
when the initial velocity and the initial displacement component are both 0, the frequency domain acceleration signal is subjected to twice integration to obtain the frequency domain displacement:
Figure BDA0002349856580000033
in the formula: e.g. of the typejωtFourier component of the velocity signal frequency ω
V-coefficients of the above frequency components
The relationship of the two integrals in the frequency domain is
Figure BDA0002349856580000034
Preferably, the integral algorithm analysis of the hammering number data is as follows:
before the algorithm is operated, initializing the hammering number n to be 0; according to the result of processing data by an integral algorithm, automatically adding 1 to the value of n every time effective penetration data is obtained; and finally, storing the accumulated data to obtain the hammering number.
The invention has the beneficial effects that:
the system realizes real-time monitoring of the hammering construction process of the precast tubular pile, automatically acquires the penetration degree and the hammering number, can liberate manpower, and effectively improves the working efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a deployment architecture of a real-time monitoring system for pipe pile construction by a hammering method;
FIG. 2 is a diagram of the internal structure of the data monitoring device;
FIG. 3 is a system functional flow diagram;
fig. 4 shows a damper installation.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention.
As shown in fig. 1-4, the invention relates to a real-time monitoring system for tubular pile construction by a hammering method, which mainly comprises three parts: the system comprises data monitoring and collecting equipment, a data communication network and a data monitoring background system which are arranged on the wall of the tubular pile. The system realizes real-time monitoring of the hammering construction process of the precast tubular pile, automatically acquires the penetration degree and the hammering number, can liberate manpower, and effectively improves the working efficiency.
The data monitoring and collecting device is formed by taking an ARM processor as a control core and combining an acceleration sensor and a power supply system;
1) the ARM processor is mainly used for completing tasks in the aspects of data acquisition, data processing, communication and the like. The 32-bit processor stm32F103 based on Cortex-M3 is selected, internal resources are rich, the operation speed is high, and a DMA controller is arranged in the processor, so that the requirement for the quick storage period of the sampled data can be met.
2) The acceleration sensor is 7290A-10 acceleration sensor manufactured by Endevco. The range of the sensor is +/-10 g, the sensitivity is 200 +/-10 mV/g, and the fixed installation resonant frequency is 3000 Hz. And the acquired data of the acceleration sensor is transmitted to the ARM processor after being processed by two stages of signals. The first-stage processing circuit selects the AD620 as a differential input chip, converts the differential signal into an output signal with high quality, and provides a bias voltage to make the output be a positive voltage signal; the second stage of processing circuit selects an OP07 chip, which has the characteristics of low noise, low input offset voltage (25 muV) and the like, and mainly plays a role in scaling the signal output by the AD 620.
3) The power supply system employs a lithium-thionyl chloride battery from the hundred million latitude lithium energy company. The negative electrode of the battery is metal lithium (Li), the internal positive electrode active substance and the electrolyte solvent are thionyl chloride (SOCl2), the internal part of the battery adopts a carbon-coated structure, and the battery is more suitable for a low-current long-life working mode. The application temperature range is wide, and the temperature can be between minus 60 ℃ and plus 85 ℃. The energy density is high, and reaches 650Wh/Kg and 1280Wh/dm 3. Meanwhile, the battery has extremely low self-discharge characteristic, the annual self-discharge rate is less than or equal to 2 percent, and the manufacturing adopts a stainless steel shell and a metal-glass sealed airtight welding structure, so the retention period of the battery is proved to be more than 10 years at room temperature.
In the installation of data monitoring collection equipment and the tubular pile inner wall, data monitoring collection equipment includes the accelerometer, and the accelerometer is installed in precast tubular pile inner wall, simultaneously, and add buffer between the precast tubular pile, this buffer is equivalent to a spring damping device.
The accelerometer and the balancing weight are tightly attached and connected with the precast tubular pile through a spring damping device or a structure equivalent to the spring damping device. Assuming that after the precast tubular pile is impacted once, the precast tubular pile starts to move from the zero moment of rest to the t1 moment and stops moving, the moving displacement is u1, in the process, the accelerometer connected with the precast tubular pile through the damping system also moves along with the precast tubular pile, the acceleration moving displacement is x1, the precast tubular pile returns to rest after a short time t1, and the moving rule of the accelerometer can be regarded as free vibration with single degree of freedom and viscous damping. The law of motion of the accelerometer after an impact is as follows:
when t is more than or equal to 0 and less than or equal to t1Due to t1Very briefly, the accelerometer only moves to one direction, and does not start to vibrate periodically, and the movement law is as follows:
Figure BDA0002349856580000061
when t is more than or equal to t1When the accelerometer has an initial displacement (x)1-u1) I.e. equivalent to u1As origin, initial velocity v1Single degree of freedom has viscous damped free vibration:
Figure BDA0002349856580000062
the above equation is solved as:
Figure BDA0002349856580000063
in the formula:
Figure BDA0002349856580000064
Figure BDA0002349856580000065
according to the above formula, after a limited number of damped vibration cycles, the accelerometer will shift the point u1 to be stationary, and the final movement displacement of the accelerometer is the movement displacement of the precast tubular pile. In the formula of omegadTo have the natural cycle frequency of the damping system, ζ is the relative damping coefficient, the magnitude of which is related to the selection of the counterweight and the parameters of the spring damping device, so that a more suitable acceleration curve can be obtained by adjusting these parameters.
An integral algorithm in the data monitoring and collecting device is used for processing the acceleration sensor data to obtain penetration data:
the integration algorithm adopts a frequency domain integration algorithm. The frequency domain integration starts from the frequency angle of the signal to carry out integration, the signal which is close to the frequency of the acceleration signal is left in a frequency selection mode, and the signal which is out of the range of the frequency domain integration is directly filtered out and does not participate in the frequency domain variation integration. The frequency domain integration can effectively remove the trend term error fundamentally, especially for the low-frequency trend error.
The frequency domain expression of the acceleration signal is:
a(t)＝Aejωt
in the formula: e.g. of the typejωt-Fourier component of acceleration signal frequency ω
A-coefficients of the above frequency components
Assuming an initial velocity component of 0, time integration of the velocity signal component can yield the velocity signal component, i.e.
Figure BDA0002349856580000071
In the formula: e.g. of the typejωtFourier component of the velocity signal frequency ω
V-coefficients of the above frequency components
The relationship of the first integral in the frequency domain is:
Figure BDA0002349856580000072
when the initial velocity and the initial displacement component are both 0, the frequency domain acceleration signal is subjected to twice integration to obtain the frequency domain displacement:
Figure BDA0002349856580000073
in the formula: e.g. of the typejωtFourier component of the velocity signal frequency ω
V-coefficients of the above frequency components
The relationship of the two integrals in the frequency domain is
Figure BDA0002349856580000081
The data monitoring and acquisition equipment obtains the algorithm of the hammering number:
before the algorithm is operated, the initial hammering number n is 0. And according to the result of processing the data by an integral algorithm, automatically adding 1 to the value of n every time effective penetration data is obtained. And finally, storing the accumulated data to obtain the hammering number.
The data communication network is mainly used as a communication link, and the communication link is configured in a wireless mode, specifically, a wireless communication module arranged on the outer wall of the tubular pile and a wireless communication module in a data monitoring background system;
the communication link is configured in a wireless mode, an ISM frequency band is adopted by a JZX863 wireless data transmission module, the working frequency is 433M, and a frequency point does not need to be applied; 8 communication channels can be set, the transmitting power is 100mW (20dB), the receiving sensitivity is-110 dbm, and the volume is 44mm 27mm 8mm, so that the embedded system is convenient to use.
In the working mode, the JZX863 has two working modes, the first mode is a normal mode, namely, the module is in a receiving mode when being powered on, and can also transmit data. The second is a sleep mode, i.e. the module is in a sleep state when the power supply is switched on, and the module can receive and transmit data only by the wake-up pin of the user control module.
The wireless module connected with the data monitoring background system is a module with an RS232 interface, and can be directly connected with a computer serial port without adding a converter.
The data monitoring background system acquires real-time data of the terminal in real time by relying on a data communication network; and then, carrying out effective data analysis on the monitoring data, and extracting penetration data and hammering number data.
The real-time data communication scheme mainly comprises a service data communication mode, a communication flow and a communication protocol.
1) Service data communication mode:
the system adopts a self-reporting and query response type mixed mode to upload data and adopts a communication scheduling mode combining polling and burst uploading.
The self-reporting mode refers to a working mode of automatically sending real-time data to a background system when the measured data of the data monitoring and collecting equipment changes, and the working mode is not controlled by a background.
The self-reporting characteristic: the system has the advantages of low power consumption, simple structure, high reliability, good real-time performance, convenient maintenance and the like, and has the main defect that the same frequency signals are easy to collide, thereby limiting the width of the system.
The query response type means that in the system work, the data monitoring and collecting equipment collects, stores and analyzes the dynamic change data of the tubular pile in real time, and when the monitoring center sends out a relative query instruction, the system automatically reports the tubular pile penetration and the hammering number data to the monitoring center.
The query answer type is characterized in that: the monitoring center can control and inquire the monitoring terminal at any time, and the system is good in controllability.
The polling refers to that the monitoring center polls monitoring data at regular time in a set time interval to obtain the operating condition and parameters of the on-site equipment
The burst uploading means that if the monitoring data acquired on site exceeds a set alarm limit value, the data processing unit sends the alarm information to the background system in a burst uploading mode.
2) And (3) service data communication flow:
the dynamic change data of the tubular pile collected by the data monitoring and collecting equipment is transmitted to a background system by relying on a data communication network according to a service data communication scheme, and the data is checked and formatted and then is recorded into a database. The specific process is as follows:
step 1, data acquisition: acquiring the penetration and hammering number data of the tubular pile through data monitoring and acquiring equipment;
step 2, data verification: the method comprises the following steps that (1) the validity, integrity and accuracy of data contents acquired by a system are verified by an overlap point, and data which do not pass verification are not allowed to enter a database;
step 3, data formatting: classifying, standardizing and formatting the acquired penetration and hammering data according to requirements and time;
and 4, data storage: developing a data conversion program or converting and storing the formatted data into a warehouse by using the existing conversion program.
3) Service data communication protocol:
the command format of the master is slave address, function code, start address, byte number and CRC code.
The command format of the slave response is the slave address, function code, data field and CRC code.
The data of the data area is binary code, two bytes, with the upper bits preceding.
The CRC codes are all two bytes, with the lower order preceding.
And calculating a CRC code:
step 1, presetting a 16-bit register as a hexadecimal FFFF (namely all 1). This register is called the CRC register;
step 2, XOR the first 8-bit data with the lower bit of the 16-bit CRC register, and puts the result into the CRC register;
step 3, checking whether the lowest bit is 0, if so, shifting the content of the register to the right by one bit (towards the lower bit), and filling the highest bit with 0; if 1, shift the content of the register one bit to the right (toward the lower bits), fill the most significant bit with 0, and then XOR the CRC register with polynomial A001 (1010000000000001);
step 4, repeating the step 3 until the right shift is carried out for 8 times, thus the whole 8-bit data is processed;
step 5, repeating the step 2 to the step 4, and processing the next 8-bit data;
and 6, obtaining the CRC register which is the CRC code. When the CRC result is put into the information frame, the high and low bits are exchanged, and the low bit is in front.
Starting a monitoring system, checking and calibrating pile length data and total depth data, detecting a hammering signal, processing the data to calculate penetration and hammering number, waiting for a next hammering signal and sending data, storing and updating the system by a background system, checking and calibrating pile length data and total depth data again, and completing circulation;
meanwhile, when waiting for the next hammering signal and sending data, judging whether a new pile is accessed, if so, checking and calibrating pile length data and total depth data, otherwise, detecting the hammering signal, and continuously processing the data to calculate the penetration and the hammering number.
And uploading the data to a background system by using a wireless data transmission module. After the background system receives the information of the penetration degree and the hammering number, the background system combines the construction design parameters of the tubular pile to perform data analysis, abnormal alarm, production data report export and other operations, thereby providing a more convenient and faster automatic construction management means.
It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Claims (5)

1. The utility model provides a tubular pile construction real-time monitoring system of hammering method which characterized in that mainly comprises three parts: the system comprises data monitoring and collecting equipment, a data communication network and a data monitoring background system which are arranged on the wall of the tubular pile;
the data monitoring and collecting device is formed by taking an ARM processor as a control core and combining an acceleration sensor and a power supply system;
the ARM processor is mainly used for completing tasks in the aspects of data acquisition, data processing and communication;
the collected data of the acceleration sensor is transmitted to the ARM processor after being processed by two stages of signals; the first stage processing circuit converts the differential signal into an output signal with high quality and provides a bias voltage to enable the output to be a positive voltage signal; the second-stage processing circuit scales the output signal;
the power supply system adopts a battery;
the data communication network is mainly used as a communication link, and the communication link is configured in a wireless mode, specifically, a wireless communication module arranged on the outer wall of the tubular pile and a wireless communication module in a data monitoring background system;
mounting tubular pile data monitoring and collecting equipment on the inner wall of a tubular pile; opening a power supply system of the data monitoring and collecting equipment, and keeping normal connection with the wireless communication module;
the data monitoring background system acquires real-time data acquired by the tubular pile data monitoring and acquiring equipment in real time by relying on a wireless communication module; and then, carrying out effective data analysis on the monitoring data, and extracting penetration data and hammering number data.
2. The system for monitoring the construction of the tubular pile by the hammering method in real time as claimed in claim 1, wherein the data monitoring and collecting device comprises an accelerometer, the accelerometer is installed in the inner wall of the precast tubular pile, and a buffer device is added between the accelerometer and the precast tubular pile, and the buffer device is equivalent to a spring damping device;
the accelerometer and the balancing weight are tightly attached and connected with the precast tubular pile through a spring damping device or a structure equivalent to the spring damping device.
3. The system for real-time monitoring of tubular pile construction by hammering method according to claim 1, wherein the data monitoring and collecting device collects dynamic change signals of tubular pile sinking through an acceleration sensor, and analyzes and processes the collected signals through an integral algorithm to generate penetration data and hammering number data.
4. The system for real-time monitoring of tubular pile construction by hammering method according to claim 3, wherein the penetration data integration algorithm is analyzed as follows:
the integration algorithm adopts a frequency domain integration algorithm, the frequency domain integration starts from the frequency angle of the signal to carry out integration, the signal which is close to the frequency of the acceleration signal is left in a frequency selection mode, and the signal outside the range of the frequency domain integration is directly filtered out and does not participate in the frequency domain variation integration; the frequency domain integration can fundamentally and effectively remove the trend term error, particularly the low-frequency trend error;
the frequency domain expression of the acceleration signal is:
a(t)＝Aejωt
in the formula: e.g. of the typejωt-Fourier component of acceleration signal frequency ω
A-coefficients of the above frequency components
Assuming an initial velocity component of 0, time integration of the velocity signal component can yield the velocity signal component, i.e.
Figure FDA0002349856570000021
In the formula: e.g. of the typejωtFourier component of the velocity signal frequency ω
V-coefficients of the above frequency components
The relationship of the first integral in the frequency domain is:
Figure FDA0002349856570000022
when the initial velocity and the initial displacement component are both 0, the frequency domain acceleration signal is subjected to twice integration to obtain the frequency domain displacement:
Figure FDA0002349856570000023
in the formula: e.g. of the typejωtFourier component of the velocity signal frequency ω
V-coefficients of the above frequency components
The relationship of the two integrals in the frequency domain is
Figure FDA0002349856570000031
5. The system for real-time monitoring of tubular pile construction by hammering method according to claim 4, wherein the integral algorithm analysis of the hammering number data is as follows:
before the algorithm is operated, initializing the hammering number n to be 0; according to the result of processing data by an integral algorithm, automatically adding 1 to the value of n every time effective penetration data is obtained; and finally, storing the accumulated data to obtain the hammering number.
CN201911410580.0A 2019-12-31 2019-12-31 Real-time monitoring system for tubular pile construction by hammering method Pending CN111157042A (en)

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CN112761142A (en) * 2020-12-24 2021-05-07 黄志生 Building pile with built-in detection sensing equipment
CN113970355A (en) * 2021-10-25 2022-01-25 长安大学 Intelligent monitoring device for prestressed pipe pile and using method thereof
CN115127764A (en) * 2022-06-29 2022-09-30 北京龙智数科科技服务有限公司 Pile hammer dynamic sensing method, device, equipment and storage medium based on pile machine
CN115127764B (en) * 2022-06-29 2024-07-23 北京龙智数科科技服务有限公司 Pile hammer dynamic sensing method, device and equipment based on pile machine and storage medium
CN115752339A (en) * 2022-11-11 2023-03-07 广州市市政工程设计研究总院有限公司 Underwater rock drilling penetration depth measuring method and rock drilling hammer

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