CN115704214A

CN115704214A - Automatic operation method of vibroflotation gravel pile machine

Info

Publication number: CN115704214A
Application number: CN202110921345.0A
Authority: CN
Inventors: 徐方才; 汤勇军; 赵军; 汤雯璐; 孙亮; 韩伟; 石峰; 肖恩尚; 张家俊; 丁海龙; 刘保柱; 牟毓; 周建华
Original assignee: Sinohydro Foundation Engineering Co Ltd
Current assignee: Sinohydro Foundation Engineering Co Ltd
Priority date: 2021-08-11
Filing date: 2021-08-11
Publication date: 2023-02-17

Abstract

The invention discloses an automatic operation method of a vibroflotation gravel pile machine, which comprises the following steps: automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the latitude and longitude information of the vibroflotation gravel pile machine; after the vibroflotation gravel pile machine is automatically guided to a pile point to be constructed, a vibroflotation device system on the vibroflotation gravel pile machine is aligned to the pile point to be constructed; after the vibroflotation system is aligned with a construction pile point, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system carries out vibroflotation construction on the construction pile point according to the preset verticality requirement. The method of the invention can automatically and accurately position the vibroflotation gravel pile machine to the pile point to be constructed without the cooperation of measuring personnel and drivers, save manpower, solve the problems of low efficiency and safety at night or under the condition of insufficient illumination, and can vibroflotation construct the pile hole meeting the verticality requirement and ensure the verticality of the formed pile hole.

Description

Automatic operation method of vibroflotation gravel pile machine

Technical Field

The invention relates to the technical field of pile machine construction, in particular to an automatic operation method of a vibroflotation gravel pile machine.

Background

The vibroflotation method is a foundation treatment method, and a loose foundation soil layer is vibrated and compacted under the combined action of horizontal vibration of a vibroflotation gravel pile machine vibroflotation device and high-pressure water or high-pressure air; or after the hole is formed in the foundation soil layer, the hard coarse-particle material with stable performance is backfilled, and the reinforcement (vibro-impact pile) formed by vibration compaction and the surrounding foundation soil form the foundation treatment method of the composite foundation.

In the process of construction by using the vibroflotation method, different hardness strata adopt different construction methods, for example, the invention patent with the publication number of CN104372788A describes in detail a vibroflotation gravel pile machine and a construction method suitable for the strata with a deep covering layer of more than 50m, but in the construction of the patent, the vibroflotation gravel pile machine adopts the prior art to carry out pile hole construction.

In the existing vibroflotation projects, the vibroflotation projects have the characteristics of complex environment, large scene, dense hole distribution, more heavy equipment, frequent temporary road change and the like. In the engineering with complex conditions, the traditional vibroflotation gravel pile machine carries out the pile point positioning process as follows:

1. planning the pile point position according to a construction site;

2. an operator holds positioning equipment in a hand, and positions and marks a pile point to be constructed (generally, a plug-in rod mark);

3. constructors can visually observe the position of the vibroflotation device, and the vibroflotation device is moved to a positioning point to be constructed by moving the vibroflotation gravel pile machine.

According to the flow, the traditional vibroflotation gravel pile machine can realize pile point positioning only by the mutual matching of operators and construction personnel and is limited by the eyesight of the construction personnel, artificial visual errors exist, and particularly, the visual limitation can be caused by insufficient night construction or illumination, the alignment efficiency is low, the alignment error is large, and the potential safety hazard exists.

In addition, in the vibroflotation construction carried out by the method, when a hard layer, particularly large gravels, is encountered, the vibroflotation device adopting the structure inevitably generates a sideslip phenomenon, so that a pile hole is deflected. When the deflection is light, if the inclined pile hole is not trimmed, the guarantee coefficients of the uniformity and the compactness of the pile diameter of the vibro-replacement gravel pile are influenced, so that the safety of the subsequently formed vibro-replacement gravel pile is poor; if the inclined pile hole is repaired, the vibroflot stops vibroflot construction and repairs the hole in time, which inevitably results in prolonged construction period and increased construction cost. If the deflection is heavy, only the whole pile can be discarded, and the construction progress and the cost are seriously influenced.

Disclosure of Invention

The invention aims to solve the problems and provides an automatic operation method of a vibroflotation gravel pile machine, so that the vibroflotation gravel pile machine is automatically and accurately positioned at a pile point to be constructed, no measuring personnel is required to be matched with a driver, manpower is saved, the problems of low efficiency and safety at night or under the condition of insufficient illumination are solved, and the verticality of a formed pile hole is ensured.

In order to achieve the above object of the present invention, the method for automatically operating a vibroflotation stone-crushing pile machine of the present invention comprises:

automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the latitude and longitude information of the vibroflotation gravel pile machine;

after the vibroflotation gravel pile machine is automatically guided to a pile point to be constructed, a vibroflotation system on the vibroflotation gravel pile machine is aligned to the pile point to be constructed;

after the vibroflotation system is aligned with a construction pile point, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system carries out vibroflotation construction on the construction pile point according to the preset verticality requirement.

Wherein, make and shake towards the broken stone stake machine on shake towards the ware system and aim at the stake point of waiting to be under construction and include:

acquiring the position relation between a positioning antenna and a vibroflotation device system on the vibroflotation gravel pile machine so as to acquire the real-time position information of the vibroflotation device system according to the real-time position information of the positioning antenna;

comparing the real-time position information of the vibroflotation system with the position information of the pile point to be constructed to obtain the distance information between the vibroflotation system and the pile point to be constructed;

and according to the acquired distance information, aligning a vibroflotation system on the vibroflotation gravel pile machine to a pile point to be constructed.

The method comprises the following steps of obtaining the position relation between the positioning antenna and the vibroflotation device system on the vibroflotation gravel pile machine, and determining the position relation between the vibroflotation device system and the positioning antenna by initially positioning the positions of the positioning antenna and the vibroflotation device system on the vibroflotation gravel pile machine through positioning equipment.

Wherein, carry out initial positioning respectively to the position of locating antenna on the vibroflotation gravel stake machine and vibroflotation ware system through positioning device to confirm that the position relation of vibroflotation ware system and locating antenna includes:

the method comprises the steps that initial positioning is respectively carried out on the vibroflotation system and the positioning antenna of the vibroflotation gravel pile machine through positioning equipment, and initial position information of the vibroflotation system and initial position information of the positioning antenna are obtained;

determining the distance between the vibroflotation system and the positioning antenna according to the initial position information of the vibroflotation system and the positioning antenna;

and determining the linear distance between the installation position of the positioning antenna and the vibroflotation system and the included angle between the connecting line of the vibroflotation system and the positioning antenna and the north through the distance between the positioning antenna and the vibroflotation system.

Wherein, obtaining the real-time position information of the vibroflot system according to the real-time position information of the positioning antenna comprises:

acquiring the rotation angle of the vibroflotation gravel pile machine relative to the north;

and according to the acquired real-time position information of the positioning antenna, determining the real-time position information of the vibroflotation system through the real-time position information of the positioning antenna, the distance between the vibroflotation system and the positioning antenna and the rotation angle of the vibroflotation gravel pile machine relative to the north direction.

Further, according to the distance information who acquires, when making the ware system that shakes and dash on the rubble stake machine aim at the stake point of waiting to be under construction, still include:

displaying the real-time position information of the vibroflotation system and the position information of a pile point to be constructed through a graphical interface;

and taking the position information of the pile point to be constructed as a target point, and displaying the direction information of the vibroflotation gravel pile machine automatically guided by the vibroflotation system to align the vibroflotation system to the pile point to be constructed through a graphical interface according to the position and distance relation of the vibroflotation system relative to the target point.

After the vibroflotation system is aligned with a pile point to be constructed, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system can perform vibroflotation construction on the pile point to be constructed with the required verticality.

Wherein, the drill rod system and the mast of the hoisting system are arranged in parallel, so that the vibroflot system connected with the bottom of the drill rod system and the mast are arranged in parallel, the method comprises the following steps:

in the process of lowering the drill rod system and the vibroflotation device system by using the hoisting system, the verticality of the drill rod system relative to the host is controlled so that the vibroflotation device system lowered by the drilling rod system is parallel to the mast.

Further, make and shake towards ware system and can treat the construction stake point with the straightness that hangs down that meets the requirements and shake towards the construction and still include: and when vibroflotation construction is carried out through the vibroflotation device system, the verticality of the main machine on the horizontal plane relative to the mast is detected in real time, so that the verticality of the mast meets the requirement.

Wherein, when shaking towards the construction through shaking towards ware system, carry out real-time detection to the straightness that hangs down that the mast is located the host computer on the horizontal plane relatively to the straightness meets the requirements and includes of mast straightness:

when vibroflotation construction is carried out through a vibroflotation device system, the verticality of the mast relative to a host positioned on a horizontal plane is detected in real time to obtain the deviation data of the verticality of the mast;

judging whether the verticality of the mast needs to be adjusted or not according to the obtained real-time deviation data of the verticality of the mast;

and if the verticality of the mast needs to be adjusted, adjusting the verticality of the mast to meet the requirement, so that the vibroflot system can vibroflot the construction stratum downwards with the verticality meeting the requirement and form vibroflot gravel pile holes.

Compared with the prior art, the automatic operation method of the vibroflotation gravel pile machine has the following advantages:

1. the invention relates to an automatic operation method of a vibroflotation gravel pile machine, which adopts a positioning guide system to accurately position the vibroflotation gravel pile machine and a pile hole to be constructed in real time respectively, then transmits the vibroflotation gravel pile machine and the pile hole to be constructed to a graphical interface of the pile machine and guides a driver to accurately position. In addition, the whole construction process realizes real-time data sharing among the construction unit, the on-duty engineer and the supervision, so that the synchronization between construction and supervision is realized, the coordination cost is reduced to the maximum extent, and the construction efficiency is greatly improved.

2. The method for automatically operating the vibro-replacement gravel pile machine can realize the formation of pile holes with the verticality meeting the requirements on the deep complex stratum with the depth of more than 50 meters, thereby being beneficial to the subsequent formation of vibro-replacement gravel piles with good uniformity, compactness and safety.

The present invention will be described in detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a perspective view of one perspective of a vibro-replacement stone column machine in the method of the present invention;

FIG. 2 is a perspective view of another perspective of a vibro-replacement stone column machine in the method of the present invention;

FIG. 3 is a partial enlarged view of a clasping connection section of the drill rod verticality maintaining device of the present invention;

FIG. 4 is a schematic view of a first construction of the device for maintaining the verticality of a drill rod according to the present invention;

FIG. 5 is a schematic view of a second construction of the perpendicularity maintaining device of the drill rod according to the invention;

FIG. 6 is a schematic of the drill pipe system of the present invention;

FIG. 7 is a partial schematic view of the drill pipe system of the present invention;

FIG. 8 is a schematic view of the connection of the working section of the drill pipe system of the present invention to the vibroflot system;

FIG. 9 is a first schematic block diagram of the perpendicularity adjustment principle of the present invention;

FIG. 10 is a second schematic block diagram of the perpendicularity adjustment principle of the present invention;

FIG. 11 is a schematic block diagram of a mast verticality maintaining device according to the present invention;

FIG. 12 is a schematic block diagram of the perpendicularity detection mechanism of the present invention;

FIG. 13 is a flow chart of the automatic operation of the vibro-replacement stone column machine of the present invention;

FIG. 14 is a schematic diagram of positioning the antenna relative to the bumper system;

FIG. 15 is a schematic view of the positioning antenna and vibroflot system in real time positioning;

FIG. 16 is a display of an initial interface for positioning of the vibro-replacement pile driver;

FIG. 17 is an interface display view of the vibroflot system positioned by the vibroflot pile driver in alignment with the pile point to be constructed;

FIG. 18 is a drawing showing the operation interface of each pile hole of the vibro-replacement stone pile machine.

Detailed Description

As shown in fig. 1 and fig. 2, which are perspective views of two viewing angles of a vibroflotation gravel pile machine used in the method of the present invention, it can be seen that the vibroflotation gravel pile machine of the present invention includes a hoisting system 100, a drill rod system 200, a vibroflotation device system 400, and an automatic feeding system 500.

The hoisting system 100 comprises a main machine 101 of the vibro-replacement stone pile machine, a mast 102 connected with the main machine and a main hoisting device 501 arranged at the rear end of the main machine 101, and the drill rod system 200 is hoisted through a steel wire rope of the main hoisting device 501 and the mast 102 so as to be vertically arranged under the action of self weight.

The main body 101 is provided with an automatic feeding system 500, which is installed at the rear part of the main body 101 of the hoist system 100 and can be used as a counterweight of the main body 101. The automatic feeding system 500 includes an air pipe winding device 502, a cable winding device 503, and a water pipe winding device 504, and these three devices are set to feed in synchronization with the main winding device 501.

Drill pipe system 200 has a connection section 201 at an upper portion for connection to a wire line of main winch 501, a support section 202 at a middle portion, and a working section 203 at a lower portion for connection to vibroflot system 400 (typically, as shown in fig. 8, a shock absorbing assembly is disposed between working section 203 and vibroflot system 400). The drill pipe system 200 employs a prior art telescoping guide rod, allowing the axial length of the drill pipe system 200 to be adjusted to change the down or up position of the vibroflot system relative to the ground. As shown in fig. 6 and 7, the drill pipe system 200 has multiple layers of casing sequentially sleeved from inside to outside, the connecting section 201 is a top layer casing, the working section 203 is a bottom layer casing, and the supporting section 202 includes one or more layers of middle casings. Wherein, two adjacent layers of sleeves can be connected together by adopting the connecting structure in the prior art, so that the two adjacent layers of sleeves can slide axially smoothly and can be prevented from twisting mutually. In operation, the number and length of the multiple layers of casing in the drill pipe system can be determined according to the use requirement, for example, more than 4 layers of casing can be adopted, and the length of each layer of casing can be 18-25 meters (the length of the top layer of casing can be longer). When the vibroflotation gravel pile machine is used, the length of the multilayer sleeve of the drill rod system can be extended or shortened, and when the multilayer sleeve of the telescopic guide rod extends out completely, the total length of the telescopic guide rod can reach 72 meters or even longer, so that the vibroflotation gravel pile machine can be used for vibroflotation hole forming on a stratum with the depth of more than 50 meters. It should be noted that the coaxiality of every two adjacent layers of sleeves in connection is the same, that is, the sleeves of multiple layers are coaxial after being extended in length, so that the sleeves of each layer are perpendicular to the pile hole in the vibroflotation construction process.

Before the vibroflotation construction of the stratum by the vibroflotation gravel pile machine, the vibroflotation gravel pile machine needs to be moved to the position near the pile point to be constructed, in order to realize the automatic positioning, referring to fig. 13, the invention provides a method for automatically operating the vibroflotation gravel pile machine, the vibroflotation gravel pile machine comprises the devices, wherein the method comprises the following steps:

automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the longitude and latitude information of the vibroflotation gravel pile machine;

after the vibroflotation gravel pile machine is automatically guided to the pile point to be constructed, a vibroflotation device system on the vibroflotation gravel pile machine is aligned to the pile point to be constructed;

after the vibroflotation system is aligned with the pile point to be constructed, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system can carry out vibroflotation construction on the pile point to be constructed with the verticality meeting the requirements.

The method for automatically operating the vibroflotation gravel pile machine of the invention is specifically described below.

S100, automatically guiding the vibroflotation gravel pile machine to the pile point to be constructed according to the pile point to be constructed and the longitude and latitude information of the vibroflotation gravel pile machine;

before vibroflotation construction is carried out by adopting a vibroflotation gravel pile machine, determining the longitude and latitude information of each pile point to be constructed, positioning each pile point to be constructed (the positioning method adopts the prior art method), and obtaining the position information of each pile point to be constructed, wherein the position information of each pile point to be constructed comprises: and the pile point position number, the coordinate information, the design depth, the pile diameter and other information, wherein the coordinate information of the pile point in the construction plane coordinate system can be obtained through the longitude and latitude information of the pile point.

The construction method comprises the steps of determining a current construction-required pile point to be constructed from a plurality of construction-required pile points, then, obtaining coordinate information of a vibroflotation gravel pile machine in a construction plane coordinate system by a positioning guide system (such as a Beidou positioning system) through longitude and latitude information corresponding to the vibroflotation gravel pile machine (similarly, the coordinate information of the vibroflotation gravel pile machine in the construction plane coordinate system can be obtained through the longitude and latitude information of the vibroflotation gravel pile machine), automatically guiding the vibroflotation gravel pile machine (provided with a positioning antenna on the vibroflotation gravel pile machine) to the pile point to be constructed, adopting the prior art in the guiding process, and adding the equipment number of the vibroflotation gravel pile machine into the position information of the current construction-required pile point.

Wherein, each pile hole operation interface of the vibro-replacement stone pile machine can be shown in figure 18.

S200, after the vibroflotation gravel pile machine is automatically guided to a pile point to be constructed, aligning a vibroflotation device system on the vibroflotation gravel pile machine to the pile point to be constructed;

after the vibroflotation gravel pile machine is guided to the position near the pile point to be constructed by the positioning and guiding system, the vibroflotation system on the vibroflotation gravel pile machine is not always aligned with the pile point to be constructed, namely, the position of the vibroflotation system is not always within the position error range of the pile point to be constructed, therefore, the vibroflotation gravel pile machine needs to be automatically guided to move left and right until the position of the vibroflotation system is within the position error range of the pile point to be constructed. The method for aligning the vibroflotation system on the vibroflotation gravel pile machine to the pile point to be constructed comprises the following steps:

acquiring the position relation between a positioning antenna and a vibroflotation system on the vibroflotation gravel pile machine so as to acquire the real-time position information of the vibroflotation system according to the real-time position information of the positioning antenna;

and aligning a vibroflot system on the vibroflot stone pile machine to a pile point to be constructed according to the acquired distance information.

Wherein, when obtaining the position relation of locating antenna and vibroflotation device system on the vibroflotation gravel pile machine, need respectively carry out initial positioning to the position of locating antenna and vibroflotation device system on the vibroflotation gravel pile machine through positioning device to confirm the position relation of locating antenna and vibroflotation device system:

And the obtaining of the real-time position information of the vibroflot system according to the real-time position information of the positioning antenna comprises:

During implementation, on the vibroflotation gravel pile machine, the vibroflotation system and the positioning antenna installation position are initially positioned by using handheld positioning equipment (equipment in the prior art can be adopted), the position relation is determined, and when construction is started, the real-time coordinates of the vibroflotation system are obtained through calculation by taking the real-time positioning antenna position information as the basis, and all the coordinates are coordinates in a plane coordinate system.

The vibroflotation system and the positioning antenna mounting position on the vibroflotation gravel pile machine are shown in fig. 14, wherein G is the positioning antenna mounting position, M is the vibroflotation motor mounting position of the vibroflotation system, and the vibroflotation motor position represents the position of the vibroflotation system in construction.

When the vibroflotation system and the positioning antenna are initially positioned (see fig. 14), the position relationship can be calculated by the following formula:

a＝x ₀ -x′ ₀ (1)

b＝y ₀ -y′ ₀ (2)

in the above formulas:

rho is the linear distance between the installation position of the positioning antenna and the vibroflotation motor;

and the angle between the connecting line of the alpha-vibroflotation motor and the positioning antenna and the north.

When positioning the vibroflotation system and the positioning antenna in real time (see fig. 15), the vibroflotation system position can be calculated by the following formula:

x′ ₁ ＝x1+acosβ+bsinβ (5)

y′ ₁ ＝y1+bcosβ-asinβ (6)

in the formula:

x1, y 1-real-time positioning information acquired by a positioning antenna;

x′ ₁ ，y′ ₁ -vibroflotation motor real-time position information;

beta-the angle of rotation of the vibroflotation gravel pile machine.

Further, when the vibroflotation system on the vibroflotation gravel pile machine is aligned to the pile point to be constructed according to the acquired distance information, the real-time position information of the vibroflotation system and the position information of the pile point to be constructed are also displayed through a graphical interface (as shown in fig. 16 and 17). And after the real-time position information of the vibroflotation system is obtained, the position information of the pile point to be constructed is taken as a target point, and the direction information of the vibroflotation gravel pile machine which is automatically guided to enable the vibroflotation system to be aligned with the pile point to be constructed is displayed through a graphical interface according to the position and distance relation of the vibroflotation system relative to the target point.

Therefore, the Beidou positioning information is used as the basis for positioning, the distance relation between the vibroflotation gravel pile machine and the pile point to be constructed is visually displayed in a graphic mode, and the vibroflotation gravel pile machine is guided to move forwards, backwards, leftwards and rightwards by constructors through clear distance prompt information so that the vibroflotation device system moves to the pile point to be constructed. After the positioning is completed, the graphic interface prompts that the alignment is completed. The whole construction process can completely realize night construction, such as paying off and point finding, so that the construction efficiency is improved, and the construction period is shortened.

In conclusion, the positioning guide system is adopted to accurately position the vibroflotation gravel pile machine and the pile hole to be constructed in real time respectively, then the vibroflotation gravel pile machine and the pile hole to be constructed are transmitted to the graphical interface of the pile machine to guide a driver to accurately position, the vibroflotation gravel pile machine can be accurately positioned by only one driver in the whole process, the cooperation of measuring personnel is not needed, the manpower is saved, the limitation of the vision of the driver is avoided, the problems of low efficiency and safety at night or under the condition of insufficient illumination are solved, the alignment efficiency is high, and the alignment error is small. In addition, the whole construction process realizes real-time data sharing among the construction unit, the on-duty engineer and the supervision, so that the synchronization between construction and supervision is realized, the coordination cost is reduced to the maximum extent, and the construction efficiency is greatly improved.

S300, after the vibroflotation system is aligned to the pile point to be constructed, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system can carry out vibroflotation construction on the pile point to be constructed with the verticality meeting the requirement.

After the vibroflotation system is aligned with the pile point to be constructed, namely the position of the vibroflotation system is within the position error range of the pile point to be constructed, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system can carry out vibroflotation construction on the pile point to be constructed with the verticality meeting the requirement.

In the process of vibroflotation pore-forming on a complex stratum with the depth of more than 50 meters by the vibroflotation device of the vibroflotation device system 200, because a stratum with the depth of more than 50 meters is a deep covering layer, the upper part is soft and the lower part is hard, the gravel with large particle size is more, the upper part of the upper soft finger is a soft interlayer (such as lake-phase sedimentary silty clay), the lower part of the lower hard finger is a relatively compact hard layer (such as a sand layer or a sand layer with gravel), the vibroflotation device works under the environment of broken stone, sand and slurry, if the vibroflotation device meets a hard stratum, the vibroflotation device is very easy to deflect in the vibroflotation process, so that a pile hole deflects, which causes construction failure and huge loss. Especially when the construction is carried out on the stratum such as the medium-coarse sand layer in the strong earthquake high-rise zone, the inclination of the pile body caused by the inclination of the pile hole causes the immeasurable loss. In order to avoid the situation that the vibroflotation device deflects in the vibroflotation process, the drill rod system and the mast of the hoisting system are arranged in parallel, so that the vibroflotation device system connected with the bottom of the drill rod system is parallel to the mast, and the verticality of the vibroflotation device system can be ensured by ensuring the verticality of the mast; when vibroflotation hole-forming construction is carried out through the vibroflotation device, the verticality of the mast relative to the host machine positioned on the horizontal plane is detected in real time, and the verticality of the mast is correspondingly adjusted according to the detection result, so that the verticality of the mast is ensured to meet the requirement, and the vibroflotation device arranged in parallel with the mast can vibroflotation downwards the construction stratum with the verticality meeting the requirement and form vibroflotation gravel pile holes.

Specifically, the vibroflotation device vertical holding system 300 ensures that the vibroflotation device can vibroflotation downwards towards the construction stratum with the required verticality and form vibroflotation gravel pile holes.

As shown in fig. 1-5, the vibroflot vertical retention system 300 of the present invention comprises: the mast verticality maintaining device is used for enabling the verticality of the mast relative to the host machine on the horizontal plane to meet the requirement during the vibroflotation hole forming construction of the vibroflotation device, so that the vibroflotation device can vibroflotation downwards form vibroflotation gravel pile holes on the pile points to be constructed of the construction stratum with the verticality meeting the requirement; and the drill rod verticality maintaining device is used for enabling the drill rod system to be arranged in parallel to a mast of the hoisting system so that the vibroflot system connected with the bottom of the drill rod system is parallel to the mast.

As shown in fig. 11, the mast verticality maintaining device includes: the perpendicularity detection mechanism is used for detecting and processing the perpendicularity of the mast relative to the host machine on the horizontal plane in real time when vibroflotation hole forming construction is carried out through the vibroflotation device; the mast angle adjusting mechanism is used for correspondingly adjusting the perpendicularity of the mast according to the detection result of the perpendicularity detecting mechanism so as to enable the perpendicularity of the mast to meet the requirement.

The perpendicularity detection mechanism adopted by the invention is shown in fig. 12 and comprises the following modules: the inclination angle detection module is used for detecting the inclination angle of the mast relative to the host arranged on the horizontal plane in real time to obtain the inclination angle of the mast relative to the host; after obtaining the inclination angle of the mast relative to the host computer, through calculating to obtain the deviation data of the perpendicularity of the mast relative to the host computer (abbreviated as mast perpendicularity); the verticality comparison module is used for determining whether the verticality of the mast needs to be adjusted according to the obtained deviation data of the verticality of the mast; and the sending module is used for sending the comparison result to the controller so that the controller can control the mast angle adjusting mechanism to execute corresponding actions to adjust the perpendicularity of the mast according to the comparison result.

Wherein the inclination angle detection module is arranged inside the mast (not shown in the figure), preferably, the inclination angle detection module is arranged inside the mast near 1/5 of the lower end to detect the inclination angle of the mast more accurately. The inclination angle detection module can adopt an inclination angle sensor, and can also adopt other elements which can detect the inclination angle and process the data in the prior art.

The deviation data calculation module can obtain the deviation data in a manner shown in fig. 9, that is, after the inclination angle detection module detects the perpendicularity of the mast in real time, the inclination angle of the mast relative to the host is obtained, and then the inclination angle is subtracted by 90 degrees, so that the perpendicularity deviation value of the mast relative to the host is obtained.

Or, the deviation data calculation module may also obtain the deviation data in a manner as shown in fig. 10, that is, after the inclination detection module detects the perpendicularity of the mast in real time, the inclination angle of the mast relative to the host is obtained, and then the absolute value is obtained after subtracting 90 degrees from the inclination angle, so as to obtain the absolute value of the perpendicularity deviation value of the mast relative to the host.

After obtaining the deviation data of the mast verticality, a comparison module determines whether the mast verticality needs to be adjusted, the comparison module compares the obtained deviation data of the mast verticality with a preset threshold interval of the mast verticality set in advance to obtain a corresponding comparison result, and the comparison process comprises the following steps: after real-time deviation data of the perpendicularity of the mast is obtained, whether the deviation data is within a preset threshold interval is judged; if the deviation data exceeds a preset threshold interval, the verticality of the mast needs to be adjusted, and relevant information of the direction and the size of the mast needing to be adjusted is determined; if the deviation data does not exceed the preset threshold interval, the perpendicularity of the mast does not need to be adjusted. The preset threshold interval represents the range of the maximum angle and the minimum angle that the mast can be inclined relative to the vertical plane. The above-described data processing procedure is performed by a program stored in advance.

After the comparison result is obtained by the comparison module, the comparison result is sent to the controller by the sending module, and the controller controls the mast angle adjusting mechanism to execute corresponding actions according to the comparison result so as to adjust the perpendicularity of the mast. Namely, when the detection result of the perpendicularity detection mechanism indicates that the mast perpendicularity needs to be correspondingly adjusted so as to enable the mast perpendicularity to meet the requirement, namely the deviation data exceeds a preset threshold interval, and the mast perpendicularity needs to be adjusted so as to meet the requirement, the controller controls the mast angle adjustment mechanism to execute corresponding actions so as to adjust the mast perpendicularity to meet the requirement. The controller is a PLC controller.

It should be noted that, when the perpendicularity of the mast needs to be adjusted, the controller firstly controls the vibroflotation system to stop vibroflotation construction, lifts the vibroflotation system through the lifting system, and then controls the mast angle adjusting mechanism to execute corresponding actions so as to adjust the perpendicularity of the mast to meet the requirements.

Wherein, the mast angle adjusting mechanism of the invention includes: the cylinder body of the deviation rectifying oil cylinder is arranged on the main machine; and the proportional valve is connected with the deviation rectifying oil cylinder. During design, the verticality of the masts can be adjusted through one deviation rectifying oil cylinder, the verticality of the masts can be adjusted through a pair of deviation rectifying oil cylinders, and the verticality of the masts can be adjusted through a plurality of pairs of deviation rectifying oil cylinders. The proportional valve controls the action of the deviation-correcting oil cylinder, the proportional valve is connected with the PLC, and the PLC feeds back a signal to control the opening size and the direction of the proportional valve in a closed loop mode, so that the deviation-correcting oil cylinder is controlled to adjust the inclination direction and the inclination size of the mast, and the verticality of the mast is kept within a preset threshold interval meeting the requirements.

Because the verticality of the mast meets the requirement, the vibroflot can vibroflot downwards vibroflot the construction stratum with the verticality meeting the requirement during vibroflot hole-forming construction, and form vibroflot gravel pile holes meeting the verticality requirement.

The invention not only ensures that the verticality of the mast meets the requirement through the verticality keeping device of the mast during the vibroflotation hole-forming construction of the vibroflotation device, so that the vibroflotation device can perform vibroflotation on the construction stratum downwards to form vibroflotation gravel pile holes with the verticality meeting the requirement, but also enables the drill rod system to be arranged in parallel with the mast of the hoisting system through the verticality keeping device of the drill rod, so that the vibroflotation device system connected with the bottom of the drill rod system is parallel with the mast, and further enables the verticality of the vibroflotation device system to always meet the requirement under the condition that the verticality of the mast meets the requirement, so that the pile holes meeting the verticality requirement are constructed.

Wherein, exert drilling rod straightness holding device that hangs down of horizontal direction restraint power and vertical direction guiding force to drilling rod system includes: the supporting frame is connected with the drill rod system and is used for applying horizontal direction constraint force and vertical direction guide force to the connecting section of the drill rod system; and the fixed frame is respectively connected with the support frame and the mast and is used for fixing the support frame on the mast.

Specifically, the supporting frame may adopt a first structure as shown in fig. 4, and has a pair of vertical columns 303 arranged in parallel in a vertical direction, a horizontal frame 301 vertically connected to top ends of the pair of vertical columns 303 and extending to one side, and a pair of reinforcing columns 302 having two ends connected to two sides of bottom end surfaces of the pair of vertical columns 303 and the horizontal frame 301 respectively. The horizontal frame 301 is provided with a circular through hole, and the circular through hole is connected with the drill rod system connecting section 201. During design, a plurality of clamping grooves 306 extending along the vertical direction can be formed in the inner wall of the circular through hole, correspondingly, a plurality of connecting ribs 204 extending along the length extending direction of the connecting section are arranged on the outer wall of the connecting section 201 of the drill rod system, the clamping grooves 306 on the horizontal frame are connected with the connecting ribs 204 on the outer wall of the connecting section 201 in a matched mode, and the clamping grooves are in clearance fit during connection, so that the connecting section of the drill rod system can slide up and down in the through hole along the vertical direction after penetrating through the through hole. Thus, the lower part of the connection section 201 of the drill rod system penetrates through the through hole in the horizontal frame 301, the connecting rib 204 on the outer wall of the connection section is arranged in the clamping groove 306, and the horizontal direction constraint force and the vertical direction guide force are applied to the connection section through the through hole and the clamping groove in the horizontal frame 301, so that certain rigid constraint is applied to the connection part of the connection section, the drill rod system is always parallel to the mast, and the vibroflot system connected with the drill rod system is parallel to the mast. In the vibroflotation construction process of the vibroflotation system, the verticality maintaining device of the drill rod ensures that the vibroflotation system can vibroflotation can produce pile holes meeting the verticality requirement when the verticality of the mast meets the requirement.

Of course, a plurality of connecting ribs extending in the vertical direction may be disposed on the inner wall of the circular through hole, and a plurality of clamping grooves (not shown in the figure) matched with the connecting ribs are fixedly disposed on the outer wall of the connecting section 201 of the drill rod system, so that the horizontal frame exerts a certain rigid constraint force on the connecting section in a manner of matching the connecting ribs with the clamping grooves.

Furthermore, the support frame of the present invention may also adopt a second structure as shown in fig. 5, and on the basis of the first structure, the two sides of the upper surface of the horizontal frame 301 near the edges are respectively provided with a barrier 308, so as to provide safety protection for maintenance personnel when maintaining the drill rod verticality maintaining device and the drill rod system.

The horizontal bracket 301 of the present invention may be an integral structure, and further, in order to facilitate the connection and maintenance of the connection section of the drill rod system with the horizontal bracket 301, the horizontal bracket 301 may be configured to be a structure formed by two parts (as shown in fig. 4), each of the two parts has a half through hole, and the two parts are connected with the lock catch 305 through a hinge and form a complete circular through hole.

And the fixing frame 307 respectively connected with the support frame and the mast 102 is provided with a vertical connecting frame which is matched and connected with the mast 102 and a pair of upper connecting lugs and a pair of lower connecting lugs which are respectively fixedly connected with the upper end and the lower end of the vertical connecting frame and are vertical to the vertical connecting frame, correspondingly, the upper end and the lower end of the support frame are respectively provided with a pair of upper connecting lugs and a pair of lower connecting lugs, as shown in fig. 4, the pair of upper connecting lugs of the support frame are arranged on two sides of one end, far away from the through hole, of the horizontal frame 301, the pair of lower connecting lugs of the support frame are arranged on the pair of upright posts 303, and the upper connecting lugs and the lower connecting lugs of the support frame are respectively connected with the upper connecting lugs and the lower connecting lugs on the fixing frame 307 through pin shafts 304, so that the support frame is connected with the fixing frame. Of course, in order to improve the connection strength between the fixing frame and the supporting frame, a plurality of connecting lugs or connecting plates can be arranged.

Compared with the vibroflotation gravel pile machine with the telescopic guide rod in the prior art, although the vibroflotation gravel pile machine with the telescopic guide rod in the prior art is provided with the annular frame on the mast, the annular frame has the function of protecting the periphery of the telescopic guide rod (a larger gap is formed between the annular frame and the maximum outer diameter of the telescopic guide rod) through the annular frame so as to prevent the telescopic guide rod and the vibroflotation device from colliding with the mast in the process of descending the telescopic guide rod and the vibroflotation device to cause the damage of components and prevent the vibroflotation device from colliding with the mast due to overlarge shaking amplitude in vibroflotation construction, and therefore, the annular frame cannot solve the problem of pile hole inclination generated by the vibroflotation device in the flotation construction. The drill rod verticality maintaining device is adopted to provide rigid constraint force in a horizontal plane and guiding force in a vertical direction for the connecting section of the drill rod system, so that the drill rod system and the mast can be ensured to be parallel, the verticality of the drill rod system and the vibroflot system can be ensured under the condition that the verticality of the mast is ensured, and pile holes with the verticality meeting the requirements can be constructed by vibroflot.

Further, in order to determine the position of the holding connection section according to the length of the connection section of the drill rod system, the hoisting system of the invention further arranges an adjusting cylinder 103 (shown in fig. 3) on the mast 102 for adjusting the position of the drill rod verticality maintaining device relative to the mast, wherein the piston rod of the adjusting cylinder 103 is parallel to the mast and extends vertically downwards, and the tail end of the adjusting cylinder is fixedly connected with a fixed frame 307. The vertical connecting frame of the fixing frame 307 is connected with the mast 102 in a sliding fit mode, so that the position of the fixing frame 307 on the mast is adjusted by adjusting the stretching of the oil cylinder 103, the constraint position of the drill rod verticality maintaining device on the drill rod system connecting section can be adjusted, and the vibroflot system can maintain a better verticality requirement during vibroflot.

After the vibroflotation system is aligned with the pile point to be constructed, the verticality of the vibroflotation system on the vibroflotation gravel pile machine is adjusted, so that the vibroflotation system can carry out vibroflotation construction on the pile point to be constructed with the verticality meeting the requirement, and the vibroflotation construction method comprises the following steps:

s01, arranging the drill rod system and a mast of the hoisting system in parallel so that a vibroflot system connected with the bottom of the drill rod system is parallel to the mast;

in the process of lowering the drill rod system and the vibroflotation device system by using the hoisting system, the verticality of the drill rod system relative to the host is controlled so that the vibroflotation device system lowered by the drill rod system is parallel to the mast. The verticality of the drill rod system is controlled by applying a horizontal constraint force and a vertical guide force to the drill rod system.

It should be noted that the main machine of the vibroflotation gravel pile machine should be arranged on the horizontal ground, and the ground has enough bearing capacity, so that the main machine of the vibroflotation gravel pile machine can be kept horizontal, and the main machine can be kept horizontal by adopting theodolite for auxiliary calibration, so that the main machine is in a horizontal state and a vertical state.

Because the drill rod system comprises the connecting section, the supporting section and the working section, and the connecting section is suspended on the mast through the first steel wire rope, when horizontal restraining force and vertical guiding force are applied to the drill rod system, the restraining force is applied to the connecting section of the drill rod system. The method for applying the horizontal constraint force and the vertical guide force is a method for applying the horizontal constraint force and the vertical guide force to the connecting section through the drill rod verticality maintaining device.

Exerting horizontal direction restraining force and vertical direction guiding force on the connecting section through the drill rod perpendicularity retaining device comprises the following steps:

connecting a fixing frame of the drill rod verticality maintaining device with a supporting frame through a plurality of pin shafts;

and mounting the fixed frame on the mast, and enabling the connecting section of the drill rod system to penetrate through the through hole of the support frame so as to apply horizontal constraint force and vertical guide force to the connecting section through the support frame.

When the horizontal frame of the support frame is formed by butting two parts, the lock catch can be opened, one part of the support frame, which is far away from the mast, is in an opened state relative to the other part, which is close to the mast, of the support frame, and after one part of the connection section of the drill rod system penetrates through the through hole of the support frame, the two parts are butted and locked through the lock catch, so that rigid constraint is provided for the connection section. Preferably, the connection section is restrained in a position close to the connection of the connection section and the support section.

Or, when the position of the drill rod verticality maintaining device on the mast is adjustable, the step of applying the horizontal direction restraining force and the vertical direction guiding force to the connecting section through the drill rod verticality maintaining device further comprises the following steps:

before or after the mount that links together drilling rod straightness holding device that hangs down through many round pins axle and support frame, still include:

connecting the fixed frame with a piston rod of an adjusting oil cylinder;

and controlling the piston rod of the adjusting oil cylinder to stretch according to the position required to be tightly held by the connecting section of the drill rod system, so as to adjust the vertical position of the fixing frame on the mast through the piston rod until the drill rod verticality maintaining device reaches the required position.

The drill rod system and the mast of the hoisting system can be arranged in parallel through the drill rod verticality maintaining device, so that the vibroflot system connected with the bottom of the drill rod system is parallel to the mast. When the verticality of the mast meets the requirement, the vibroflot system can perform vibroflot construction on the stratum according to the required verticality to form a pile hole.

S02, when vibroflotation construction is carried out through the vibroflotation device system, the verticality of the main machine, relative to the mast, on the horizontal plane meets the requirement, so that the vibroflotation device can downwards vibroflotation on the construction stratum with the verticality meeting the requirement to form vibroflotation gravel pile holes

After making drilling rod system, vibroflotation ware system and hoist and mount system's mast parallel through drilling rod straightness retention device that hangs down, utilize the vibroflotation ware system to carry out vibroflotation construction to the stratum, when vibroflotation construction, need to make the mast be located the straightness that hangs down of host computer relatively on the horizontal plane and meet the requirements to vibroflotation ware with the straightness that hangs down that meets the requirements shakes downwards to the construction stratum that the degree of depth exceeds 50 meters and have the macroseism many hairlines of deep overburden and forms vibroflotation gravel pile hole, it includes the following step:

s021, when vibroflotation construction is carried out through a vibroflotation device system, detecting the verticality of the mast relative to a host positioned on a horizontal plane in real time to obtain real-time deviation data of the verticality of the mast;

carry out vibroflotation pore-creating work progress through vibroflotation device, carry out real-time detection and processing to the straightness that hangs down of mast host computer on being located the horizontal plane relatively, include: the inclination angle of the mast relative to the host is obtained by detecting the inclination angle of the mast relative to the host arranged on the horizontal plane in real time; after the inclination angle of the mast relative to the host is obtained, real-time deviation data of the perpendicularity of the mast relative to the host (the perpendicularity of the mast is simply referred to as the perpendicularity of the mast) is obtained through calculation.

After obtaining the inclination angle of the mast relative to the host (i.e., the included angle between the mast and the host), the method for obtaining the verticality deviation data of the mast through calculation can be as follows: the inclination angle detection module is used for detecting the perpendicularity of the mast in real time to obtain the inclination angle of the mast relative to the host, and then subtracting 90 degrees from the inclination angle to obtain the perpendicularity deviation value of the mast relative to the host, wherein the deviation value is the real-time deviation data of the perpendicularity of the mast. Alternatively, the following method may be used: the inclination angle detection module is used for detecting the verticality of the mast in real time to obtain the inclination angle of the mast relative to the host, then the inclination angle is subtracted by 90 degrees to obtain an absolute value of the verticality deviation value of the mast relative to the host, and the absolute value of the deviation value is real-time deviation data of the verticality of the mast.

S022, judging whether the perpendicularity of the mast needs to be adjusted or not according to the obtained real-time deviation data of the perpendicularity of the mast;

after real-time deviation data of the mast perpendicularity is obtained through calculation, whether the mast perpendicularity needs to be adjusted or not is judged according to the real-time deviation data, namely whether the deviation data is within a preset threshold interval or not is judged, if the deviation data exceeds the preset threshold interval, the mast perpendicularity needs to be adjusted, and if the deviation data does not exceed the preset threshold interval, the mast perpendicularity does not need to be adjusted.

Specifically, after real-time deviation data of the perpendicularity of the mast is obtained, whether the perpendicularity of the mast needs to be adjusted is determined through a comparison module, the obtained deviation data of the perpendicularity of the mast is compared with a preset threshold interval of the perpendicularity of the mast set in advance through the comparison module, and a corresponding comparison result is obtained, and the comparison process is as follows: after real-time deviation data of the perpendicularity of the mast is obtained, whether the deviation data is within a preset threshold interval is judged; if the deviation data exceeds a preset threshold interval, the perpendicularity of the mast needs to be adjusted, and relevant information of the adjustment direction (namely the mast needs to be tilted forwards or backwards) and the size of the mast is determined; if the deviation data does not exceed the preset threshold interval, the perpendicularity of the mast is not required to be adjusted. The preset threshold interval represents a range of maximum and minimum angles at which the mast can be tilted relative to the vertical plane.

And S023, if the verticality of the mast needs to be adjusted, adjusting the verticality of the mast to meet the requirement so that the vibroflot system can perform vibroflot on the construction stratum downwards with the verticality meeting the requirement and form vibroflot gravel pile holes.

And when the obtained comparison result indicates that the deviation data of the mast perpendicularity exceeds a preset threshold interval and the mast perpendicularity needs to be adjusted to meet the requirement, the comparison result is sent to the PLC, and the controller controls the mast angle adjusting mechanism to execute corresponding action according to the comparison result so as to adjust the mast perpendicularity and enable the mast perpendicularity to meet the requirement.

Specifically, if the perpendicularity of the mast needs to be adjusted, the controller firstly controls the vibroflotation system to stop vibroflotation construction, and the vibroflotation system is lifted up through the hoisting system; then, corresponding actions are executed by controlling the mast angle adjusting mechanism so as to adjust the perpendicularity of the mast to meet the requirements: the PLC controller controls the opening size and the direction of the proportional valve, so that the mast is driven by the deviation rectifying oil cylinder to deflect relative to the host machine to adjust the inclination direction and the inclination size, and the perpendicularity of the mast is within a preset threshold interval meeting the requirement. And finally, lowering the lifted vibroflotation system, and continuing vibroflotation construction on the stratum by using the vibroflotation system.

By adopting the method, the telescopic guide rod system is in rigid connection, the verticality of the telescopic guide rod system is directly ensured by a mast vertical mechanism, the verticality of the mast meets the requirement, the verticality of the drill rod system and the vibroflot in vibroflot construction, which are arranged in parallel with the mast, meets the requirement, and the guide rod and the vibroflot system can still keep vertical when encountering a hard layer or larger gravels. In engineering practice, the vibration-impact construction is carried out on harder formations with hole depths of more than 50 meters, particularly formations with larger gravels, so that the impact force on hard layers and gravels is kept, the verticality of pile holes is ensured, the probability of rotary excavation or impact in the construction is far lower than that of the traditional method (rotary excavation or hard smashing impact is hardly needed), the quality and the work efficiency are far better than those of the traditional method, the uniformity and the compactness of the pile diameters of subsequently formed vibration-impact gravel pile holes and vibration-impact gravel piles are ensured, and the safety performance of the vibration-impact gravel piles is good. In addition, the formed vibroflotation gravel pile can also form a good vertical drainage channel in the stratum, greatly reduces the drainage distance of the hyperstatic pore water in the stratum, accelerates the dissipation of the pore water pressure by times or even tens of times, plays a vital role in controlling or inhibiting the rise of the hyperstatic pore water pressure, and fundamentally improves the anti-seismic liquefaction capacity and the anti-seismic effect of the composite foundation.

It should be noted that each data of the invention can be transmitted to a remote vibroflotation construction management system, a set of PLC or a singlechip ARM program communication port (RS 485 or 232 port) is designed on the vibroflotation construction management system, and the vibroflotation gravel pile machine can be remotely controlled to execute corresponding actions through programming of the ARM singlechip or the PLC, so that the automatic operation of the vibroflotation gravel pile machine is realized.

Although the present invention has been described in detail, the present invention is not limited thereto, and those skilled in the art can modify the principle of the present invention, and thus, various modifications made in accordance with the principle of the present invention should be understood to fall within the scope of the present invention.

Claims

1. A method for automatically operating a vibroflotation gravel pile machine is characterized by comprising the following steps:

2. The method of claim 1, wherein aligning a vibroflot system on a vibroflot pile driver with a pile point to be constructed comprises:

3. The method as recited in claim 2, wherein the step of obtaining the positional relationship between the positioning antenna and the vibroflot system on the vibroflot pile machine comprises the step of initially positioning the positions of the positioning antenna and the vibroflot system on the vibroflot pile machine by a positioning device, respectively, to determine the positional relationship between the vibroflot system and the positioning antenna.

4. The method of claim 3, wherein initially positioning the location of the vibroflot antenna and the vibroflot system on the vibroflot pile machine with a positioning device to determine the positional relationship of the vibroflot system and the positioning antenna comprises:

5. The method of claim 4, wherein obtaining real-time position information of the vibroflot system from the real-time position information of the positioning antenna comprises:

acquiring the rotation angle of the vibro-replacement stone pile machine facing the north;

and according to the acquired real-time position information of the positioning antenna, determining the real-time position information of the vibroflotation system through the real-time position information of the positioning antenna, the distance between the vibroflotation system and the positioning antenna and the rotation angle of the vibroflotation gravel pile machine to the north.

6. The method according to any one of claims 1 to 5, wherein when aligning the vibroflot system on the vibroflot pile machine with the pile point to be constructed according to the acquired distance information, further comprising:

and displaying the direction information of the vibroflotation gravel pile machine which is automatically guided to enable the vibroflotation device system to be aligned to the pile point to be constructed through a graphical interface according to the position and distance relation of the vibroflotation device system relative to the target point by taking the position information of the pile point to be constructed as the target point.

7. The method of claim 1, wherein adjusting the perpendicularity of the vibroflot system on the vibroflot pile machine after the vibroflot system is aligned with the pile point to be constructed so that the vibroflot system can vibroflot the pile point to be constructed with the required perpendicularity comprises the step of placing the drill rod system of the vibroflot pile machine parallel to the mast of the hoisting system so that the vibroflot system connected to the bottom of the drill rod system is parallel to the mast.

8. The method of claim 7, wherein positioning the drill pipe system parallel to a mast of the hoist system such that the vibroflot system coupled to the bottom of the drill pipe system is parallel to the mast comprises:

in the process of lowering the drill rod system and the vibroflotation device system by using the hoisting system, the verticality of the drill rod system relative to the host is controlled so that the vibroflotation device system lowered by the drill rod system is parallel to the mast.

9. The method of claim 7, wherein enabling the vibroflot system to vibroflot a pile point to be constructed with a desired verticality further comprises: and when the vibroflotation construction is carried out through the vibroflotation system, detecting the verticality of the mast relative to the host machine positioned on the horizontal plane in real time so as to ensure that the verticality of the mast meets the requirement.

10. The method of claim 9, wherein detecting the verticality of the mast in real time relative to the host machine above the horizontal plane during vibroflotation construction through the vibroflotation system so that the verticality of the mast is satisfactory comprises: