CN-121995805-A - Automatic slurry feeding and pile position guiding quality monitoring system and method for cement mixing pile

CN121995805ACN 121995805 ACN121995805 ACN 121995805ACN-121995805-A

Abstract

A cement mixing pile automatic slurry feeding and pile position guiding quality monitoring system and method relate to the technical field of foundation treatment engineering. The method comprises the steps of setting construction parameters, calculating target flow, collecting actual guniting flow, calculating flow deviation, generating a control instruction, executing control actions, repeatedly executing closed-loop adjustment, and executing pile-slurry cooperative intelligent regulation and control logic by a central control unit. The invention automatically realizes accurate matching of the gunite amount and real-time calculation of pile position coordinates by constructing a slurry feeding optimization model based on PID closed-loop control and combining a GNSS-RTK and an IMU fusion positioning algorithm, completes intelligent parameter regulation and space positioning, fuses multisource sensor data, realizes closed-loop control and dynamic response of a construction process, supports data acquisition and quality tracing in the whole process, obviously improves construction efficiency and piling quality, reduces manual intervention and material waste, is suitable for various engineering scenes such as soft soil foundation reinforcement, deep foundation pit support, roadbed treatment and the like, and has good practicability and popularization value.

Inventors

YANG GUANG
Liang Zhengxu
GUO WENJING
ZHAO PENG
LIU YANJIN
ZHANG XU
Yi Weida
ZHANG RUI
LUAN XIAOQIANG
LIU ZIQI
YANG RUNLAI
WANG XIAOSHU
LI YAPING
QU SHIJIE
LIU BINGQIANG
SUN ZHIYONG

Assignees

中交一航局第三工程有限公司
中交第一航务工程局有限公司

Dates

Publication Date: 20260508
Application Date: 20260403

Claims (10)

1. The automatic slurry feeding and pile position guiding quality monitoring method for the cement mixing pile is characterized by comprising the following steps of: step 1, setting construction parameters and calculating target flow; Step 2, collecting actual guniting flow, calculating flow deviation and generating a control instruction; Step 3, executing control action, and repeatedly executing closed-loop adjustment; and 4, executing pile-slurry cooperative intelligent regulation logic by the central control unit.
2. The method for monitoring the automatic slurry feeding and pile guide quality of a cement mixing pile according to claim 1, wherein the step 1 comprises the following steps: Step 11, before construction, the operator inputs construction parameters in the central control unit, i.e. designing the unit depth ash amount Density of slurry The drilling speed v is fed back in real time by a depth and speed monitoring unit, and the sampling frequency is 10 Hz; step 12, the central control unit dynamically calculates the target flow according to the current drilling speed v: wherein v is m/min, The unit is L/min.
3. The method for monitoring the automatic slurry feeding and pile guide quality of a cement mixing pile according to claim 1, wherein the step 2 comprises: Step 21, the system measures the actual guniting flow in real time through the electromagnetic flowmeter As a feedback signal for closed loop control; Step 22, the system adopts an incremental PID closed-loop control algorithm to adjust the rotating speed of the screw pump, and defines the flow deviation at the kth moment as follows: , wherein, The unit is L/min for the target guniting flow set value calculated in the step 12 at the kth moment; the unit is L/min, which is the actual guniting flow measurement value fed back by the guniting flow monitoring unit at the kth moment; Calculating a frequency increment instruction of the frequency converter according to the deviation: Wherein, the PID parameters set for the site.
4. The method for monitoring the automatic slurry feeding and pile guide quality of a cement mixing pile according to claim 1, wherein the step 3 comprises: Step 31, sending the calculated frequency increment instruction Deltau (k) into a frequency converter, and adjusting the rotating speed of a screw pump to realize dynamic tracking of the guniting flow; and step 32, continuously and circularly executing the steps 3 to 5 by the system until the whole pile forming process is completed, wherein in the process, the guniting amount always closely follows the change of the drilling speed, and the cement mixing amount per unit length is ensured to be stable.
5. The method for monitoring the automatic slurry feeding and pile guide quality of a cement mixing pile according to claim 1, wherein the step 4 comprises: Step 41, initializing pile bit and depth states: after the system is started, the horizontal deviation deltas output by the pile position guiding unit and the current depth h of the drill rod output by the depth monitoring unit are obtained in real time; Step 42, judging the pile position positioning condition: Firstly, judging whether pile position deviation meets deltas less than or equal to 2cm, if deltas is more than 2cm, not meeting in-place conditions, prohibiting starting slurry feeding, and sending acousto-optic early warning at an operation terminal; Step 43, judging the effectiveness of the depth interval: The system further judges whether the depth of the drill rod is in a designed pile forming interval h epsilon [ h top ,h bottom ], wherein h top and h bottom are upper and lower effective pile forming depth boundary values determined according to the specific designed pile length respectively; When the effective piling area is not entered, slurry feeding is not allowed; step 44, comprehensively judging and executing control: if the two conditions do not meet the slurry feeding condition, the system judges that the system is in an ineffective construction state, the screw pump is automatically closed, the slurry feeding function is locked, and the cement waste and the quality risk are prevented; step 45, updating the subsequent construction state: if the system simultaneously meets that delta s is less than or equal to 2cm and is in a designed pile forming interval, the system releases the slurry feeding locking and allows the automatic slurry making and automatic slurry feeding program to be started; Step 46, real-time monitoring in the slurry feeding process: After the slurry feeding is started, the system continuously accumulates the actual slurry spraying quality Theoretical value The deviation is: Wherein: when the deviation reaches 3%, the system immediately triggers a safety interlocking mechanism, stops slurry feeding and closes the screw pump; step 47, ending the pile forming or the mode switching: The system decides whether to continue construction or switch to a manual intervention mode according to preset rules, and all abnormal events are uploaded to a construction management platform for later analysis and tracing.
6. Automatic slurry feeding and pile position guiding quality monitoring system for cement mixing piles, which is characterized by comprising: The high-precision pile position guiding unit is used for acquiring and resolving the actual space coordinates of the grounding point at the bottom of the drill rod in real time and guiding the pile machine to be positioned at the designed pile position; The automatic pulping unit is used for continuously preparing cement slurry according to a preset mixing ratio; the automatic slurry feeding control unit is connected with the automatic slurry making unit and is used for dynamically adjusting the slurry spraying flow according to drilling parameters; The depth and speed monitoring unit is used for collecting the tripping or lifting depth and the movement speed of the drill rod in real time; The slurry spraying amount monitoring unit is used for measuring, accumulating and checking the slurry amount actually sprayed into the stratum in real time; And the central control unit is respectively in communication connection with the high-precision pile position guiding unit, the automatic pulping unit, the automatic pulp feeding control unit, the depth and speed monitoring unit and the guniting amount monitoring unit, and is used for fusing multisource sensing data, executing a pile-pulp cooperative intelligent regulation algorithm, realizing closed-loop linkage control of guniting amount and pile position, and generating a single pile construction quality digital file.
7. The automatic slurry feeding and pile position guiding quality monitoring system for cement mixing piles according to claim 6, wherein the high-precision pile position guiding unit comprises GNSS main and auxiliary antennas and an inertial measurement unit IMU, wherein the GNSS main and auxiliary antennas are respectively fixed on a bilateral symmetry rigid structure of a pile machine body, the installation heights of the GNSS main and auxiliary antennas are completely consistent, a connecting line of the antenna phase centers is parallel to a longitudinal central axis of the pile machine and used for solving a real-time azimuth angle θ of the pile machine through a dual-antenna baseline measurement method, the IMU is installed in the middle of a pile machine upright and used for measuring a front-rear inclination angle α and a left-right inclination angle β of a pile frame in real time, and the central control unit is used for solving an actual three-dimensional coordinate of a bottom center point of a drill rod in real time through a geometric projection model based on real-time three-dimensional coordinates of the GNSS main and auxiliary antennas, inclination angle data measured by the IMU and an effective length L of the drill rod ; Let GNSS main antenna phase center coordinates be GNSS is from antenna phase center coordinates as The calculation formula of the azimuth angle of the pile machine is as follows: the central control unit further calculates the coordinates of the grounding point at the bottom of the drill rod according to the following formula: 、、 , wherein, Is the integrated tilt angle.
8. The automatic slurry feeding and pile level guiding quality monitoring system for cement mixing piles according to claim 6, wherein said central control unit controls the horizontal coordinates of the center point of the bottom of said drill pipe And designing pile position coordinates Comparing, and synchronously displaying two icons on an operation room display screen, wherein the first icon represents the current actual touchdown point position, and the second icon represents the target design stake position; the central control unit calculates pile level deviation: when delta s is more than 2cm, starting slurry feeding is forbidden, and an early warning prompt is sent out at an operation terminal; The central control unit supports the local storage and 4G/5G remote uploading of the whole construction process data and automatically generates a single pile quality report, wherein the report content comprises pile numbers, design parameters, actual guniting curves, accumulated ash quantity, pile position deviation, verticality, drilling speed-depth curves, operation logs and quality judgment conclusion; the central control unit executes the following pile-slurry cooperative intelligent regulation algorithm logic: a) Only when the pile position deviation delta s is less than or equal to 2cm and the depth of the drill rod is in a designed pile section h epsilon [ h top ,h bottom ], starting automatic pulping and automatic pulp feeding; b) If Deltas >2cm or accumulated guniting quality deviation exceeds 3% of theoretical value in the construction process, immediately stopping feeding the slurry and recording an abnormal event.
9. The automatic grouting and pile position guiding quality monitoring system for the cement mixing pile, according to claim 6, is characterized in that the automatic grouting unit comprises a solidified material weighing module, a water metering module, a high-speed stirring tank, a grouting unit and a grouting unit, wherein the solidified material weighing module is used for continuously metering cement, lime or fly ash by adopting a dynamic weighing sensor; the automatic slurry feeding control unit comprises a screw pump, a frequency converter and a slurry feeding pipeline, wherein the central control unit calculates target flow based on the current drilling speed v, the unit is m/min, the designed unit depth ash quantity Q d , the unit is kg/m and slurry density rho, the unit is kg/L: the unit is L/min, and the rotation speed of the screw pump is regulated by adopting an incremental PID closed-loop control algorithm, so that the actual guniting flow tracks the target flow; the incremental PID closed-loop control algorithm uses the actual measurement flow output by the guniting amount monitoring unit For feedback, calculating the flow deviation of the kth sampling period And generating a frequency increment instruction of the frequency converter according to a formula: The output frequency of the frequency converter is updated as Wherein To be able to set the control parameters.
10. The automatic slurry feeding and pile position guiding quality monitoring system for cement stirring pile according to claim 6, wherein said depth and speed monitoring unit comprises a high resolution rotary encoder mounted at the end of the drum of the steel wire rope of the hoist for converting the displacement of the steel wire rope into a pulse signal, said central control unit converts the real-time depth h and the movement speed of the drill rod according to the pulse number The slurry spraying amount monitoring unit adopts an electromagnetic flowmeter or a mass flowmeter, is arranged at the position of the slurry conveying pipeline close to the power head inlet of the pile machine, is used for independently and real-timely monitoring the slurry flow actually sprayed into the stratum, and feeds data back to the central control unit for PID closed-loop correction.

Description

Automatic slurry feeding and pile position guiding quality monitoring system and method for cement mixing pile Technical Field The invention relates to the technical field of foundation treatment engineering, in particular to a system and a method for automatically feeding cement stirring piles and guiding pile positions to monitor quality. Background The cement mixing pile is used as a widely applied soft foundation treatment construction method, and the pile forming quality is highly dependent on water-cement ratio control, unit depth ash quantity uniformity, pile position accuracy and verticality stability in the construction process. The traditional construction mainly relies on manual operation and experience to judge, and has the outstanding problems of rough slurry feeding control, large pile position positioning error, lack of linkage of a system, non-traceability of quality and the like, namely constant flow pumping or simple time control is adopted, the slurry spraying amount cannot be dynamically regulated according to the drilling speed, so that the strength of a pile body is influenced easily, the pile position lofting depends on a total station or a steel rule and is subjected to visual alignment by an operator, the pile position lofting is easily interfered by artificial factors, the deviation often exceeds 5cm, the high standard engineering requirements of highways, high-speed railways and the like are difficult to meet, a slurry feeding system and a positioning system are mutually independent, even if the pile position is still deviated, the slurry spraying is still possibly continued, the material waste and the quality hidden trouble are caused, the construction parameter recording is incomplete, and the single pile quality digital filing and the later inspection and evaluation are difficult to realize. In recent years, research attempts are made to introduce GPS positioning or flowmeter monitoring, but the following limitations generally exist that only a single-point GPS is used, the influence of pile frame inclination on the bottom coordinates of a drill rod is not considered, the slurry spraying amount depends on theoretical calculation, independent check of the actual spraying amount of the tail end is lacking, no effective man-machine interaction guiding mechanism exists, and an operator still needs to adjust the slurry spraying amount according to experience. Therefore, an integrated intelligent monitoring system capable of integrating high-precision spatial positioning, dynamic guniting regulation and visual guiding depth is needed to realize standardization, automation and traceability of cement mixing pile construction. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a system and a method for automatically feeding slurry and guiding the quality of a pile position of a cement mixing pile, which realize the high-quality construction targets of 'accurate, controllable and traceable' by multi-source sensing fusion, closed-loop feedback control and man-machine collaborative guiding. In order to achieve the above purpose, the present invention provides the following technical solutions: The automatic slurry feeding and pile position guiding quality monitoring method for the cement mixing pile specifically comprises the following steps: step 1, setting construction parameters and calculating target flow; Step 2, collecting actual guniting flow, calculating flow deviation and generating a control instruction; Step 3, executing control action, and repeatedly executing closed-loop adjustment; and 4, executing pile-slurry cooperative intelligent regulation logic by the central control unit. The step 1 comprises the following steps: Step 11, before construction, the operator inputs construction parameters in the central control unit, i.e. designing the unit depth ash amount Density of slurryThe drilling speed v is fed back in real time by a depth and speed monitoring unit, and the sampling frequency is 10 Hz; step 12, the central control unit dynamically calculates the target flow according to the current drilling speed v: wherein v is m/min, The unit is L/min. The step 2 comprises the following steps: Step 21, the system measures the actual guniting flow in real time through the electromagnetic flowmeter As a feedback signal for closed loop control; Step 22, the system adopts an incremental PID closed-loop control algorithm to adjust the rotating speed of the screw pump, and defines the flow deviation at the kth moment as follows: , wherein, The unit is L/min for the target guniting flow set value calculated in the step 12 at the kth moment; The unit is L/min, which is the actual guniting flow measurement value fed back by the guniting flow monitoring unit at the kth moment. Calculating a frequency increment instruction of the frequency converter according to the deviation: Wherein, the PID parameters set for the site. The step 3 comprise