CN-122013750-A - Shallow layer curing system for soft soil foundation and construction method

CN122013750ACN 122013750 ACN122013750 ACN 122013750ACN-122013750-A

Abstract

The invention discloses a shallow solidification system of a soft soil foundation and a construction method, comprising a management platform, an intelligent excavator, a grouting unit and a positioning and communication unit, wherein the management platform is used for generating a three-dimensional coordinate grid covering a construction site and an automatic construction path of the intelligent excavator according to boundary data of the construction site, mechanical parameters of the excavator and a stirring head and a target solidification depth, and the intelligent excavator comprises an excavator body, the stirring head arranged on the excavator body, a sensor group for sensing the spatial position and the gesture of the stirring head and a motion control module for receiving instructions of the management platform. The invention ensures the stability and the stirring uniformity of the curing material, realizes the standardized construction of the shallow layer curing of the soft soil foundation, ensures the construction quality and improves the construction efficiency.

Inventors

LU YANG
CAO XUGANG
CHEN YICHAO
JIANG XIAOPENG
LI GANG
YUE SHAOLIN
WANG WEI
CHEN WEI
TU JING
LIU ANG
YAN GE

Assignees

中交特种工程有限公司

Dates

Publication Date: 20260512
Application Date: 20251226

Claims (10)

1. The shallow layer curing system for the soft soil foundation is characterized by comprising a management platform, an intelligent excavator, a grouting unit and a positioning and communication unit; the management platform is used for generating a three-dimensional coordinate grid covering the construction site and an automatic construction path of the intelligent excavator according to boundary data of the construction site, mechanical parameters of the excavator and the stirring head and target solidification depth; The intelligent excavator comprises an excavator body, a stirring head arranged on the excavator body, a sensor group for sensing the spatial position and the gesture of the stirring head, and a motion control module for receiving the management platform instruction; the grouting unit is used for conveying curing agent slurry prepared according to a preset proportion to the stirring head; The positioning and communication unit comprises a Beidou positioning module and a 5G communication module, and is used for realizing real-time accurate positioning of the intelligent excavator and establishing a data communication link between the management platform and the intelligent excavator; The system is configured to control the intelligent excavator through the positioning and communication unit by the management platform to move according to the automatic construction path, and control the stirring head to execute quantitative guniting and timing stirring operations on the appointed grid points of the three-dimensional coordinate grid.
2. The shallow soft foundation curing system as set forth in claim 1, wherein the sensor group comprises at least one of a Beidou receiver, tilt sensors mounted on a large arm and a small arm of an excavator, tilt sensors mounted on the stirring head, a laser radar and a high-definition camera.
3. The shallow soft foundation curing system of claim 1, wherein the three-dimensional coordinate grid comprises longitudinal large grids divided by longitudinal large grid intervals L, and longitudinal small grids and transverse small grids which are determined by the length and the width (L, b) of the stirring head in each longitudinal large grid, wherein the automatic construction path is a sequential path for constructing point by point along the center line of the transverse small grid, and after finishing one transverse small grid line, moving to the next transverse small grid line along the longitudinal direction to continue construction; And when the stirring head moves to the adjacent construction position along the transverse direction and the longitudinal direction, the system controls the moving distance of the stirring head to be (b-s) or (l-s), wherein s is the preset overlap width of the adjacent curing area.
4. The shallow soft soil foundation curing system as claimed in claim 1, wherein the management platform is further adapted to add the amount of the curing material per unit volume of the sludge Content of solidified material in slurry per unit volume And calculating and controlling the slurry spraying speed of the stirring head at the single point position according to the construction time t of the single point position and the volume parameter of the gridding construction.
5. The shallow soft foundation curing system of claim 1, wherein the grouting unit comprises a curing agent storage tank, a screw conveyor, a fully automatic pulping machine, a grouting pump and a grouting pipe which are connected in sequence, wherein the grouting pipe is connected with the stirring head.
6. The shallow soft foundation curing system according to any one of claims 1-5, wherein the system is configured to control the construction action of the stirring head at a single grid point to keep a vertical posture, uniformly sink to a target curing depth, and uniformly lift to the ground, wherein the sinking and lifting cycle is performed for a plurality of times.
7. The shallow solidification construction method of soft soil foundation according to any one of claims 1 to 6, comprising the steps of: s1, site measurement and modeling, namely measuring the boundary of a construction site by using a Beidou RTK, inputting boundary data, mechanical parameters of an excavator and a stirring head and target solidification depth into a management platform, and generating a three-dimensional coordinate grid and an automatic construction path by using the management platform; S2, equipment positioning and initialization, namely moving the intelligent excavator to an initial construction position, installing a stirring head and connecting a grouting unit; S3, grid unmanned construction, wherein the management platform controls the intelligent excavator through the positioning and communication unit to enable the intelligent excavator to move according to the automatic construction path and sequentially reach each grid point; s4, carrying out area lapping and continuous construction, namely taking the cured area as a construction platform after finishing the construction of the current longitudinal large grid area, controlling the intelligent excavator to move to the adjacent next longitudinal large grid area, and repeating the step S3 until finishing the construction of the whole field.
8. The construction method according to claim 7, wherein in step S1, the mechanical parameters include at least a length and a width (L, b) of the stirring head, and the division of the three-dimensional coordinate grid is based on a longitudinal large grid spacing L determined by an excavator boom span, and a longitudinal small grid spacing and a transverse small grid spacing determined by the stirring head length and width (L, b).
9. The construction method according to claim 8, wherein in step S3, the velocity v of the quantitative guniting is calculated by the following formula: wherein h is the target curing depth, The usage amount of the solidifying material is added to the sludge in unit volume, The content of the curing material in the slurry in unit volume is shown, and t is the time required by the excavator to finish the construction of one point location; The sinking and lifting stirring actions comprise the steps of controlling a stirring head to sink from the ground to a designed solidification depth at a constant speed, and lifting to the ground at the same speed at a constant speed, wherein the process is circularly executed for 2-5 times; And when moving between the adjacent transverse points, the moving distance is (b-s), wherein s is the transverse lap width, and when moving to the next transverse small grid line after finishing one transverse small grid line longitudinally, the moving distance is (l-s), wherein s is the longitudinal lap width, the transverse lap width is the same as the longitudinal lap width, and s is not less than 10cm.
10. The construction method according to claim 7, wherein during the sinking and lifting process of the stirring head in step S3, the management platform builds and executes an integrated attitude dynamic stability control strategy, specifically comprising: a) Continuously receiving data of an inclination sensor arranged on the stirring head, and estimating the angular speed of the stirring head in real time by calculating the change rate of the inclination, wherein the inclination and the angular speed form a real-time state feedback quantity for gesture closed-loop control; b) And feedforward compensation, namely based on a preset excavator kinematics model, predicting the posture change of the stirring head caused by the movement of the big arm and the small arm in a prospective way according to the real-time movement parameters of the big arm and the small arm, and generating a feedforward control instruction for the excavator movement control module so as to actively offset the influence of the posture change before the posture change occurs.

Description

Shallow layer curing system for soft soil foundation and construction method Technical Field The invention relates to the technical field of geotechnical engineering and foundation treatment. More particularly, the invention relates to a shallow layer curing system for a soft soil foundation and a construction method. Background The silt curing technology is increasingly widely used for treating soft soil foundations such as shallow silt and the like, a pre-configured curing agent solution is sprayed into the silt through a grouting pump and a pipeline, and then the silt and the curing agent are continuously stirred by an excavator provided with a powerful stirring head, so that the mixing and the reaction of the silt and the curing agent are realized, the soil intensity is increased, and the bearing capacity of the foundation is improved. Compared with the conventional digging and filling treatment mode, the technology is economical and efficient. However, the existing sludge solidification treatment effect is uneven and is greatly affected by the operation of operators. From the existing detection situation, the conditions of leakage stirring, residual stirring, uneven stirring and the like of the construction site are obvious. In the operation process, as the operator performs single action for a long time, visual fatigue and mental fatigue are unavoidable, the conditions of insufficient field curing depth, blank operation area formed by stirring partial areas, too much spraying with long local residence time, short local residence time, insufficient spraying with short local residence time and the like are caused, and the construction quality is seriously affected. This also results in the process having no difficulty in quality control and failing to realize standardized construction. Soft soil foundation treatment belongs to hidden engineering, and silt solidification construction needs time to realize intensity increase, can't carry out real-time quality inspection, if the unqualified condition of quality inspection appears, the reworking degree of difficulty is big and seriously influences the construction progress. Disclosure of Invention The invention aims to provide a shallow layer curing system of a soft soil foundation and a construction method, wherein the Beidou positioning system and the intelligent control system are used for cooperation, and through controlling the three-dimensional coordinate accurate positioning and gridding management of a construction site and the unmanned automatic control of an excavator, the excavator can complete the specified action under a preset path, the quantitative spraying and the timing stirring of a curing agent in a unit grid of the construction range are realized, the stability and the stirring uniformity of a curing material are ensured, the standardized construction of the shallow layer curing of the soft soil foundation is realized, the construction quality is ensured, and the construction efficiency is improved. The invention solves the technical problems by adopting a technical scheme that the soft soil foundation shallow layer curing system comprises a management platform, an intelligent excavator, a grouting unit and a positioning and communication unit; the management platform is used for generating a three-dimensional coordinate grid covering the construction site and an automatic construction path of the intelligent excavator according to boundary data of the construction site, mechanical parameters of the excavator and the stirring head and target solidification depth; The intelligent excavator comprises an excavator body, a stirring head arranged on the excavator body, a sensor group for sensing the spatial position and the gesture of the stirring head, and a motion control module for receiving the management platform instruction; the grouting unit is used for conveying curing agent slurry prepared according to a preset proportion to the stirring head; The positioning and communication unit comprises a Beidou positioning module and a 5G communication module, and is used for realizing real-time accurate positioning of the intelligent excavator and establishing a data communication link between the management platform and the intelligent excavator; The system is configured to control the intelligent excavator through the positioning and communication unit by the management platform to move according to the automatic construction path, and control the stirring head to execute quantitative guniting and timing stirring operations on the appointed grid points of the three-dimensional coordinate grid. The sensor group comprises at least one of a Beidou receiver, inclination angle sensors arranged on a big arm and a small arm of the excavator, an inclination angle sensor arranged on the stirring head, a laser radar and a high-definition camera. The three-dimensional coordinate grid comprises longitudinal large grids divided by a longitudinal large gr