Intelligent control method and system for double-wheel milling and deep stirring equipment

Abstract

According to the intelligent control method and system for the double-wheel milling and deep stirring equipment, geological data of a construction area are obtained through preset stratum detection equipment, geological data corresponding to a construction groove section are determined, and the tunneling speed is intelligently adjusted in combination with the milling wheel torque monitored in real time and the current tunneling depth. According to the method, speed adjustment is carried out according to milling wheel torque data, tunneling depth and stratum geological data, meanwhile, associated data of the tunneling depth and the speed are generated, and finally cement paste is injected into a groove section when equipment is lifted. According to the intelligent control method, construction parameters can be adaptively adjusted according to different geological conditions, the milling efficiency and precision are effectively improved, equipment abrasion is reduced, and the service life of equipment is prolonged. Through the combination of real-time data monitoring and intelligent parameter adjustment, the method realizes the accurate control and optimization of the construction process of the milling and deep stirring equipment, and provides more efficient and reliable technical support for the construction of the cement-soil continuous wall.

Description

Technical Field

[0001] The invention relates to the field of construction engineering, and in particular to an intelligent control method and system for double-wheel milling and deep mixing equipment. Background Art

[0002] Double-wheel milling deep mixing technology is an advanced foundation treatment engineering technology, mainly used for soft soil foundation reinforcement and cement soil continuous wall construction. This technology uses a high-speed rotating milling cutter to break up the underground soil, and injects a curing agent into the soil. After sufficient mixing, a continuous reinforcement body is formed to improve the bearing capacity and stability of the foundation.

[0003] The main advantages of the double-wheel milling deep mixing technology are its high construction efficiency, strong adaptability, high precision and environmental friendliness. This technology can be constructed under various complex strata, including hard strata such as sand and gravel layers and weathered rock layers, and has little disturbance to the surrounding environment. At the same time, the construction process of the double-wheel milling deep mixing equipment can be monitored in an informationized manner, and the construction parameters can be adjusted in real time to ensure the quality of the project.

[0004] However, the double-wheel milling deep mixing technology also has some obvious disadvantages and shortcomings. This technology requires high technical level of operators, high training costs, and a shortage of skilled workers, which can easily lead to unstable construction quality. In addition, under certain special formation conditions, such as high-density sand and gravel layers, the milling cutter is severely worn, and the replacement cost is high and frequent, which directly affects the construction progress and economic benefits. The uniformity of deep mixing is difficult to ensure, especially at the junction of complex formations, which is prone to problems such as uneven strength of the reinforced body and poor continuity. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes an intelligent control method for double-wheel milling and deep mixing equipment, which intelligently adjusts the excavation speed based on the real-time milling wheel torque and excavation depth information, and forms correlation data between depth and speed, thereby achieving stable construction quality.

[0006] At the same time, the present invention also provides a system based on the above intelligent control method.

[0007] The technical solution of the present invention is: An intelligent control method for a double-wheel milling and deep mixing device comprises the following steps: A1, obtaining corresponding regional stratum geological data through preset stratum detection equipment in the preset construction area; A2, determine the corresponding first-phase slot section positioning data in the construction area; A3, obtaining the corresponding first-phase slot segment stratigraphic geological data according to the first-phase slot segment positioning data and the regional stratigraphic geological data; A4, when the preset double-wheel milling and deep mixing equipment performs excavation operation in the area corresponding to the positioning data of each first-phase slot section, the milling wheel torque data of the double-wheel milling and deep mixing equipment and the current excavation depth of the corresponding slot section are obtained; A5, adjusting the current excavation speed of the double-wheel milling and deep mixing equipment according to the milling wheel torque data, the current excavation depth and the corresponding first-stage trench section stratum geological data; A6, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations; A7, when the double-wheel milling and deep mixing equipment is performing a lifting operation, cement slurry is injected into the trough section.

[0008] By adopting the above technical scheme, the intelligent control method of the double-wheel milling deep mixing equipment can obtain geological data in advance through stratum detection, combine the real-time milling wheel torque and excavation depth information, intelligently adjust the excavation speed, and form correlation data between depth and speed. It can adaptively adjust the construction parameters according to different geological conditions, improve milling efficiency and accuracy, reduce equipment wear, and extend service life.

[0009] Optionally, the intelligent control method of the double-wheel milling and deep stirring equipment further comprises the following steps: A8, determine the corresponding positioning data of each second phase trench section in the construction area; A9, determining corresponding two adjacent first-phase slot segment positioning data according to the second-phase slot segment positioning data; A10, determining the excavation speed depth customized data corresponding to the second phase slot section positioning data according to the excavation depth speed associated data corresponding to the two adjacent first phase slot section positioning data; A11, when the double-wheel milling and deep mixing equipment performs excavation operation in the area corresponding to the positioning data of each second-phase slot section, obtain the current excavation depth of the corresponding slot section; A12, controlling the current excavation speed of the double-wheel milling and deep mixing equipment according to the milling wheel torque data, the current excavation depth and the excavation speed depth customization data; A13, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations; A14, when the double-wheel milling and deep mixing equipment is performing a lifting operation, cement slurry is injected into the trough section.

[0010] By adopting the above technical scheme, the intelligent control method of the double-wheel milling and deep mixing equipment can determine the adjacent first-phase slot section through the position of the second-phase slot section, and use the excavation depth speed correlation data of the adjacent first-phase slot section to customize the appropriate second-phase slot section excavation speed data, so that the milling and deep mixing equipment can predict the geological conditions according to historical data during the second-phase construction, adjust the excavation strategy in advance, thereby improving construction efficiency and reducing equipment wear. At the same time, the system continuously collects and updates excavation data, and continuously improves the associated database, providing a more reliable reference basis for subsequent construction, so as to realize continuous optimization and refined management of the entire construction process.

[0011] Optionally, step A5 includes the following steps: A501, determine the corresponding stratigraphic interface depth data based on the stratigraphic geological data of the first phase trough section; A502, determine the depth interval of each stratum according to the stratum interface depth data; A503, based on the stratigraphic geological data and stratigraphic depth intervals of the first phase trench section, the preset geological data analysis method is used to estimate the interval geological type corresponding to each stratigraphic depth interval and set the corresponding stratigraphic interval excavation benchmark speed according to the interval geological type; A504, when the current excavation depth enters the corresponding stratum depth interval, defines the corresponding stratum depth interval as the current stratum interval; A505, defining the stratum interval excavation reference speed corresponding to the current stratum interval as the current excavation speed; A506, determining the current interval time window torque data corresponding to the current formation interval in the milling wheel torque data according to the preset torque monitoring time window; A507, adjust the current excavation speed of the double-wheel milling and deep mixing equipment according to the torque data of the current interval time window.

[0012] By adopting the above technical scheme, the intelligent control method of the double-wheel milling and deep mixing equipment can identify the stratum interface and divide the depth intervals of each soil layer and rock layer, so as to preset the benchmark excavation speed for different geological types, realize layered control, and match the excavation speed of the corresponding stratum interval based on the current excavation depth. At the same time, by setting the torque monitoring time window, short-term torque change data is collected, and the excavation speed is dynamically adjusted accordingly, so that the milling and deep mixing equipment can accurately respond to stratum changes, further improve efficiency while ensuring construction quality, effectively avoid the risk of equipment damage caused by geological mutations, and realize optimized control of the construction process under different geological conditions.

[0013] Optionally, step A507 includes the following steps: A5071, current time window torque standard deviation corresponding to the current interval time window torque data calculation; A5072, if the current time window torque standard deviation is greater than the preset standard deviation upper limit threshold, the corresponding target excavation speed is calculated by multiplying the preset speed reduction adjustment coefficient and the current excavation speed; A5073, if the current time window torque standard deviation is less than the preset standard deviation lower limit threshold, the corresponding target excavation speed is calculated by multiplying the preset speed-up adjustment coefficient and the current excavation speed; A5074: If the target excavation speed is within a preset speed regulation limit range, the target excavation speed is defined as the current excavation speed of the double-wheel milling and deep mixing equipment.

[0014] By adopting the above technical scheme, the intelligent control method of the double-wheel milling deep mixing equipment can judge and identify the stability of the formation and the difficulty of excavation by calculating the standard deviation of the torque in the current time window. When the standard deviation exceeds the upper limit threshold, it indicates that the formation conditions are complex or a hard structure is encountered, and then the excavation speed is automatically reduced to ensure the safety of the equipment; on the contrary, when the standard deviation is lower than the lower limit threshold, it means that the formation conditions are good, and the system appropriately increases the excavation speed to improve efficiency. By setting the speed limit interval, the risks that may be caused by extreme speed adjustment are avoided, which not only optimizes the excavation efficiency and quality, but also minimizes equipment wear and energy consumption, and achieves a balance between safety and efficiency.

[0015] Optionally, the intelligent control method of the double-wheel milling and deep stirring equipment further comprises the following steps: B1, generating corresponding stratum three-dimensional model data according to regional stratum geological data in the preset monitoring background; B2, when the double-wheel milling and deep mixing equipment performs excavation operation, corresponding slot segment three-dimensional data is formed in the stratum three-dimensional model data according to the current excavation depth and the area corresponding to the slot segment; B3, changing the depth of the three-dimensional data of the slot section in the three-dimensional model data of the stratum according to the change of the current excavation depth; B4, and display the current excavation depth and current excavation speed of the double-wheel milling and deep mixing equipment on the monitoring background.

[0016] By adopting the above technical solution, the intelligent control method of the double-wheel milling and deep mixing equipment can generate a three-dimensional stratigraphic model based on geological data in the monitoring background, and dynamically update the slot position and depth information in combination with real-time excavation data. Engineering personnel can intuitively monitor the construction progress and changes in geological conditions, and display the excavation depth and speed parameters of the milling and deep mixing equipment in real time, providing comprehensive data support for construction decisions, which not only improves the transparency and accuracy of construction, but also enables construction personnel to detect abnormal situations in a timely manner and intervene.

[0017] Optionally, step A10 includes the following steps: A1001, dividing the preset target construction depth according to the preset excavation depth interval to generate corresponding depth intervals; A1002 obtains the corresponding adjacent slot section interval excavation speed data from the excavation depth speed association data corresponding to the two adjacent first-phase slot section positioning data in turn according to each depth interval; A1003, calculating the corresponding average of the excavation speeds of adjacent slot sections according to the average of the excavation speed data of adjacent slot sections; A1004, according to the excavation depth interval, combines the average excavation speed of each adjacent slot section interval in sequence to generate excavation speed depth customized data.

[0018] By adopting the above technical scheme, the intelligent control method of the double-wheel milling and deep mixing equipment can divide the construction depth according to preset depth intervals, analyze the historical excavation data of adjacent first-phase slot sections in each depth interval, and obtain the excavation speeds of two adjacent slot sections for each depth interval and calculate the average, forming reference data for the excavation speed of the second-phase slot section, effectively integrating the geological characteristics and excavation history data of the adjacent areas, providing a more reasonable and reliable excavation speed setting basis for the construction of the second-phase slot section, enabling the milling and deep mixing equipment to respond to the geological changes of each depth section more accurately and efficiently in the second-phase construction, thereby improving the overall construction efficiency and quality.

[0019] Optionally, the intelligent control method of the double-wheel milling and deep mixing equipment includes the following steps for injecting cement slurry: C1, when the double-wheel milling and deep mixing equipment performs a lifting operation, obtaining corresponding lifting depth data; C2, obtaining the corresponding historical excavation speed according to the lifting depth data and the excavation depth speed correlation data; C3, if the historical excavation speed is less than or equal to the preset excavation speed threshold, inject prefabricated cement slurry into the slot section; C4: If the historical excavation speed is greater than the excavation speed threshold, the water-cement ratio of the corresponding cement slurry is reduced and cement slurry is injected into the slot section.

[0020] By adopting the above technical solution, the intelligent control method of the double-wheel milling and deep mixing equipment can judge the geological characteristics of different depths by correlating the depth data of the milling and deep mixing equipment during lifting operation with the historical excavation speed of the corresponding position. When the historical excavation speed is lower than the threshold, it indicates that the stratum is relatively stable, and the system injects cement slurry with a standard ratio; when the historical excavation speed is higher than the threshold, it indicates that the geology of the area is relatively loose, and the system automatically reduces the water-cement ratio of the cement slurry to increase the strength and density of the slurry. This adaptive grouting strategy based on historical excavation data ensures the stability and strength requirements of the slot wall under different geological conditions and improves the quality and safety of the overall cement-soil continuous wall.

[0021] The present invention also provides an intelligent control system for a double-wheel milling and deep stirring device, comprising: Double wheel milling and deep mixing equipment; Cement grout pouring module; Processing control module; Monitoring background; Wherein, the double-wheel milling and deep mixing equipment, the cement slurry pouring module and the monitoring background data are connected to the processing control module; Wherein, the double-wheel milling and deep stirring equipment includes a milling module, a torque detection module and a depth detection module, the torque detection module and the depth detection module are arranged in the milling module, and the torque detection module and the depth detection module are data-connected to the processing control module; The intelligent control system of the double-wheel milling and deep stirring equipment further includes an intelligent milling strategy, including the following steps: D1, obtaining corresponding regional stratum geological data through preset stratum detection equipment in the preset construction area; D2, determine the corresponding first-phase slot section positioning data in the construction area; D3, obtaining the corresponding first-phase slot section stratigraphic geological data according to the first-phase slot section positioning data and the regional stratigraphic geological data; D4, when the double-wheel milling and deep mixing equipment performs excavation operation in the area corresponding to the positioning data of each first-phase slot section, the milling wheel torque data of the double-wheel milling and deep mixing equipment and the current excavation depth of the corresponding slot section are respectively obtained through the torque detection module and the depth detection module; D5, adjusting the current excavation speed of the double-wheel milling and deep mixing equipment according to the milling wheel torque data, the current excavation depth and the corresponding first-stage slot section stratum geological data through the processing control module; D6, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations through the processing control module; D7, when the double-wheel milling and deep mixing equipment is performing a lifting operation, cement slurry is injected into the groove section through the cement slurry pouring module.

[0022] By adopting the above technical solution, the intelligent control system of the double-wheel milling and deep mixing equipment can obtain geological data in advance through stratum detection, combine real-time milling wheel torque and excavation depth information, intelligently adjust the excavation speed, and form correlation data between depth and speed. It can adaptively adjust construction parameters according to different geological conditions, improve milling efficiency and accuracy, reduce equipment wear, and extend service life.

[0023] In summary, the present invention includes at least one of the following beneficial technical effects: 1. Geological data can be acquired in advance through stratum detection, combined with real-time milling wheel torque and excavation depth information, the excavation speed can be intelligently adjusted, and the correlation data between depth and speed can be formed. The construction parameters can be adaptively adjusted according to different geological conditions, which can improve milling efficiency and accuracy, reduce equipment wear and extend service life.

[0024] 2. The position of the second-phase slot section can be used to determine the adjacent first-phase slot section, and the excavation depth and speed correlation data of the adjacent first-phase slot section can be used to customize the appropriate second-phase slot section excavation speed data, so that the milling and mixing equipment can predict the geological conditions according to historical data during the second-phase construction and adjust the excavation strategy in advance, thereby improving construction efficiency and reducing equipment wear. At the same time, the system continuously collects and updates excavation data, and continuously improves the associated database to provide a more reliable reference basis for subsequent construction, so as to achieve continuous optimization and refined management of the entire construction process.

[0025] 3. By identifying the stratum interface and dividing the depth intervals of each soil and rock layer, the benchmark excavation speed can be preset for different geological types to achieve layered control. The excavation speed of the corresponding stratum interval can be matched based on the current excavation depth. At the same time, by setting the torque monitoring time window, short-term torque change data can be collected, and the excavation speed can be dynamically adjusted accordingly, so that the milling and deep mixing equipment can accurately respond to stratum changes, further improve efficiency while ensuring construction quality, effectively avoid the risk of equipment damage caused by geological mutations, and achieve optimized control of the construction process under different geological conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a process schematic diagram of an intelligent control method for double-wheel milling deep stirring equipment of the present invention.

[0027] Figure 2 The invention discloses a schematic diagram of the principle of an intelligent control system for a double-wheel milling and deep mixing device. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0030] refer to Figure 1 The present invention provides an intelligent control method for a double-wheel milling and deep mixing device, which is used to realize the construction of cement soil continuous wall or foundation reinforcement by combining the double-wheel milling and deep mixing device with deep mixing technology, and includes the following steps: A1, obtaining corresponding regional stratum geological data through preset stratum detection equipment in the preset construction area; The construction area is the pre-determined area where milling and deep mixing construction is required; The stratum detection equipment is a pre-set detection equipment used to detect the underground soil and rock structure. For example, the geological radar can detect the distribution of underground media through ultra-high frequency electromagnetic waves and estimate the properties of the media based on the detection data; Regional stratigraphic geological data refers to the stratification and geological data related to the underground medium in the construction area.

[0031] A2, determine the corresponding first-phase slot section positioning data in the construction area; The first-phase trench section positioning data is divided and set by relevant staff according to the construction area and construction requirements. It is the ground positioning data of the area that needs to be first milled and deeply mixed into the wall during the construction of cement soil continuous wall. Usually, a certain gap distance is reserved between the areas corresponding to two adjacent first-phase trench section positioning data for the construction of the second-phase trench section.

[0032] A3, obtaining the corresponding first-phase slot segment stratigraphic geological data according to the first-phase slot segment positioning data and the regional stratigraphic geological data; The first-phase slot section stratigraphic geological data is the stratigraphic geological data corresponding to the positioning data of each first-phase slot section in the regional stratigraphic geological data. The corresponding data can be intercepted from the regional stratigraphic geological data according to the positioning data.

[0033] A4, when the preset double-wheel milling and deep mixing equipment performs excavation operation in the area corresponding to the positioning data of each first-phase slot section, the milling wheel torque data of the double-wheel milling and deep mixing equipment and the current excavation depth of the corresponding slot section are obtained; The milling wheel torque data is the torque data of the milling wheel of the double-wheel milling and deep mixing equipment when it is in operation, which can be obtained by setting a corresponding torque sensor for detection. Based on the change of the torque data, the resistance of the milling wheel during rotation can be indirectly analyzed, and then the properties of the soil layer or rock layer being milled can be estimated and judged; The current excavation depth is the current milling depth of the milling wheel of the double-wheel milling and deep mixing equipment, which can be measured and obtained by setting a corresponding stroke sensor or other modules with similar functions.

[0034] A5, adjusting the current excavation speed of the double-wheel milling and deep mixing equipment according to the milling wheel torque data, the current excavation depth and the corresponding first-stage trench section stratum geological data; The current excavation speed is the current excavation speed of the double-wheel milling and deep mixing equipment, that is, the milling descent speed of its milling wheel; For soil or rock layers of different properties, it is necessary to set corresponding excavation speeds to ensure that the double-wheel milling and deep mixing equipment can better mill the soil or rock layers and ensure the milling quality. The properties of the soil and rock layers can be estimated and determined based on the geological data of the first-phase slot section and the current excavation depth, and the milling difficulty can be judged in combination with the collected torque data, and then the excavation speed of the double-wheel milling and deep mixing equipment can be adjusted to adapt to different soil and rock layers.

[0035] A6, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations; The excavation depth speed associated data is the matching data of the current excavation depth and the corresponding current excavation speed, which is used for subsequent analysis or query of the historical excavation speed of the double-wheel milling and deep mixing equipment at different excavation depths during excavation of the slot section.

[0036] A7, when the double-wheel milling and deep mixing equipment is performing a lifting operation, injecting cement slurry into the trough section; After the excavation work is completed, the milling wheel of the double-wheel milling and deep mixing equipment needs to be lifted, and cement slurry is injected into the trench section and stirred at the same time, so that the cement slurry is mixed with the original soil and gravel in the trench section and forms a wall after solidification.

[0037] Through the above steps, the intelligent control method of the double-wheel milling deep mixing equipment can obtain geological data in advance through stratum detection, combine the real-time milling wheel torque and excavation depth information, intelligently adjust the excavation speed, and form correlation data between depth and speed. It can adaptively adjust construction parameters according to different geological conditions, improve milling efficiency and accuracy, reduce equipment wear, and extend service life.

[0038] Furthermore, the intelligent control method of the double-wheel milling and deep mixing equipment also includes the following steps: A8, determine the corresponding positioning data of each second phase trench section in the construction area; The second-phase trench section positioning data is divided and set by relevant staff according to the construction area and construction requirements. It is the ground positioning data of the area that needs to be milled and deep mixed into the wall during the construction of cement soil continuous wall. It is usually the location area between the areas corresponding to two adjacent first-phase trench section positioning data.

[0039] A9, determining corresponding two adjacent first-phase slot segment positioning data according to the second-phase slot segment positioning data; The adjacent first-phase slot segment positioning data are positioning data of two first-phase slot segments adjacent to the area of ​​the second-phase slot segment positioning data.

[0040] A10, determining the excavation speed depth customized data corresponding to the second phase slot section positioning data according to the excavation depth speed associated data corresponding to the two adjacent first phase slot section positioning data; The customized data of excavation speed depth is the data calculated and generated by combining the excavation depth speed correlation data corresponding to the positioning data of two adjacent first-phase slot sections, and is used to formulate the excavation speed corresponding to each depth of the second-phase slot section at each excavation time; Because the second-phase trench section is located between two adjacent first-phase trench sections, the characteristics of its underground soil and rock layers are close to those of the two adjacent first-phase trench sections, and the two adjacent first-phase trench sections are constructed before the second-phase trench section. Combined with the excavation depth and speed correlation data during the construction of the two adjacent first-phase trench sections, reasonable correlation data of depth and excavation speed that can be used for the construction of the second-phase trench section can be calculated based on a certain algorithm, as well as customized data on excavation speed and depth, which can reduce the blindness during the construction of the second-phase trench section and improve the excavation efficiency.

[0041] A11, when the double-wheel milling and deep mixing equipment performs excavation operation in the area corresponding to the positioning data of each second-phase slot section, obtain the current excavation depth of the corresponding slot section; The current excavation depth is the current excavation depth of the slot section in the area corresponding to the second-phase slot section positioning data.

[0042] A12, controlling the current excavation speed of the double-wheel milling and deep mixing equipment according to the milling wheel torque data, the current excavation depth and the excavation speed depth customization data; The excavation speed depth customization data is used as the basis for the excavation speed at different excavation depths, and the current excavation speed of the double-wheel milling and deep mixing equipment is adjusted in combination with the milling wheel torque data.

[0043] A13, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations; The excavation depth-speed correlation data is the matching data of the current excavation depth and the current excavation speed of the slot section in the area corresponding to the second-phase slot section positioning data.

[0044] A14, when the double-wheel milling and deep mixing equipment is performing a lifting operation, injecting cement slurry into the trough section; After the excavation work is completed, the milling wheel of the double-wheel milling and deep mixing equipment needs to be lifted, and cement slurry is injected into the trench section and stirred at the same time, so that the cement slurry is mixed with the original soil and gravel in the trench section and forms a wall after solidification.

[0045] Through the above steps, the intelligent control method of the double-wheel milling and deep mixing equipment can determine the adjacent first-phase slot section through the position of the second-phase slot section, and use the excavation depth speed correlation data of the adjacent first-phase slot section to customize the appropriate second-phase slot section excavation speed data, so that the milling and deep mixing equipment can predict the geological conditions according to historical data during the second-phase construction, adjust the excavation strategy in advance, thereby improving construction efficiency and reducing equipment wear. At the same time, the system continuously collects and updates excavation data, and continuously improves the associated database, providing a more reliable reference basis for subsequent construction, so as to achieve continuous optimization and refined management of the entire construction process.

[0046] Furthermore, the step A5 comprises the following steps: A501, determine the corresponding stratigraphic interface depth data based on the stratigraphic geological data of the first phase trough section; The stratigraphic interface depth data is the depth data of the interface of each soil layer or rock layer in the stratigraphic geological data of the first phase trench section.

[0047] A502, determine the depth interval of each stratum according to the stratum interface depth data; The stratigraphic depth interval is the depth span interval of each soil layer or rock layer, and the corresponding depth interval can be determined based on the boundary surface of two adjacent stratigraphic layers.

[0048] A503, based on the stratigraphic geological data and stratigraphic depth intervals of the first phase trench section, the preset geological data analysis method is used to estimate the interval geological type corresponding to each stratigraphic depth interval and set the corresponding stratigraphic interval excavation benchmark speed according to the interval geological type; The geological data analysis method is a pre-selected method, which can estimate the corresponding geological type by comparing the stratigraphic geological data with the data of known soil or rock layers. For example, the medium wave velocity of different soil or rock layers measured by geological radar can be compared with the data of known soil and rock layers to determine the properties of the rock and soil layers corresponding to the stratigraphic geological data of the first phase of the trough section; The interval geological type is the estimated geological type corresponding to each stratigraphic depth interval; The benchmark excavation speed in the stratum interval is the excavation speed set by the staff based on the geological type of the interval according to construction experience. Different excavation speeds should be set for different types of rock or soil layers to carry out excavation operations in order to ensure the excavation quality.

[0049] A504, when the current excavation depth enters the corresponding stratum depth interval, defines the corresponding stratum depth interval as the current stratum interval; The current stratum interval is the stratum depth interval into which the current excavation depth of the double-wheel milling and deep mixing equipment enters, that is, the stratum depth interval into which the current excavation depth falls.

[0050] A505, defining the stratum interval excavation reference speed corresponding to the current stratum interval as the current excavation speed; Assign the base excavation speed of the stratum interval to the current excavation speed.

[0051] A506, determining the current interval time window torque data corresponding to the current formation interval in the milling wheel torque data according to the preset torque monitoring time window; The torque monitoring time window is a pre-set time window used to obtain the milling wheel torque data within the corresponding time window; The torque data of the current time window is the torque data of the milling wheel within the torque monitoring time window.

[0052] A507, adjusting the current excavation speed of the double-wheel milling and deep mixing equipment according to the torque data of the current interval time window; The properties of the soil layer or rock layer currently being milled are determined based on the torque data analysis of the current interval time window, and the current excavation speed of the double-wheel milling and deep mixing equipment is dynamically adjusted.

[0053] Through the above steps, the intelligent control method of the double-wheel milling and deep mixing equipment can identify the stratum interface and divide the depth intervals of each soil layer and rock layer, so as to preset the benchmark excavation speed for different geological types, realize layered control, and match the excavation speed of the corresponding stratum interval based on the current excavation depth. At the same time, by setting the torque monitoring time window, short-term torque change data is collected, and the excavation speed is dynamically adjusted accordingly, so that the milling and deep mixing equipment can accurately respond to stratum changes, further improve efficiency while ensuring construction quality, effectively avoid the risk of equipment damage caused by geological mutations, and realize optimized control of the construction process under different geological conditions.

[0054] Furthermore, the step A507 includes the following steps: A5071, current time window torque standard deviation corresponding to the current interval time window torque data calculation; The current time window torque standard deviation is the standard deviation of the current interval time window torque data.

[0055] A5072, if the current time window torque standard deviation is greater than the preset standard deviation upper limit threshold, the corresponding target excavation speed is calculated by multiplying the preset speed reduction adjustment coefficient and the current excavation speed; The upper limit threshold of the standard deviation is a preset reference value, which is used to determine whether the torque variation amplitude of the milling wheel of the double-wheel milling and deep mixing device is too large; The speed reduction adjustment coefficient is a preset adjustment coefficient used to reduce the current excavation speed. For example, the speed reduction adjustment coefficient can be set to 0.9; The target excavation speed is the excavation speed that the double-wheel milling and deep mixing equipment needs to be adjusted to achieve; When the double-wheel milling deep mixing equipment is milling harder rocks, if the current excavation speed is not suitable, the torque data of the milling wheel will fluctuate greatly, which will reduce the milling effect on the one hand and accelerate the wear of the milling wheel on the other hand. Therefore, it is necessary to reduce the excavation speed to ensure the milling effect. Furthermore, by reducing the excavation speed, it can be ensured that the milling wheel fully cuts the rock to avoid the occurrence of crushed stones with too large particles, ensuring that the crushed stones can become excellent wall aggregates under the deep mixing method.

[0056] A5073, if the current time window torque standard deviation is less than the preset standard deviation lower limit threshold, the corresponding target excavation speed is calculated by multiplying the preset speed-up adjustment coefficient and the current excavation speed; The standard deviation lower limit threshold is a preset reference value used to determine whether the torque standard deviation in the current time window is too small; The speed-up adjustment coefficient is a preset adjustment coefficient used to increase the current excavation speed. For example, the speed-up adjustment coefficient can be set to 1.1; When the double-wheel milling and deep mixing equipment is milling a soil layer that is easier to mill, if the current excavation speed is too slow, the fluctuation range of the torque data of its milling wheel will be small, and the excavation speed can be appropriately increased to reduce the construction time and improve construction efficiency.

[0057] A5074, if the target excavation speed is within the preset speed regulation limit interval, the target excavation speed is defined as the current excavation speed of the double-wheel milling and deep mixing equipment; The speed regulation limit interval is a restricted area of ​​the pre-set target excavation speed, which limits the maximum excavation speed and the minimum excavation speed of the double-wheel milling and deep mixing equipment to ensure the construction quality. If the excavation speed of the double-wheel milling and deep mixing equipment is too fast, it is easy to cause unstable trench sections in loose strata and affect the construction quality.

[0058] Through the above steps, the intelligent control method of the double-wheel milling deep mixing equipment can determine and identify the stability of the formation and the difficulty of excavation by calculating the standard deviation of the torque in the current time window. When the standard deviation exceeds the upper threshold, it indicates that the formation conditions are complex or a hard structure is encountered, and the excavation speed is automatically reduced to ensure the safety of the equipment; conversely, when the standard deviation is lower than the lower threshold, it indicates that the formation conditions are good, and the system appropriately increases the excavation speed to improve efficiency. By setting the speed limit interval, the risks that may be caused by extreme speed adjustment are avoided, which not only optimizes the excavation efficiency and quality, but also minimizes equipment wear and energy consumption, and achieves a balance between safety and efficiency.

[0059] Furthermore, the intelligent control method of the double-wheel milling and deep stirring equipment further comprises the following steps: B1, generating corresponding stratum three-dimensional model data according to regional stratum geological data in the preset monitoring background; The monitoring background is a pre-set background, which can perform specific data processing and display or deliver the data to the corresponding construction staff, so that they can observe and supervise the construction process of the double-wheel milling and deep mixing equipment; The 3D stratigraphic model data is a 3D model of the underground stratigraphic structure generated based on the regional stratigraphic geological data. It is used to intuitively show the underground soil structure to the staff, so that the relevant staff can analyze and judge the underground structure and make adjustments to the construction plan. Furthermore, the staff can also predict whether there are historical buildings such as ancient tombs underground in the construction area based on the three-dimensional geological model data analysis, so that they can stop construction in time to protect the cultural relics.

[0060] B2, when the double-wheel milling and deep mixing equipment performs excavation operation, corresponding slot segment three-dimensional data is formed in the stratum three-dimensional model data according to the current excavation depth and the area corresponding to the slot segment; The slot segment 3D data is a 3D model of the area corresponding to the slot segment in the stratum 3D model data. It can be located in the stratum 3D model data according to the slot segment size and the corresponding positioning data, and the corresponding part of the 3D module can be excavated according to the current excavation depth to generate the corresponding slot segment 3D data, which is used to intuitively reflect the positioning and shape of the currently excavated slot segment, so as to facilitate the staff to understand the progress of the project.

[0061] B3, changing the depth of the three-dimensional data of the slot section in the three-dimensional model data of the stratum according to the change of the current excavation depth; The depth of the model of the three-dimensional data of the trench section is changed in real time according to the current excavation depth of the double-wheel milling and deep mixing equipment, so as to intuitively reflect the construction progress in real time.

[0062] B4, and display the current excavation depth and current excavation speed of the double-wheel milling and deep mixing equipment on the monitoring background; The 3D stratum model data is displayed and combined with the current excavation depth and current excavation speed for construction workers to monitor the construction.

[0063] Through the above steps, the intelligent control method of the double-wheel milling and deep mixing equipment can generate a three-dimensional stratigraphic model based on geological data in the monitoring background, and dynamically update the slot position and depth information in combination with real-time excavation data. Engineering personnel can intuitively monitor the construction progress and changes in geological conditions, and display the excavation depth and speed parameters of the milling and deep mixing equipment in real time, providing comprehensive data support for construction decisions, which not only improves the transparency and accuracy of construction, but also enables construction personnel to detect abnormal situations in time and intervene.

[0064] Furthermore, the step A10 includes the following steps: A1001, dividing the preset target construction depth according to the preset excavation depth interval to generate corresponding depth intervals; The excavation depth interval is a pre-set depth interval value, which is used to divide the depth; The target construction depth is the predetermined depth to be reached during the excavation work. The depth interval is a depth interval formed by dividing the target construction depth according to the excavation depth interval.

[0065] A1002, according to each depth interval, sequentially obtain the corresponding adjacent slot section interval excavation speed data from the excavation depth speed association data corresponding to the two adjacent first-phase slot section positioning data; The adjacent slot section interval excavation speed data is part of the excavation speed data obtained from the excavation depth speed correlation data of two adjacent first-phase slot sections according to the depth interval; For example, if a certain depth interval is between 1.5 meters and 2 meters, all excavation speed data within the depth range are obtained from the excavation depth speed correlation data of two adjacent first-phase slot sections.

[0066] A1003, calculating the corresponding average of the excavation speeds of adjacent slot sections according to the average of the excavation speed data of adjacent slot sections; The average excavation speed between adjacent slot sections is the average of the excavation speed data between adjacent slot sections, which is used to comprehensively reflect the average excavation speed in the corresponding depth range during excavation operations of two adjacent slot sections.

[0067] A1004, according to the excavation depth interval, sequentially combines the excavation speed averages of each adjacent slot section interval to generate excavation speed depth customized data; The customized data of excavation speed depth is the data generated by sorting the average excavation speed of each adjacent slot section in sequence according to the excavation depth interval. It is used to estimate the excavation speed that can be executed in different depth intervals during the excavation operation of the second phase slot section.

[0068] Through the above steps, the intelligent control method of the double-wheel milling and deep mixing equipment can divide the construction depth according to preset depth intervals, analyze the historical excavation data of adjacent first-phase slot sections in each depth interval, and obtain the excavation speeds of two adjacent slot sections for each depth interval and calculate the average, forming reference data for the excavation speed of the second-phase slot section, effectively integrating the geological characteristics and excavation history data of the adjacent areas, providing a more reasonable and reliable excavation speed setting basis for the construction of the second-phase slot section, enabling the milling and deep mixing equipment to respond to the geological changes of each depth section more accurately and efficiently in the second-phase construction, thereby improving the overall construction efficiency and quality.

[0069] Furthermore, the intelligent control method of the double-wheel milling deep mixing equipment includes the following steps for injecting cement slurry: C1, when the double-wheel milling and deep mixing equipment performs a lifting operation, obtaining corresponding lifting depth data; The lifting depth data is the depth data when the double-wheel milling and deep mixing equipment is lifted after the excavation operation is completed, and can be obtained by measuring the corresponding sensor of the current excavation depth.

[0070] C2, obtaining the corresponding historical excavation speed according to the lifting depth data and the excavation depth speed correlation data; The historical excavation speed is the excavation speed obtained from the lifting depth data during the excavation operation of the double-wheel milling and deep mixing equipment. The milling difficulty of the double-wheel milling and deep mixing equipment at the depth at that time can be indirectly judged according to the excavation speed.

[0071] C3, if the historical excavation speed is less than or equal to the preset excavation speed threshold, inject prefabricated cement slurry into the slot section; The excavation speed threshold is a pre-set reference value used to determine whether the historical excavation speed is too high; If the historical excavation speed is less than the excavation speed threshold, it means that milling is more difficult at this depth and it may contain stronger soil or rock layers, which can be directly injected with prefabricated cement slurry without additional reinforcement.

[0072] C4, if the historical excavation speed is greater than the excavation speed threshold, the water-cement ratio of the corresponding cement slurry is reduced, and cement slurry is injected into the trench section; If the historical excavation speed is greater than the excavation speed threshold, it means that at this depth, the milling difficulty is relatively small and the corresponding soil or rock layer is relatively loose, so it is necessary to inject adjusted cement slurry to stabilize the hole slot at this depth; Because the smaller the water-cement ratio, the higher the strength of the concrete and the lower the fluidity, it can stabilize the inner wall of the hole at this depth.

[0073] Through the above steps, the intelligent control method of the double-wheel milling and deep mixing equipment can judge the geological characteristics of different depths by the depth data of the milling and deep mixing equipment during the lifting operation and the historical excavation speed of the corresponding position. When the historical excavation speed is lower than the threshold, it indicates that the stratum is relatively stable, and the system injects cement slurry with a standard ratio; when the historical excavation speed is higher than the threshold, it indicates that the geology of the area is relatively loose, and the system automatically reduces the water-cement ratio of the cement slurry to increase the strength and density of the slurry. This adaptive grouting strategy based on historical excavation data ensures the stability and strength requirements of the slot wall under different geological conditions and improves the quality and safety of the overall cement soil continuous wall.

[0074] refer to Figure 2 The present invention also provides an intelligent control system for a double-wheel milling and deep stirring device, comprising: Double wheel milling deep mixing equipment 10; Cement slurry pouring module 20; Processing control module 30; Monitoring background 40; Wherein, the double-wheel milling and deep mixing equipment 10, the cement slurry pouring module 20 and the monitoring background 40 are data-connected to the processing control module 30; The double-wheel milling and deep stirring device 10 includes a milling module 11, a torque detection module 12 and a depth detection module 13. The torque detection module 12 and the depth detection module 13 are arranged in the milling module 11. The torque detection module 12 and the depth detection module 13 are data-connected to the processing control module 30. The double-wheel milling and deep mixing equipment 10 is mainly used for downward excavation and milling construction to form corresponding groove sections; The milling module 11 is mainly used for milling soil and rock layers; The torque detection module 12 is mainly used to collect torque data when the milling module 11 mills soil and rock layers; The depth detection module 13 is mainly used to detect the depth data of the milling module 11 .

[0075] The cement slurry pouring module 20 is mainly used to inject cement slurry into the groove section during the lifting stage of the double-wheel milling and deep mixing equipment 10.

[0076] The processing control module 30 is mainly used to receive various data and perform calculations and processing and control the construction parameters of other modules; The monitoring background 40 is mainly used for workers to observe and supervise the construction process.

[0077] The intelligent control system of the double-wheel milling and deep stirring equipment further includes an intelligent milling strategy, including the following steps: D1, obtaining corresponding regional stratum geological data through preset stratum detection equipment in the preset construction area; D2, determine the corresponding first-phase slot section positioning data in the construction area; D3, obtaining the corresponding first-phase slot section stratigraphic geological data according to the first-phase slot section positioning data and the regional stratigraphic geological data; D4, when the double-wheel milling and deep mixing equipment 10 performs excavation operation in the area corresponding to the positioning data of each first-stage slot section, the milling wheel torque data of the double-wheel milling and deep mixing equipment and the current excavation depth of the corresponding slot section are respectively obtained through the torque detection module 12 and the depth detection module 13; D5, adjusting the current excavation speed of the double-wheel milling and deep mixing equipment 10 according to the milling wheel torque data, the current excavation depth and the corresponding first-stage slot section stratum geological data through the processing control module 30; D6, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations through the processing control module 30; D7, when the double-wheel milling and deep mixing equipment 10 is performing a lifting operation, cement slurry is injected into the groove section through the cement slurry pouring module 20.

[0078] Through the above technical scheme, the intelligent control system of the double-wheel milling and deep mixing equipment can obtain geological data in advance through stratum detection, combine real-time milling wheel torque and excavation depth information, intelligently adjust the excavation speed, and form correlation data between depth and speed. It can adaptively adjust construction parameters according to different geological conditions, improve milling efficiency and accuracy, reduce equipment wear, and extend service life.

[0079] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. An intelligent control method for double-wheel milling and deep stirring equipment, characterized in that: The following steps are involved: A1, obtaining corresponding regional stratum geological data through preset stratum detection equipment in the preset construction area; A2, determine the corresponding first-phase slot section positioning data in the construction area; A3, obtaining the corresponding first-phase slot segment stratigraphic geological data according to the first-phase slot segment positioning data and the regional stratigraphic geological data; A4, when the preset double-wheel milling and deep mixing equipment performs excavation operation in the area corresponding to the positioning data of each first-phase slot section, the milling wheel torque data of the double-wheel milling and deep mixing equipment and the current excavation depth of the corresponding slot section are obtained; A5, adjusting the current excavation speed of the double-wheel milling and deep mixing equipment according to the milling wheel torque data, the current excavation depth and the corresponding first-stage trench section stratum geological data; A6, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations; A7, when the double-wheel milling and deep mixing equipment is performing a lifting operation, cement slurry is injected into the trough section.

2. The intelligent control method for double-wheel milling and deep stirring equipment according to claim 1 is characterized in that: Further comprising the steps of: A8, determine the corresponding positioning data of each second phase trench section in the construction area; A9, determining corresponding two adjacent first-phase slot segment positioning data according to the second-phase slot segment positioning data; A10, determining the excavation speed depth customized data corresponding to the second phase slot section positioning data according to the excavation depth speed associated data corresponding to the two adjacent first phase slot section positioning data; A11, when the double-wheel milling and deep mixing equipment performs excavation operation in the area corresponding to the positioning data of each second-phase slot section, obtain the current excavation depth of the corresponding slot section; A12, controlling the current excavation speed of the double-wheel milling and deep mixing equipment according to the milling wheel torque data, the current excavation depth and the excavation speed depth customization data; A13, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations; A14, when the double-wheel milling and deep mixing equipment is performing a lifting operation, cement slurry is injected into the trough section.

3. The intelligent control method for double-wheel milling and deep stirring equipment according to claim 2 is characterized in that: Step A5 includes the following steps: A501, determine the corresponding stratigraphic interface depth data based on the stratigraphic geological data of the first phase trough section; A502, determine the depth interval of each stratum according to the stratum interface depth data; A503, based on the stratigraphic geological data and stratigraphic depth intervals of the first phase trench section, the preset geological data analysis method is used to estimate the interval geological type corresponding to each stratigraphic depth interval and set the corresponding stratigraphic interval excavation benchmark speed according to the interval geological type; A504, when the current excavation depth enters the corresponding stratum depth interval, defines the corresponding stratum depth interval as the current stratum interval; A505, defining the stratum interval excavation reference speed corresponding to the current stratum interval as the current excavation speed; A506, determining the current interval time window torque data corresponding to the current formation interval in the milling wheel torque data according to the preset torque monitoring time window; A507, adjust the current excavation speed of the double-wheel milling and deep mixing equipment according to the torque data of the current interval time window.

4. The intelligent control method for double-wheel milling and deep stirring equipment according to claim 3 is characterized in that: Step A507 includes the following steps: A5071, current time window torque standard deviation corresponding to the current interval time window torque data calculation; A5072, if the current time window torque standard deviation is greater than the preset standard deviation upper limit threshold, the corresponding target excavation speed is calculated by multiplying the preset speed reduction adjustment coefficient and the current excavation speed; A5073, if the current time window torque standard deviation is less than the preset standard deviation lower limit threshold, the corresponding target excavation speed is calculated by multiplying the preset speed-up adjustment coefficient and the current excavation speed; A5074: If the target excavation speed is within a preset speed regulation limit range, the target excavation speed is defined as the current excavation speed of the double-wheel milling and deep mixing equipment.

5. The intelligent control method for double-wheel milling and deep stirring equipment according to claim 4 is characterized in that: Further comprising the steps of: B1, generating corresponding stratum three-dimensional model data according to regional stratum geological data in the preset monitoring background; B2, when the double-wheel milling and deep mixing equipment performs excavation operation, corresponding slot segment three-dimensional data is formed in the stratum three-dimensional model data according to the current excavation depth and the area corresponding to the slot segment; B3, changing the depth of the three-dimensional data of the slot section in the three-dimensional model data of the stratum according to the change of the current excavation depth; B4, and display the current excavation depth and current excavation speed of the double-wheel milling and deep mixing equipment on the monitoring background.

6. The intelligent control method for double-wheel milling and deep stirring equipment according to claim 5 is characterized in that: Step A10 includes the following steps: A1001, dividing the preset target construction depth according to the preset excavation depth interval to generate corresponding depth intervals; A1002, according to each depth interval, sequentially obtain the corresponding adjacent slot section interval excavation speed data from the excavation depth speed association data corresponding to the two adjacent first-phase slot section positioning data; A1003, calculating the corresponding average of the excavation speeds of adjacent slot sections according to the average of the excavation speed data of adjacent slot sections; A1004, according to the excavation depth interval, the excavation speed averages of each adjacent slot section are combined in sequence to generate excavation speed depth customized data.

7. The intelligent control method for double-wheel milling and deep stirring equipment according to claim 6 is characterized in that: The following steps are included for injecting cement slurry: C1, when the double-wheel milling and deep mixing equipment performs a lifting operation, obtaining corresponding lifting depth data; C2, obtaining the corresponding historical excavation speed according to the lifting depth data and the excavation depth speed correlation data; C3, if the historical excavation speed is less than or equal to the preset excavation speed threshold, inject prefabricated cement slurry into the slot section; C4: If the historical excavation speed is greater than the excavation speed threshold, the water-cement ratio of the corresponding cement slurry is reduced, and cement slurry is injected into the slot section.

8. An intelligent control system for double-wheel milling and deep stirring equipment, characterized in that: include: Double wheel milling and deep mixing equipment; Cement grout pouring module; Processing control module; Monitoring background; Wherein, the double-wheel milling and deep mixing equipment, the cement slurry pouring module and the monitoring background data are connected to the processing control module; Wherein, the double-wheel milling and deep stirring equipment includes a milling module, a torque detection module and a depth detection module, the torque detection module and the depth detection module are arranged in the milling module, and the torque detection module and the depth detection module are data-connected to the processing control module; The intelligent control system of the double-wheel milling and deep stirring equipment further includes an intelligent milling strategy, including the following steps: D1, obtaining corresponding regional stratum geological data through preset stratum detection equipment in the preset construction area; D2, determine the corresponding first-phase slot section positioning data in the construction area; D3, obtaining the corresponding first-phase slot section stratigraphic geological data according to the first-phase slot section positioning data and the regional stratigraphic geological data; D4, when the double-wheel milling and deep mixing equipment performs excavation operation in the area corresponding to the positioning data of each first-phase slot section, the milling wheel torque data of the double-wheel milling and deep mixing equipment and the current excavation depth of the corresponding slot section are respectively obtained through the torque detection module and the depth detection module; D5, adjusting the current excavation speed of the double-wheel milling and deep mixing equipment according to the milling wheel torque data, the current excavation depth and the corresponding first-stage slot section stratum geological data through the processing control module; D6, generating excavation depth-speed correlation data corresponding to the slot section according to all current excavation depths and corresponding current excavation speed combinations through the processing control module; D7, when the double-wheel milling and deep mixing equipment is performing a lifting operation, cement slurry is injected into the groove section through the cement slurry pouring module.

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