A concrete conveying system for long inclined shafts with steep slopes

Abstract

This invention discloses a concrete conveying system for long inclined shafts with steep slopes, comprising a surface concrete transport vehicle, a feeding device, an enamel chute, a transfer storage tank, a horizontal spiral concrete conveying device, an in-tunnel concrete transport vehicle, and a control unit. The enamel chute has a segmented structure, consisting of several hinged sections, with locking spherical hinges between the sections to adapt to different slope conditions. The lower end of the enamel chute is connected to the transfer storage tank and then to the inlet of the horizontal spiral concrete conveying device. At least two level detectors are installed along the length of the top of the transfer storage tank. The detection signals are processed by the control unit to adjust the frequency converter of the spiral conveying device in real time, maintaining the material level in the storage tank within a preset height range of 1–1.6m. This invention enables efficient and stable conveying of concrete in inclined shafts, possessing advantages such as strong structural adaptability, continuous and uniform feeding, and prevention of concrete segregation and blockage.

Description

Technical Field

[0001] This invention belongs to the field of tunnel engineering technology, specifically relating to a concrete conveying system for long inclined shafts with steep gradients. Background Technology

[0002] In the concrete pouring construction of tunnel structures, the safety and impermeability of the final structure mainly depend on the quality of the concrete. Excessive influence from external factors during concrete pouring can easily lead to quality problems, affecting not only the orderly progress of construction but also the company's economic benefits.

[0003] Quality control of concrete pouring inside long inclined shafts with steep slopes is a key focus of construction. The crucial point is how to transport the concrete to the working face inside the shaft while ensuring its quality and quantity.

[0004] Concrete pouring in long inclined shafts with steep slopes presents significant challenges, including mortar loss during concrete chute discharge, concrete transport after reaching the bottom of the shaft, and horizontal transport within the shaft. These challenges are urgent technical problems that need to be solved in this field. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a concrete conveying system for long inclined shafts with large slopes that can achieve efficient and stable conveying of concrete in inclined shafts, and has the advantages of strong structural adaptability, continuous and uniform feeding, and prevention of concrete segregation and blockage.

[0006] The technical solution of this invention is: a concrete conveying system for a long inclined shaft with a large slope, comprising: a ground concrete transport vehicle, a feeding device, an enamel chute, a transfer and storage box, a horizontal spiral concrete conveying device, an in-tunnel concrete transport vehicle, and a control unit. The ground concrete transport vehicle is located next to the feeding device. The inlet of the feeding device is located on the ground, and the outlet of the feeding device is located near the entrance of the long inclined shaft. The feeding device has a funnel-shaped structure. One end of the enamel chute is located below the outlet of the feeding device, and the other end of the enamel chute is connected to the horizontal spiral concrete conveying device. The enamel chute is connected to the feed inlet and also to the transfer storage box. The enamel chute has a segmented structure, consisting of several hinged sections. Locking spherical hinges are installed between the hinged sections. At least two material level detectors are installed on the top of the transfer storage box along the length of the box. The material level detectors are connected to the control unit. The control unit adjusts the frequency of the spiral frequency converter of the horizontal spiral concrete conveyor in real time to maintain the concrete material level in the transfer storage box within a preset height range of 1-1.6m. A tunnel concrete transport vehicle is installed below the discharge port of the horizontal spiral concrete conveyor.

[0007] Furthermore, the adjustable angle range of the hinge section of the enamel chute is 25°-45°.

[0008] Furthermore, a microporous water-permeable strip is embedded along the axial direction of the bottom of the enamel chute on the inner side of the chute. The area where the microporous water-permeable strip is located is a hydrophilic zone. The remaining surfaces of the enamel chute are sprayed with a composite coating of alternating hydrophobic and hydrophilic stripes. The remaining surfaces are hydrophobic zones. The static contact angle of the hydrophobic zone is ≥140°, the static contact angle of the hydrophilic zone is ≤30°, and the center distance between adjacent hydrophilic stripes is 20-30mm.

[0009] Furthermore, the material level detector is a millimeter-wave radar array, and the control unit runs a PID control algorithm to generate an adjustment amount based on the material level height error, which is used to correct the speed of the screw motor of the horizontal screw concrete conveyor; the PID algorithm is specifically as follows:

[0010] Let the target material level be h. * If the material level falls at the midpoint of the preset height range, the material level error is:

[0011] In the formula, e(t) is the material level error. A positive value indicates that the material level is lower than the target and the feeding speed needs to be increased.

[0012] h * For the target material level, This represents the measured average material level.

[0013] The adjustment amount is the output frequency f(t) of the screw inverter:

[0014]

[0015] f(t) = sat(f0 + u(t), f min f max ),

[0016] In the formula, u(t) is the PID output, i.e., the frequency increment; K p This is a proportional gain, meaning that for every 1cm deviation in e(t), the spiral frequency is immediately corrected by K. p ×1cm, K p =1.5Hz / cm; K i For the integral gain, integrate over the accumulated error to eliminate steady-state bias and prevent low-frequency drift, K i =0.1Hz / cm·s; K d As a differential gain, it responds rapidly to the rate of change of error, suppressing overshoot and oscillation. K d = 4Hz.s / cm; t is the time variable, i.e., the continuous time of the control system; f0 is the reference frequency, i.e., the average operating frequency required to maintain the material surface at the target height; f(t) is the output frequency after saturation, which is sent to the frequency converter and directly determines the screw speed; f min To minimize the frequency and avoid motor stalling or insufficient flow, f min =15Hz; fmax To maximize frequency and avoid overload, segregation, or material spillage, f max =60Hz.

[0017] Furthermore, the control unit also receives signals from a flow rate sensor located at the end of the enamel chute, and adjusts the driving frequency of the horizontal spiral concrete conveyor and the slope of the enamel chute according to a preset level-flow rate dual-variable coupling model, so that the volumetric flow rate at the spiral outlet of the horizontal spiral concrete conveyor is maintained within ±5% of the set value; the expression of the level-flow rate dual-variable coupling model is:

[0018] Q = k1H α n β sinθ γ ,

[0019] In the formula, Q is the volumetric flow rate at the screw outlet, k1 is the comprehensive proportional coefficient, an empirical constant that includes the combined effects of equipment size, concrete viscosity, and resistance loss, k1 = 0.015-0.025; H is the height of the transfer material surface, α is the material level influence index, describing the intensity of the influence of material surface height on flow rate, α = 0.6-0.8; n is the screw frequency, β is the screw frequency index, describing the sensitivity of screw frequency changes to flow rate, β = 1; θ is the chute slope, γ is the slope influence index, describing the nonlinear amplification effect of steeper slope and faster sliding, γ = 1-1.4;

[0020] The method for adjusting the drive frequency of the horizontal spiral concrete conveyor is as follows: PID calculation is performed based on the material level error.

[0021]

[0022] n(t) = sat(n0 + u) n (t), n min n max ),

[0023] In the formula, u n (t) is the PID output value, i.e., the frequency adjustment calculated by the control system based on the material level difference; K p This is a proportional gain, meaning that for every 1cm deviation in e(t), the spiral frequency is immediately corrected by K. p ×1cm, K p =1.5Hz / cm; K i For the integral gain, integrate over the accumulated error to eliminate steady-state bias and prevent low-frequency drift, K i =0.1Hz / cm·s; K d As a differential gain, it responds rapidly to the rate of change of error, suppressing overshoot and oscillation. K d = 4Hz.s / cm; e H(t) represents the material level error, i.e., the deviation between the real-time material level and the target material level; n(t) is the output frequency, n0 is the reference frequency, and n min To minimize the frequency and prevent motor stalling or jamming, n min =15Hz; n max To maximize the frequency and limit the risk of segregation or material spillage at high screw speeds, n max =60Hz;

[0024] The method for adjusting the slope of the enamel chute is as follows: performing a PI calculation based on the flow error.

[0025] Δθ(t)=K pθ ·e Q (t)+K iθ ·∫e Q (t)dt

[0026] θ(t)=rate_limit(θ0+Δθ(t),±r max ),

[0027] In the formula, Δθ(t) is the control increment, i.e., the slope adjustment value obtained from the PI calculation; K pθ K represents the proportional gain, i.e., the immediate impact of the current flow error on the slope adjustment. pθ The value range of K is 0.3–0.6; iθ The integral gain, i.e., the cumulative compensation for continuous flow error, is used to eliminate the deviation. K pθ The value range is 0.01–0.05; e Q θ(t) represents the flow error, which is the difference between the current volumetric flow rate and the target volumetric flow rate; θ0 represents the current slope, which is the actual slope of the enamel chute at the start of the control cycle; θ(t) represents the target slope, which is the target slope set by the control system and after being constrained; r max r is the maximum rate of change of slope. max The value range is 0.5–1.5° / s.

[0028] Furthermore, the material level detector and the control unit communicate wirelessly via LoRa. The control unit uploads the real-time material level height, screw speed and alarm status to the cloud platform via a 4G or 5G module. The construction management terminal remotely sends the speed setting value and parameter updates to the control unit.

[0029] The beneficial effects of this invention are:

[0030] 1. Adaptive conveying slope: The segmented enamel chute adopts a locking spherical hinge with an adjustable angle of 25°–45°, which can quickly match different inclined shaft angles and local turns, avoiding frequent disassembly and assembly, and significantly improving installation and relocation efficiency.

[0031] 2. Anti-segregation and anti-clogging: The bottom of the enamel chute is embedded with a microporous water-permeable stripe to form a lubricating water film. Combined with the hydrophobic-hydrophilic stripe composite coating (contact angle hydrophobic ≥140°, hydrophilic ≤30°), it promotes the aggregate to slide automatically to the side and the slurry to flow in the center, continuously self-cleaning, and the clogging rate can be reduced by more than 60%.

[0032] 3. Dual-variable coupled flow control: Based on the material level-flow velocity dual-variable coupled model, the control unit synchronously adjusts the screw frequency and the slope of the enamel chute to keep the screw outlet volumetric flow rate stable within ±5% of the target; the steady-state error of the flow rate is reduced by more than 60%.

[0033] 4. Actuator lifespan and energy consumption optimization: Adopting a "fast inner loop - slow outer loop" strategy: rapid compensation of helical frequency and gradual adjustment of slope for speed limiting (0.5–1.5° / s) to reduce electro-hydraulic shock and motor overload;

[0034] 5. Wireless data and remote operation and maintenance: The level detector communicates with the control unit via LoRa, and the control unit uploads data to the cloud via 4G / 5G; the management terminal can remotely send parameters and receive alarms, realizing unattended operation and early warning of faults, reducing the intensity of manual inspection;

[0035] In summary, the large-slope long inclined shaft concrete conveying system of the present invention realizes an efficient, stable, and low-segregation solution for "long-distance-large-slope" concrete conveying, reduces pipe blockage and downtime, improves pouring quality and schedule safety, and has significant economic and field application value. Attached Figure Description

[0036] Figure 1 This is a structural schematic diagram of a long inclined shaft concrete conveying system with a large slope according to the present invention.

[0037] In the diagram: 1-Ground concrete transport vehicle, 2-Discharge device, 3-Enameled chute, 4-Steep inclined shaft, 5-Transfer storage box, 6-Horizontal conveying screw equipment, 7-In-tunnel concrete transport vehicle. Detailed Implementation

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] like Figure 1As shown, a long inclined shaft concrete conveying system with a steep slope includes: a ground concrete transport vehicle 1, a feeding device 2, an enamel chute 3, a transfer and storage box 5, a horizontal spiral concrete conveying equipment 6 (e.g., XCMG concrete conveying equipment), an in-tunnel concrete transport vehicle 7, and a control unit (e.g., Schneider Modicon M340 / M262). The ground concrete transport vehicle 1 is located next to the feeding device 2. The inlet of the feeding device 2 is located on the ground, and the outlet of the feeding device 2 is located near the entrance of the steep inclined shaft 4. The feeding device 2 has a funnel-shaped structure. One end of the enamel chute 3 is located below the outlet of the feeding device 2, and the other end of the enamel chute 3 is connected to the inlet of the horizontal spiral concrete conveying equipment 6. The enamel chute 3 is also connected to the transfer and storage box 5. The enamel chute 3 is segmented. The structure includes an enamel chute 3 composed of several hinged sections, with locking spherical hinges between the hinged sections. At least two material level detectors are installed on the top of the transfer storage tank 5 along the length of the tank body. The material level detectors are connected to a control unit. The control unit adjusts the frequency of the spiral frequency converter of the horizontal spiral concrete conveying equipment 6 in real time to maintain the concrete material level in the transfer storage tank 5 within a preset height range of 1-1.6m. An in-tunnel concrete transport vehicle 7 is installed below the discharge port of the horizontal spiral concrete conveying equipment 6.

[0040] Preferably, the adjustment angle range of the hinge section of the enamel chute 3 is 25°-45°.

[0041] Preferably, a microporous water-permeable strip is embedded along the axial direction of the bottom of the enamel chute 3 on the inner side of the chute. The area where the microporous water-permeable strip is located is a hydrophilic area. The remaining surfaces of the enamel chute 3 are sprayed with a composite coating of alternating hydrophobic and hydrophilic stripes. The remaining surfaces are hydrophobic areas. The static contact angle of the hydrophobic area is ≥140°, the static contact angle of the hydrophilic area is ≤30°, and the center distance between adjacent hydrophilic stripes is 20-30mm.

[0042] Preferably, the material level detector is a millimeter-wave radar array, and the control unit runs a PID control algorithm to generate an adjustment amount based on the material level height error, which is used to correct the speed of the screw motor of the horizontal screw concrete conveyor 6; the PID algorithm is specifically as follows:

[0043] Assuming the target material level h* falls at the midpoint of the preset height range, the material level error is:

[0044]

[0045] In the formula, e(t) represents the material level error; a positive value indicates that the material level is lower than the target, and the feeding speed needs to be increased; h * For the target material level, This represents the measured average material level.

[0046] The adjustment amount is the output frequency f(t) of the screw inverter:

[0047]

[0048] f(t) = sat(f0 + u(t), f min f max ),

[0049] In the formula, u(t) is the PID output, i.e., the frequency increment; K p This is a proportional gain, meaning that for every 1cm deviation in e(t), the spiral frequency is immediately corrected by K. p ×1cm, K p =1.5Hz / cm; K i For the integral gain, integrate over the accumulated error to eliminate steady-state bias and prevent low-frequency drift, K i =0.1Hz / cm·s; K d As a differential gain, it responds rapidly to the rate of change of error, suppressing overshoot and oscillation. K d = 4Hz·s / cm; t is the time variable, i.e., the continuous time of the control system; f0 is the reference frequency, i.e., the average operating frequency required to maintain the material surface at the target height; f(t) is the output frequency after saturation, which is sent to the frequency converter and directly determines the screw speed; f min To minimize the frequency and avoid motor stalling or insufficient flow, f min =15Hz; f max To maximize frequency and avoid overload, segregation, or material spillage, f max =60Hz.

[0050] Preferably, the control unit also receives signals from a flow rate sensor located at the end of the enamel chute 3, and adjusts the driving frequency of the horizontal spiral concrete conveying device 6 and the slope of the enamel chute 3 according to a preset material level-flow rate dual-variable coupling model, so that the volumetric flow rate of the spiral outlet of the horizontal spiral concrete conveying device 6 is maintained within ±5% of the set value; the expression of the material level-flow rate dual-variable coupling model is:

[0051] Q = k1H α n β sinθ γ ,

[0052] In the formula, Q is the volumetric flow rate at the screw outlet, k1 is the comprehensive proportional coefficient, an empirical constant that includes the combined effects of equipment size, concrete viscosity, and resistance loss, k1 = 0.015-0.025; H is the height of the transfer material surface, α is the material level influence index, describing the intensity of the influence of material surface height on flow rate, α = 0.6-0.8; n is the screw frequency, β is the screw frequency index, describing the sensitivity of screw frequency changes to flow rate, β = 1; θ is the chute slope, γ is the slope influence index, describing the nonlinear amplification effect of steeper slope and faster sliding, γ = 1-1.4;

[0053] The method for adjusting the drive frequency of the horizontal spiral concrete conveyor 6 is as follows: PID calculation is performed based on the material level error.

[0054]

[0055] n(t) = sat(n0 + u) n (t), n min n max ),

[0056] In the formula, u n (t) is the PID output value, i.e., the frequency adjustment calculated by the control system based on the material level difference; K p This is a proportional gain, meaning that for every 1cm deviation in e(t), the spiral frequency is immediately corrected by K. p ×1cm, K p =1.5Hz / cm; K i For the integral gain, integrate over the accumulated error to eliminate steady-state bias and prevent low-frequency drift, K i =0.1Hz / cm·s; K d As a differential gain, it responds rapidly to the rate of change of error, suppressing overshoot and oscillation. K d = 4Hz.s / cm; e H (t) represents the material level error, i.e., the deviation between the real-time material level and the target material level; n(t) is the output frequency, n0 is the reference frequency, and n min To minimize the frequency and prevent motor stalling or jamming, n min =15Hz; n max To maximize the frequency and limit the risk of segregation or material spillage at high screw speeds, n max =60Hz;

[0057] The method for adjusting the slope of the enamel chute 3 is as follows: performing PI calculation based on the flow error.

[0058] Δθ(t)=K pθ ·e Q (t)+K iθ ·∫e Q (t)dt

[0059] θ(t)=rate_limit(θ0+Δθ(t),±r max ),

[0060] In the formula, Δθ(t) is the control increment, i.e., the slope adjustment value obtained from the PI calculation; K pθ K represents the proportional gain, i.e., the immediate impact of the current flow error on the slope adjustment. pθ The value range of K is 0.3-0.6; iθ The integral gain, i.e., the cumulative compensation for continuous flow error, is used to eliminate the deviation. K pθ The value range is 0.01-0.05; e Q θ(t) represents the flow error, which is the difference between the current volumetric flow rate and the target volumetric flow rate; θ0 represents the current slope, which is the actual slope of the enamel chute at the start of the control cycle; θ(t) represents the target slope, which is the target slope set by the control system and after being constrained; r max r is the maximum rate of change of slope. max The value range is 0.5-1.5° / s.

[0061] Preferably, the material level detector and the control unit communicate wirelessly via LoRa. The control unit uploads the real-time material level height, screw speed and alarm status to the cloud platform via a 4G or 5G module. The construction management terminal remotely sends the speed setting value and parameter updates to the control unit.

[0062] When in use, turn on the management system of the control unit and start the material level detector and flow rate sensor. Start the horizontal spiral concrete conveyor and enter the standby state. Then start the ground concrete transport vehicle 1 to supply material and observe whether the concrete entering the enamel chute 3 smoothly is being fed. Then start the automatic control program and the control system starts closed-loop operation. During system operation, if the spiral frequency is higher than 45Hz and the enamel chute angle is greater than 34°, the system will automatically issue a warning and reduce the speed to prevent segregation. Exceeding the material level or the flow rate will trigger an interlock shutdown. If the flowability changes due to changes in the concrete mix ratio, the management personnel can modify the target material level, flow rate and other settings in the cloud. When finishing use, first turn off the feeding system (ground concrete transport vehicle 1), then maintain the spiral and slope adjustment operation for about 2-3 minutes to drain the remaining material. Then stop the operation of the horizontal spiral conveyor 6, turn off the power of the sensors and control unit in sequence, and finally clean the accumulated material in the transfer storage box 5 and the enamel chute 3 for the next start.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A concrete conveying system for a long inclined shaft with a large slope, characterized in that, include: The system includes a ground concrete transport vehicle (1), a feeding device (2), an enamel chute (3), a transfer storage box (5), a horizontal spiral concrete conveying equipment (6), an in-tunnel concrete transport vehicle (7), and a control unit. The ground concrete transport vehicle (1) is located next to the feeding device (2). The inlet of the feeding device (2) is located on the ground, and the outlet of the feeding device (2) is located near the entrance of the steep inclined shaft (4). The feeding device (2) has a funnel-shaped structure. One end of the enamel chute (3) is located below the outlet of the feeding device (2), and the other end of the enamel chute (3) is connected to the inlet of the horizontal spiral concrete conveying equipment (6). The enamel chute (3) is also connected to the transfer storage box (5). The enamel chute (3) is a segmented structure. The enamel chute (3) is composed of several hinged sections. Locking ball hinges are provided between the hinged sections. At least two material level detectors are provided on the top of the transfer storage box (5) along the length of the box. The material level detectors are connected to the control unit. The control unit adjusts the frequency of the spiral frequency converter of the horizontal spiral concrete conveying equipment (6) in real time so that the concrete material level in the transfer storage box (5) is maintained between 1-1.6m in the preset height range. A tunnel concrete transport vehicle (7) is provided below the discharge port of the horizontal spiral concrete conveying equipment (6). The control unit also receives signals from the velocity sensor located at the end of the enamel chute (3), and adjusts the driving frequency of the horizontal spiral concrete conveying equipment (6) and the slope of the enamel chute (3) according to the preset material level and velocity dual-variable coupling model, so that the volumetric flow rate of the spiral outlet of the horizontal spiral concrete conveying equipment (6) is maintained within ±5% of the set value; the expression of the material level and velocity dual-variable coupling model is: ， In the formula, Q The volumetric flow rate at the spiral outlet is [value]. k 1 represents a comprehensive proportionality coefficient, an empirical constant that incorporates the combined effects of equipment size, concrete viscosity, and resistance loss. k 1 = 0.015 - 0.025; H For the height of the transfer material surface, α The material level impact index describes the intensity of the effect of material level on flow rate. α =0.6-0.8; n Where is the spiral frequency, β The helical frequency index describes the sensitivity of the flow rate to changes in the helical frequency. β =1; θ γ is the slope of the chute, and γ is the slope influence index, which describes the nonlinear amplification effect of the steeper the slope, the faster the sliding. γ = 1-1.

4. The method for adjusting the drive frequency of the horizontal spiral concrete conveying equipment (6) is as follows: PID calculation is performed based on the material level error. ， In the formula, This is the PID output value, which is the frequency adjustment amount calculated by the control system based on the material level difference; For proportional gain, i.e. For every 1cm deviation, the spiral frequency is immediately corrected. ×1cm, K p = 1.5 Hz / cm; The integral gain is calculated by integrating the accumulated error to eliminate steady-state bias and prevent low-frequency drift. K i = 0.1 Hz / cm·s; As a differential gain, it responds rapidly to the rate of change of error, suppressing overshoot and oscillation. K d =4 Hz·s / cm; This refers to the material level error, which is the deviation between the real-time material level and the target material level. For output frequency, n 0 is the reference frequency. n min To minimize the frequency and prevent motor stalling or jamming, n min =15Hz; n max To maximize frequency and limit the risk of segregation or material spillage at high screw speeds, n max =60Hz; The method for adjusting the slope of the enamel chute (3) is as follows: perform PI calculation based on the flow error: ， In the formula, To control the increment, i.e. the slope adjustment value obtained from PI calculation; This is the proportional gain, which represents the immediate impact of the current flow error on the slope adjustment. The value range is 0.3 - 0.6; This is the integral gain, which is the cumulative compensation for continuous flow error, used to eliminate deviation. The value range is 0.01 - 0.05; This refers to the flow error, which is the difference between the current volumetric flow rate and the target volumetric flow rate. This is the current slope, i.e., the actual slope of the enamel chute at the start of the control cycle; The target slope is the slope set by the control system and subject to constraints. This represents the maximum rate of change of slope. The value range is 0.5-1.5° / s.

2. The concrete conveying system for a long inclined shaft with a large slope according to claim 1, characterized in that, The adjustable angle range of the hinge section of the enamel chute (3) is 25°-45°.

3. The concrete conveying system for a long inclined shaft with a large slope according to claim 1, characterized in that, The inner side of the enamel chute (3) is embedded with a microporous water-permeable strip along the bottom axis. The area where the microporous water-permeable strip is located is a hydrophilic area. The remaining surfaces of the enamel chute (3) are sprayed with a composite coating of alternating hydrophobic and hydrophilic stripes. The remaining surfaces are hydrophobic areas. The static contact angle of the hydrophobic area is ≥140°, the static contact angle of the hydrophilic area is ≤30°, and the center distance between adjacent hydrophilic stripes is 20-30mm.

4. The concrete conveying system for a long inclined shaft with a large slope according to claim 1, characterized in that, The material level detector is a millimeter-wave radar array. The control unit runs a PID control algorithm to generate an adjustment amount based on the material level height error, which is used to correct the speed of the screw motor of the horizontal spiral concrete conveying equipment (6). The PID control algorithm is as follows: Let the target material level be h. * If the material level falls at the midpoint of the preset height range, the material level error is: ， In the formula, This represents the material level error; a positive value indicates that the material level is below the target level and the feeding speed needs to be increased. For the target material level, This represents the measured average material level. The adjustment amount is the output frequency of the screw inverter. f ( t ): ， In the formula, This is the output of the PID calculation, i.e., the frequency increment; For proportional gain, i.e. For every 1cm deviation, the spiral frequency is immediately corrected. ×1cm, K p = 1.5 Hz / cm; The integral gain is calculated by integrating the accumulated error to eliminate steady-state bias and prevent low-frequency drift. K i = 0.1 Hz / cm·s; As a differential gain, it responds rapidly to the rate of change of error, suppressing overshoot and oscillation. K d =4 Hz·s / cm; t It is a time variable, that is, the continuous time of the control system; f 0 is the reference frequency, which is the average operating frequency required to maintain the material surface at the target height; The output frequency after saturation is fed into the frequency converter, which directly determines the screw speed. To minimize the frequency and prevent motor stalling or insufficient flow, f min =15Hz; To maximize frequency and avoid overload, segregation, or material spillage, f max =60Hz.

5. A concrete conveying system for a long inclined shaft with a large slope according to claim 1, characterized in that, The material level detector and the control unit communicate wirelessly via LoRa. The control unit uploads the real-time material level height, screw speed and alarm status to the cloud platform via a 4G or 5G module. The construction management terminal remotely sends the speed setting value and parameter updates to the control unit.

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