Grouting density and flow detection device and method

Abstract

The invention provides a grouting density and flow detection device and method, and relates to the technical field of grouting monitoring, and the grouting density and flow detection device comprises a control module used for exciting a sensor; the density data acquisition module is used for applying ultrasonic waves to the density detection pipe section and converting the ultrasonic waves into electric signals; the flow data acquisition module is used for applying ultrasonic waves to the flow detection pipe section and converting the ultrasonic waves into electric signals; the data processing module is used for analyzing the density and the flow of the cement paste according to the filtered sound wave data; the data transmission module is used for outputting the analyzed data to a control end; the data storage module is used for storing backup data in a local machine; and the display control module is used for monitoring the working state on the machine and adjusting parameters. According to the invention, the density and flow parameters of the cement paste flowing in the pipeline can be monitored.

Description

Technical Field

[0001] The invention belongs to the technical field of grouting monitoring, and in particular relates to a device and method for detecting grouting density and flow rate. Background Art

[0002] Grouting is an important measure to ensure the stability of the dam foundation and surrounding rock mass during water conservancy project construction. The cement used for grouting is a liquid mixed with water and cement ash, so the density and flow rate of cement slurry are directly related to the effect of grouting.

[0003] There are many types of density and flow detection methods on the market. Currently, they mainly rely on four types of density sensors: differential pressure, radiation, float, and fixed liquid level cylinder, as well as electromagnetic flowmeters. The most commonly used density sensor in construction is the differential pressure density sensor, which is designed based on the principle that the pressure distribution inside the mud is proportional to the density. The differential pressure density sensor is suitable for static or stable liquids, but during the grouting process, the pressure and flow rate change greatly and frequently, which affects its measurement accuracy. Flow rate changes and high pressure fluctuations directly affect the measurement results, with an error of more than 5% at low pressure and up to ±48% at high pressure. Cement slurry is prone to water precipitation, and the diversion flow rate must be kept at no less than 25L / min. However, the output of the on-site grouting pump is large, the slurry in the diversion pipeline flows slowly, and the problem of water precipitation is difficult to avoid. In addition, the density cylinder is large in size and inconvenient to use. In addition, the radiation density sensor detects the density of cement slurry by emitting gamma rays, which has the highest measurement accuracy, but there are hidden dangers of radioactivity to the operator's body. The measurement of electromagnetic flowmeter is not affected by the changes of fluid density, viscosity, temperature, pressure and conductivity, and has unique adaptability to slurry measurement. Since the induced voltage signal is formed in the entire space filled with magnetic field and is the average value on the pipe surface, the sensor requires a shorter straight pipe section. However, since electromagnetic flowmeters are usually distributed in arrays in applications, they occupy a large working area. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a device and method for detecting grouting density and flow rate, which solves the problems of poor applicability and excessive volume of density detection methods.

[0005] In order to achieve the above objectives, in a first aspect, the technical solution adopted by the present invention is: a grouting density and flow detection device, comprising:

[0006] A control module, used for transmitting signals to respectively excite the ultrasonic flow sensor and the ultrasonic density sensor;

[0007] The density data acquisition module is used to apply ultrasonic waves to the grouting density detection pipe section and convert the received ultrasonic waves into density electrical signals using an ultrasonic density sensor;

[0008] A flow data acquisition module is used to apply ultrasonic waves to the flow detection pipe section and convert the received ultrasonic waves into flow electrical signals using an ultrasonic flow sensor;

[0009] A data processing module is used to filter the density electrical signal and the flow electrical signal respectively, and analyze the grouting density and flow according to the filtered acoustic wave data;

[0010] A data transmission module is used to transmit the analyzed grouting density and flow information to the control end;

[0011] A data storage module, used for storing the analyzed grouting density data and flow data;

[0012] The display control module is used to monitor the operating status of the detection device and adjust parameters on this machine.

[0013] The beneficial effect of the present invention is: through the above-mentioned design, the present invention transmits information through the control module to stimulate the ultrasonic flow sensor and the ultrasonic density sensor respectively, and then uses the two sensors to receive the corresponding ultrasonic waves respectively, and convert the corresponding density electrical signals and flow electrical signals respectively, and analyze the density electrical signals and flow electrical signals, thereby realizing the automatic data acquisition, data processing, transmission judgment and result display of cement slurry grouting density and flow.

[0014] Furthermore, the density data acquisition module includes:

[0015] The first collection pipe section is used to carry the ultrasonic transducer and apply ultrasonic waves to the grouting density detection pipe section;

[0016] A first ultrasonic sensor, used for converting received ultrasonic waves into density electrical signals;

[0017] The first adapter pipe head is used for modular access of the measuring pipe section.

[0018] Furthermore, the flow data collection module includes:

[0019] The second collection pipe section is used to carry the ultrasonic transducer and apply ultrasonic waves to the flow detection pipe section;

[0020] A second ultrasonic sensor, used for converting received ultrasonic waves into flow electrical signals;

[0021] The second adapter pipe head is used for modular access of the measuring pipe section.

[0022] In a second aspect, the present invention provides a method for detecting grouting density and flow rate, comprising the following steps:

[0023] S1, using the control module to send out electrical signals to stimulate the ultrasonic density sensor and the ultrasonic flow sensor respectively;

[0024] S2. Using an ultrasonic density sensor, the electrical signal is converted into an ultrasonic wave through the piezoelectric effect, and the ultrasonic wave is applied to the density detection pipe section, and the ultrasonic wave is received by the ultrasonic density transmitter and converted into a density electrical signal, wherein the ultrasonic density sensor is located on both sides of the density detection pipe section;

[0025] S3, using an ultrasonic flow sensor to convert an electrical signal into an ultrasonic wave through the piezoelectric effect, and applying the ultrasonic wave to the flow detection pipe section, using an ultrasonic flow transmitter to receive the ultrasonic wave and convert it into a flow electrical signal, wherein the ultrasonic flow sensor is located on both sides of the flow detection pipe section;

[0026] S4. Utilize the data processing module to filter the density electrical signal and the flow electrical signal respectively, and analyze the grouting density and the grouting flow rate according to the filtered acoustic wave data.

[0027] The beneficial effect of the present invention is: through the above-mentioned design, the present invention transmits information through the control module to stimulate the ultrasonic flow sensor and the ultrasonic density sensor respectively, and then uses the two sensors to receive the corresponding ultrasonic waves respectively, and convert the corresponding density electrical signals and flow electrical signals respectively, and analyze the density electrical signals and flow electrical signals, thereby realizing the automatic data acquisition, data processing, transmission judgment and result display of cement slurry grouting density and flow.

[0028] Furthermore, the analysis of grouting density is specifically as follows:

[0029] A1. Set the overall average times M of the empirical mode decomposition (EEMD) algorithm and the signal amplitude coefficient α of the white noise;

[0030] A2. Perform empirical mode decomposition (EEMD) to obtain IMFs, and take the first three IMFs as characteristic mode components for identification and signal reconstruction;

[0031] A3. Analyze the selected characteristic mode components and set the weight coefficients to reorganize the signals. The expression of the reorganized signal is as follows:

[0032] y r (t) = imf 1 +βimf 2 +imf 3 i=1,2,3

[0033] Among them, y r (t) indicates the recombination signal, imf i represents the i-th mode, β represents the weight coefficient;

[0034] A4. Use the following formula to find the maximum peak point of the reconstructed signal in the time domain and frequency domain:

[0035] ρ=-17.45t-8.141f+618.414t 2 -7674.316t 3 +2.809f 3 +6.66

[0036] Among them, ρ represents the density value of cement paste, t represents the maximum peak value in time domain, and f represents the maximum peak value in frequency domain;

[0037] A5. Use the following formula to calculate the frequency domain area of ​​the first three IMFs for neural network identification:

[0038] A i =∫|x i (f)|df i=1,2,3

[0039] Among them, A i represents the frequency domain area of ​​the ith IMF, x i (f) represents the amplitude of the ith IMF component at the maximum peak f in the frequency domain;

[0040] A6. Import the calculated frequency domain area into the neural network and output the grouting density.

[0041] Furthermore, the analysis of grouting flow is specifically as follows:

[0042] B1. Calculate the emission wavelength based on the filtered sound wave data using the Doppler effect;

[0043] B2. Determine the receiving frequency according to the relationship among the sound velocity, the transmitting frequency, the frequency of the sound waves reflected by the cement particles and the frequency received by the receiving transducer;

[0044] B3. Based on the emission wavelength and receiving frequency, the grouting flow rate is calculated to complete the grouting flow rate.

[0045] The beneficial effect of the above further solution is that the present invention can achieve the measurement of cement slurry flow in a relatively small space through the above design.

[0046] In a third aspect, the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of the method for detecting grouting density and flow rate, which are specifically:

[0047] C1. Receive density electrical signals and flow electrical signals from external devices or internal modules;

[0048] C2. Processing the received density and flow acoustic wave data, including the steps of the method described in any one of claims 4 to 6;

[0049] C3. Store the processed density data and flow data in the memory or transmit them to an external device through a communication module; the electronic device may be a smart terminal, a server or an embedded system.

[0050] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the steps of any of the above-mentioned methods for detecting grouting density and flow rate are implemented, which are specifically:

[0051] D1, the overall average number of times M of receiving user input and the signal amplitude coefficient α of Gaussian white noise;

[0052] D2. After saving the input parameters, process the received density and flow acoustic wave signals;

[0053] D3. Calling an algorithm or logic module to implement the steps of any method described in claim 4-6;

[0054] D4. Output density data and flow data and store them in a specified location; the storage medium may be a hard disk, a solid state drive, an optical disk or other readable storage device. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the system structure of the present invention.

[0056] Figure 2 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0057] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0058] Example 1

[0059] The conventional density detection method is contact type, but in order to solve the problem of excessive error in high-pressure grouting and reduce the working volume to ensure the quality of engineering casting, the present invention provides a grouting density and flow detection device, including:

[0060] A control module, used for transmitting signals to respectively excite the ultrasonic flow sensor and the ultrasonic density sensor;

[0061] The density data acquisition module is used to apply ultrasonic waves to the grouting density detection pipe section and convert the received ultrasonic waves into density electrical signals using an ultrasonic density sensor;

[0062] A flow data acquisition module is used to apply ultrasonic waves to the flow detection pipe section and convert the received ultrasonic waves into flow electrical signals using an ultrasonic flow sensor;

[0063] A data processing module is used to filter the density electrical signal and the flow electrical signal respectively, and analyze the grouting density and flow according to the filtered acoustic wave data;

[0064] A data transmission module is used to transmit the analyzed grouting density and flow information to the control end;

[0065] A data storage module, used for storing the analyzed grouting density data and flow data;

[0066] The display control module is used to monitor the operating status of the detection device and adjust parameters on this machine.

[0067] In this embodiment, the density data acquisition module includes:

[0068] The first collection pipe section is used to carry the ultrasonic transducer and apply ultrasonic waves to the grouting density detection pipe section;

[0069] A first ultrasonic sensor, used for converting received ultrasonic waves into density electrical signals;

[0070] The first adapter pipe head is used for modular access of the measuring pipe section.

[0071] In this embodiment, the flow data collection module includes:

[0072] The second collection pipe section is used to carry the ultrasonic transducer and apply ultrasonic waves to the flow detection pipe section;

[0073] A second ultrasonic sensor, used for converting received ultrasonic waves into flow electrical signals;

[0074] The second adapter pipe head is used for modular access of the measuring pipe section.

[0075] In this embodiment, the control module is used to transmit a signal to excite the sensor; the density data acquisition module is used to apply ultrasonic waves to the density detection pipe section, use the sensor to receive the ultrasonic waves and convert them into electrical signals; the flow data acquisition module is used to apply ultrasonic waves to the flow detection pipe section, use the sensor to receive the ultrasonic waves and convert them into electrical signals; the data processing module is used to filter the digital signal and analyze the density and flow of the cement slurry based on the filtered sound wave data; the data transmission module includes a wired interface, a 4G and wireless network communication unit, and is used to output the analyzed data to the control end; the data storage module is used to store the backup output data on the local machine; the display control module is used to directly monitor the working status and adjust the parameters on the local machine. The present invention can monitor the density and flow parameters of the cement slurry flowing in the pipeline.

[0076] Example 2

[0077] like Figure 2 As shown, the present invention provides a method for detecting grouting density and flow rate, and the implementation method is as follows:

[0078] S1, using the control module to send out electrical signals to stimulate the ultrasonic density sensor and the ultrasonic flow sensor respectively;

[0079] S2. Using an ultrasonic density sensor, the electrical signal is converted into an ultrasonic wave through the piezoelectric effect, and the ultrasonic wave is applied to the density detection pipe section, and the ultrasonic wave is received by the ultrasonic density transmitter and converted into a density electrical signal, wherein the ultrasonic density sensor is located on both sides of the density detection pipe section;

[0080] S3, using an ultrasonic flow sensor to convert an electrical signal into an ultrasonic wave through the piezoelectric effect, and applying the ultrasonic wave to the flow detection pipe section, using an ultrasonic flow transmitter to receive the ultrasonic wave and convert it into a flow electrical signal, wherein the ultrasonic flow sensor is located on both sides of the flow detection pipe section;

[0081] S4. Utilize the data processing module to filter the density electrical signal and the flow electrical signal respectively, and analyze the grouting density and the grouting flow rate according to the filtered acoustic wave data.

[0082] In this embodiment, the grouting density is analyzed as follows:

[0083] A1. Set the overall average number of times M of the empirical mode decomposition EEMD algorithm and the signal amplitude coefficient α of the white noise; The overall average number of times M of the empirical mode decomposition EEMD algorithm is set to determine the total number of decompositions after adding different Gaussian white noises to the original signal, so as to improve the stability of the decomposition result; the signal amplitude coefficient α of the white noise is set to control the intensity of the Gaussian white noise added to the original signal, weaken the local discontinuity of the original signal, and ensure the frequency resolution of the decomposition result.

[0084] A2. Perform empirical mode decomposition (EEMD) to obtain IMFs, and take the first three IMFs as characteristic mode components for identification and signal reconstruction;

[0085] A3. Analyze the selected characteristic mode components and set the weight coefficients to reorganize the signals. The expression of the reorganized signal is as follows:

[0086] y r (t) = imf 1 +βimf 2 +imf 3 i=1,2,3

[0087] Among them, y r (t) indicates the recombination signal, imf i represents the i-th mode, β represents the weight coefficient;

[0088] A4. Use the following formula to find the maximum peak point of the reconstructed signal in the time domain and frequency domain:

[0089] ρ=-17.45t-8.141f+618.414t 2 -7674.316t 3 +2.809f 3 +6.66

[0090] Among them, ρ represents the density value of cement paste, t represents the maximum peak value in time domain, and f represents the maximum peak value in frequency domain;

[0091] A5. Use the following formula to calculate the frequency domain area of ​​the first three IMFs for neural network identification:

[0092] A i =∫|x i (f)|df i=1,2,3

[0093] Among them, A i represents the frequency domain area of ​​the ith IMF, x i (f) represents the amplitude of the ith IMF component at the maximum peak f in the frequency domain;

[0094] A6. Import the calculated frequency domain area into the neural network and output the grouting density.

[0095] In this embodiment, the grouting flow rate is analyzed, which is specifically:

[0096] B1. Based on the filtered sound wave data, use the Doppler effect to calculate the emission wavelength:

[0097]

[0098] Where c represents the propagation speed of sound waves in static fluid, f represents the frequency of sound waves reflected by cement particles, and λ represents the emission wavelength;

[0099] B2. Determine the receiving frequency according to the relationship among the sound velocity, the transmitting frequency, the frequency of the sound waves reflected by the cement particles and the frequency received by the receiving transducer;

[0100] In this embodiment, according to the acoustic principle, the wavelengths transmitted and received by the transducer are the same, and the receiving frequency is determined by the relationship among the sound velocity, the transmitting frequency, the frequency of the sound wave reflected by the cement particles, and the frequency received by the receiving transducer, and the expression is as follows:

[0101]

[0102] Among them, f R Indicates the frequency received by the receiving transducer, f T represents the transmitting frequency of the transmitting transducer, θ represents the incident angle of the sound wave with the inner wall of the tube, and v represents the flow rate of the slurry.

[0103] B3. Based on the emission wavelength and receiving frequency, the grouting flow rate is calculated to complete the grouting flow rate:

[0104]

[0105] Where Q represents the flow rate of cement slurry.

[0106] In summary, the present invention realizes the automatic data acquisition, data processing, transmission judgment and result display of cement slurry grouting density and flow rate through the above design.

[0107] Example 3

[0108] The present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement some or all steps of the method for detecting grouting density and flow rate described in Example 2, which are specifically:

[0109] C1. Receive density electrical signals and flow electrical signals from external devices or internal modules;

[0110] C2. Processing the received density and flow acoustic wave data, including the steps of the method described in Example 2;

[0111] C3. Store the processed density data and flow data in the memory or transmit them to an external device through a communication module; the electronic device may be a smart terminal, a server or an embedded system.

[0112] In this embodiment, the electronic device may include: a processor, a memory, a bus and a communication interface. The processor, the communication interface and the memory are connected via a bus. The memory stores a computer program that can be run on the processor. When the processor runs the computer program, it executes part or all of the steps of the grouting density and flow detection method described in the aforementioned embodiment 2 of the present application.

[0113] Example 4

[0114] The present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, some or all steps of the method for detecting grouting density and flow rate described in Example 2 are implemented, which are specifically:

[0115] D1, receiving the overall average number of times M and the signal amplitude coefficient α of the Gaussian white noise input by the user;

[0116] D2. After saving the input parameters, process the received density and flow acoustic wave signals;

[0117] D3. Calling an algorithm or logic module to implement the steps described in Example 2;

[0118] D4. Output density data and flow data and store them in a specified location; the storage medium may be a hard disk, a solid state drive, an optical disk or other readable storage device.

[0119] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk, and the readable storage medium can be any available medium that can be accessed by a general or special-purpose computer. The readable storage medium is coupled to the processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. The readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application-specific integrated circuit (ASIC). The processor and the readable storage medium can also exist as discrete components in the point de-registration system.

[0120] The embodiments of the present invention may provide methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. With reference to the process and / or block diagram of the method, device (device), and computer program product according to the embodiments of the present invention, it should be understood that each process and / or block diagram in the flow chart and / or block diagram, as well as the combination of the flow chart and / or block diagram, can be implemented by computer program instructions, and these computer program instructions can be provided to a computer-readable memory of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device that works in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which is implemented in the flow chart. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing one or more processes and / or blocks in the flowchart. Figure 1 A step that specifies a function in one or more boxes.

[0121] It should be noted that the above specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention description and its drawings are illustrative and do not constitute a limitation of the claims. The protection scope of the present invention is defined by the claims and their equivalents.

Claims

1. A grouting density and flow detection device, characterized in that: include: A control module, used for transmitting signals to respectively excite the ultrasonic flow sensor and the ultrasonic density sensor; The density data acquisition module is used to apply ultrasonic waves to the grouting density detection pipe section and convert the received ultrasonic waves into density electrical signals using an ultrasonic density sensor; A flow data acquisition module is used to apply ultrasonic waves to the flow detection pipe section and convert the received ultrasonic waves into flow electrical signals using an ultrasonic flow sensor; A data processing module is used to filter the density electrical signal and the flow electrical signal respectively, and analyze the grouting density and flow according to the filtered acoustic wave data; A data transmission module is used to transmit the analyzed grouting density and flow information to the control end; A data storage module, used for storing the analyzed grouting density data and flow data; The display control module is used to monitor the operating status of the detection device and adjust parameters on this machine.

2. The grouting density and flow rate detection device according to claim 1, characterized in that: The density data acquisition module comprises: The first collection pipe section is used to carry the ultrasonic transducer and apply ultrasonic waves to the grouting density detection pipe section; A first ultrasonic sensor, used for converting received ultrasonic waves into density electrical signals; The first adapter pipe head is used for modular access of the measuring pipe section.

3. The grouting density and flow rate detection device according to claim 1, characterized in that: The flow data collection module comprises: The second collection pipe section is used to carry the ultrasonic transducer and apply ultrasonic waves to the flow detection pipe section; A second ultrasonic sensor, used for converting received ultrasonic waves into flow electrical signals; The second adapter pipe head is used for modular access of the measuring pipe section.

4. A method for detecting grouting density and flow rate, characterized in that: The following steps are involved: S1, using the control module to send out electrical signals to stimulate the ultrasonic density sensor and the ultrasonic flow sensor respectively; S2. Using an ultrasonic density sensor, the electrical signal is converted into an ultrasonic wave through the piezoelectric effect, and the ultrasonic wave is applied to the density detection pipe section, and the ultrasonic wave is received by the ultrasonic density transmitter and converted into a density electrical signal, wherein the ultrasonic density sensor is located on both sides of the density detection pipe section; S3, using an ultrasonic flow sensor to convert an electrical signal into an ultrasonic wave through the piezoelectric effect, and applying the ultrasonic wave to the flow detection pipe section, using an ultrasonic flow transmitter to receive the ultrasonic wave and convert it into a flow electrical signal, wherein the ultrasonic flow sensor is located on both sides of the flow detection pipe section; S4. Utilize the data processing module to filter the density electrical signal and the flow electrical signal respectively, and analyze the grouting density and the grouting flow rate according to the filtered acoustic wave data.

5. The method for detecting grouting density and flow rate according to claim 4, characterized in that: The analysis of grouting density is specifically as follows: A1. Set the overall average times M of the empirical mode decomposition (EEMD) algorithm and the signal amplitude coefficient α of the white noise; A2. Perform empirical mode decomposition (EEMD) to obtain IMFs, and take the first three IMFs as characteristic mode components for identification and signal reconstruction; A3. Analyze the selected characteristic mode components and set the weight coefficients to reorganize the signals. The expression of the reorganized signal is as follows: y r (t)=imf1+βimf2+imf3 i=1,2,3 Among them, y r (t) indicates the recombination signal, imf i represents the i-th mode, β represents the weight coefficient; A4. Use the following formula to find the maximum peak point of the reconstructed signal in the time domain and frequency domain: p=-17.45t-8.141f+618.414t 2 -7674.316t 3 +2.809f 3 +6.66 Among them, ρ represents the density value of cement paste, t represents the maximum peak value in time domain, and f represents the maximum peak value in frequency domain; A5. Use the following formula to calculate the frequency domain area of ​​the first three IMFs for neural network identification: A i =∫x i (f)|df i=1,2,3 Among them, A i represents the frequency domain area of ​​the ith IMF, x i (f) represents the amplitude of the ith IMF component at the maximum peak f in the frequency domain; A6. Import the calculated frequency domain area into the neural network and output the grouting density.

6. The method for detecting grouting density and flow rate according to claim 4, characterized in that: The analysis of grouting flow rate is specifically as follows: B1. Calculate the emission wavelength based on the filtered sound wave data using the Doppler effect; B2. Determine the receiving frequency according to the relationship among the sound velocity, the transmitting frequency, the frequency of the sound waves reflected by the cement particles and the frequency received by the receiving transducer; B3. Based on the emission wavelength and receiving frequency, the grouting flow rate is calculated to complete the grouting flow rate.

7. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of the method for detecting grouting density and flow rate as claimed in any one of claims 4 to 6, which are specifically: C1. Receive density electrical signals and flow electrical signals from external devices or internal modules; C2. Processing the received density and flow acoustic wave data, including the steps of the method described in any one of claims 4 to 6; C3. Store the processed density data and flow data in the memory or transmit them to an external device through a communication module; the electronic device may be a smart terminal, a server or an embedded system.

8. A computer-readable storage medium storing a computer program, characterized in that: The steps of implementing the method for detecting grouting density and flow rate as described in any one of claims 4 to 6 when executing the computer program are specifically: D1, receiving the overall average number of times M input by the user and the signal amplitude coefficient of Gaussian white noise; D2. After saving the input parameters, process the received density and flow acoustic wave signals; D3. Calling an algorithm or logic module to implement the steps of any method described in claim 4-6; D4. Output density data and flow data and store them in a specified location; the storage medium may be a hard disk, a solid state drive, an optical disk or other readable storage device.

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