Water-rich hard rock pipe jacking friction and resistance reducing device and friction and resistance reducing method

Abstract

The invention discloses a water-rich hard rock pipe jacking friction and resistance reducing device and a friction and resistance reducing method. The device comprises a jacking force module, a monitoring module, a water pumping module, a grouting module and a controller. The jacking force module comprises a jacking force sensor; the monitoring module is located in the stratum and comprises a water pressure sensor and a density sensor, a water pumping port and a slag removal port are formed in the monitoring module, and the water pumping port is connected with the water pumping module; the grouting module is communicated with a stratum through a grouting pipeline; the controller is in signal connection with the jacking force sensor, the water pressure sensor, the density sensor, the water pumping module and the grouting module. Through the jacking force module, the monitoring module, the water pumping module, the grouting module and the controller, data monitoring in the hard rock pipe jacking process is achieved, friction resistance which is increased abnormally is intelligently recognized and classified, targeted resistance reduction measures are taken according to different conditions, the relation among water, slag, mud and pipes is intelligently balanced, and the working efficiency is improved. And the engineering cost is reduced, the resource utilization rate is increased, remarkable economic benefits are achieved, and the construction scientificity is improved.

Description

Technical Field

[0001] The invention relates to the technical field of water-rich hard rock formations, in particular to a friction and resistance reducing device and a friction and resistance reducing method for a water-rich hard rock top pipe. Background Art

[0002] Water-rich hard rock formations refer to hard rock formations containing abundant groundwater. Such formations are of special importance in geological engineering and underground engineering construction.

[0003] The process of water-rich hard rock pipe jacking is a complex underground engineering construction technology, which involves the coordinated work of geological conditions, groundwater management and pipe jacking equipment. In the process of hard rock pipe jacking, the relationship between friction resistance and jacking force determines the efficiency and effect of jacking, and even affects the success of the project. The existing methods of reducing friction and resistance mostly use the method of injecting resistance-reducing mud into the formation to reduce the friction coefficient through the mud film. However, the presence of water flow in water-rich formations will weaken the effect of the resistance-reducing mud. At the same time, due to the constant changes in water flow and water pressure, the force conditions of the pipeline are complex and changeable, and the abnormal increase of pipeline friction resistance has greatly increased. Mishandling will result in delays in construction period and waste of funds.

[0004] Therefore, it is urgent to provide a solution for a water-rich hard rock pipe jacking friction and resistance reduction device and a friction and resistance reduction method. Summary of the invention

[0005] In order to solve the above problems, the technical solution of the present invention provides a water-rich hard rock pipe jacking friction reduction and drag reduction device and a friction reduction and drag reduction method, which can accurately grasp the balance between water, slag, mud and pipe through data monitoring, terminal processing, system collaboration and other processes, and effectively solve the problem of abnormal increase in pipeline friction caused by the use of drag reducing mud.

[0006] According to a first aspect of the technical solution of the present invention, there is provided a friction and resistance reducing device for water-rich hard rock jacking pipe, comprising: a jacking force module, a monitoring module, a pumping module, a grouting module and a controller;

[0007] The jacking force module includes a jacking force sensor;

[0008] The monitoring module is located in the stratum and includes a water pressure sensor and a density sensor. The monitoring module is provided with a water pumping port and a slag removal port, and the water pumping port is connected to the water pumping module;

[0009] The grouting module is connected to the stratum through a grouting pipeline;

[0010] The controller is respectively connected with the jacking force sensor, the water pressure sensor, the density sensor, the pumping module and the grouting module by signals.

[0011] In the above solution, the monitoring module includes a cover plate and a main body that are slidably covered with each other, and the slag cleaning port is arranged on the main body;

[0012] The slag cleaning port is a groove-shaped structure with an opening upward, and the cover plate can be slid open to allow the slag cleaning port to leak out;

[0013] The water pressure sensor and the density sensor are arranged on the inner side wall of the slag cleaning port;

[0014] The water pumping port is arranged on the side wall of the slag cleaning port and is communicated with the slag cleaning port.

[0015] In the above scheme, the cover plate is provided with a slide rail, the main body is provided with a slide groove adapted to the slide rail, a driving system is provided in the main body, the slide rail is connected to the driving system, and the driving system drives the cover plate to slide along the main body.

[0016] In the above scheme, the drive system includes:

[0017] A row ruler, which is a tooth-shaped structure, is arranged on the lower surface of the slide rail;

[0018] A gear, arranged in the main body, the gear being adapted to the row of rulers;

[0019] A driving device, used for driving the gear to rotate;

[0020] A communication port is arranged on the upper surface of the main body so that the row of rulers can be engaged with the gear.

[0021] In the above solution, the length of the row ruler is greater than or equal to the length of the edge of the cover plate close to the slag cleaning port completely leaking out from the slag cleaning port.

[0022] In the above solution, a sealing gasket is provided on the top of the slag cleaning port.

[0023] In the above solution, a wide-angle camera is also provided on the inner wall of the slag cleaning port, and the controller is electrically connected to the wide-angle camera.

[0024] In the above scheme, a waterproof part is provided between the side wall of the slag cleaning port and the water pressure sensor, the density sensor, the wide-angle camera and the water pumping port.

[0025] According to a second aspect of the technical solution of the present invention, there is provided a friction reduction and drag reduction method of a water-rich hard rock pipe jacking friction reduction and drag reduction device as described in any one of the above-mentioned solutions, comprising:

[0026] S1, data from the top force sensor, water pressure sensor and density sensor are uploaded to the controller for processing. If the data from the top force sensor is abnormal, the controller makes a judgment based on the data from the water pressure sensor and density sensor;

[0027] S2. If the water pressure is greater than the maximum threshold, the buoyancy is greater than the weight of the pipe joint, and the pipe joint rubs against the upper rock wall of the formation; if the water pressure is within the threshold range, the buoyancy is equal to the weight of the pipe joint, and the pipe joint rubs against the slag at the bottom of the pipe; if the water pressure is less than the minimum threshold, the weight of the pipe joint is greater than the buoyancy, and the pipe joint rubs against the lower rock wall of the formation;

[0028] S3, the controller makes corresponding instructions according to the judgment result. When the pipe section rubs against the upper rock wall, the controller starts the pumping module; when the pipe section rubs against the slag at the bottom of the pipe, the controller opens the slag removal port and starts the pumping module; when the pipe section rubs against the lower rock wall, the controller starts the grouting module, and the grouting module injects mud into the formation through the grouting pipeline;

[0029] S4. After the data from the jacking force sensor, water pressure sensor and density sensor received by the controller are within the respective set threshold ranges, the controller controls the pumping module, slag cleaning port or grouting module to close.

[0030] In the above solution, step S1 also includes the wide-angle camera uploading the real-time image to the controller.

[0031] Beneficial effects of the present invention:

[0032] The present invention discloses a friction and drag reduction device and method for reducing friction and drag of water-rich hard rock pipe jacking. The device realizes data monitoring in the process of hard rock pipe jacking through a jacking force module, a monitoring module, a pumping module, a grouting module and a controller, intelligently identifies and classifies abnormally increased friction, and implements targeted drag reduction measures according to different situations. The device intelligently balances the relationship between water, slag, mud and pipes, reduces engineering costs and improves resource utilization, has significant economic benefits, and improves the scientific nature of construction. Through highly integrated data monitoring, terminal processing, system collaboration, result evaluation, sample recording and learning optimization functions, the system realizes real-time collection and analysis of dynamic data during the construction process. The system continuously learns and updates processing strategies from practice, improves the ability to respond to changing working conditions, and ensures the advancement of technology. Through intelligent drag reduction strategies, the system reduces reliance on manual experience and possible judgment errors, and provides more accurate and effective engineering operation guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0034] Figure 1 A schematic diagram of the overall structure of the water-rich hard rock pipe jacking friction and resistance reduction device provided by the present invention;

[0035] Figure 2 A schematic diagram of a monitoring module of the water-rich hard rock pipe jacking friction and resistance reduction device provided by the present invention;

[0036] Figure 3 A schematic diagram of a cover plate of a monitoring module of the water-rich hard rock pipe jacking friction and resistance reduction device provided by the present invention;

[0037] Figure 4 A top view of the main body of the monitoring module of the water-rich hard rock pipe jacking friction reduction and resistance reduction device provided by the present invention;

[0038] Figure 5 A schematic diagram of the internal structure of the main body of the monitoring module of the water-rich hard rock pipe jacking friction and resistance reduction device provided by the present invention.

[0039] Among them: 1-cover plate, 2-main body, 3-slide rail, 4-ruler, 5-slide groove, 6-sealing gasket, 7-connecting port, 8-gear, 9-driving device, 10-water pressure sensor, 11-wide-angle camera, 12-density sensor, 13-water pumping port, 14-slag cleaning port, 15-water pumping module, 16-controller, 17-grouting module, 18-jacking force module, 19-monitoring module.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0042] The terms "first", "second", etc. in the specification and claims of the present disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein, for example.

[0043] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0044] Multiple includes two or more.

[0045] It should be understood that the term "and / or" used in this disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone.

[0046] like Figure 1 to Figure 5 As shown, an embodiment of the technical solution of the present invention provides a water-rich hard rock pipe jacking friction reduction and resistance reduction device, including: a jacking force module 18, a monitoring module 19, a pumping module 15, a grouting module 17 and a controller 16.

[0047] The jacking force module 18 includes a jacking force sensor for monitoring the jacking force of the oil cylinder and the jacking force of the relay room; the monitoring module 19 is located in the formation and includes a water pressure sensor 10 and a density sensor 12, which are used to monitor the water pressure and buoyancy value of the formation. The monitoring module 19 is provided with a pumping port 13 and a slag cleaning port 14, the pumping port 13 is connected to the pumping module 15, and the pumping module 15 includes a pumping pump; the grouting module 17 is connected to the formation through a grouting pipeline; the controller 16 is respectively connected to the jacking force sensor, the water pressure sensor 10, the density sensor 12, the pumping module 15 and the grouting module 17 signals.

[0048] Specifically, the controller 16 receives the top force signal from the top force sensor. If the data is abnormal, it makes a judgment based on the water pressure signal from the water pressure sensor 10 and the buoyancy signal from the density sensor 12, and correspondingly starts at least one of the pumping module 15, the slag cleaning port 14, and the grouting module 17. It also judges whether to close the pumping module 15, the slag cleaning port 14, and the grouting module 17 based on whether the top force signal, the water pressure signal, and the buoyancy signal fall within a threshold range.

[0049] The data monitoring during the hard rock pipe jacking process is realized through the jacking module 18, the monitoring module 19, the pumping module 15, the grouting module 17 and the controller 16, the abnormally increased friction resistance is intelligently identified and classified, and targeted drag reduction measures are implemented according to different situations. The relationship between water, slag, mud and pipes is intelligently balanced, which reduces the project cost and improves the resource utilization rate, has significant economic benefits, and enhances the scientific nature of the construction.

[0050] The monitoring module 19 includes a cover plate 1 and a main body 2 that slide and cover each other. The slag cleaning port 14 is arranged on the main body 2. The main body 2 is a cavity structure, and a vertical partition is arranged in the middle. The inner side wall and the partition on one side of the main body 2 together form a groove-shaped structure with an opening upward, which is the slag cleaning port 14. The cover plate 1 slides open to allow the slag cleaning port 14 to leak out. When in use, the cover plate 1 is opened to allow the slag cleaning port 14 to leak out. When not in use, the cover plate 1 is closed to seal the slag cleaning port 14. Preferably, the exterior of the main body 2 is a rectangular parallelepiped.

[0051] In this embodiment, the water pressure sensor 10 and the density sensor 12 are arranged on the inner wall of the slag cleaning port 14 .

[0052] In this embodiment, the pumping port 13 is arranged on the side wall of the slag cleaning port 14 and is connected to the slag cleaning port 14. When cleaning slag, the slag cleaning port 14 and the pumping module 15 are opened at the same time, and the slag cleaning port 14 and the pumping module 15 cooperate to discharge the accumulated slag out of the pipe.

[0053] A slide rail 3 is provided on the cover plate 1, and a slide groove 5 adapted to the slide rail 3 is provided on the main body 2. A driving system is provided in the main body 2, which is located in the cavity on the other side of the main body 2. The slide rail 3 is connected to the driving system, and the driving system drives the cover plate 1 to slide along the main body 2.

[0054] Specifically, the driving system includes: a ruler 4, which is a toothed structure and is arranged on the lower surface of the slide rail 3; a gear 8, which is arranged in the main body 2 and is adapted to the ruler 4; a driving device 9, which is used to drive the gear 8 to rotate; a connecting port 7, which is arranged on the upper surface of the main body 2, so that the ruler 4 and the gear 8 can be engaged.

[0055] Preferably, the driving device 9 is a motor, which is electrically connected to the controller 16 .

[0056] Specifically, after receiving the signal that the slag cleaning port 14 is opened, the motor is started, the motor drives the gear 8 to rotate, and the rotation of the gear 8 drives the ruler 4 to open the cover plate 1 and leak the slag cleaning port 14.

[0057] In this embodiment, the length of the ruler 4 is preferably greater than or equal to the length of the edge of the cover plate 1 close to the slag cleaning port 14 from the slag cleaning port 14 to completely leak out, thereby ensuring that the slag cleaning port 14 can completely leak out after the cover plate 1 is fully opened.

[0058] Preferably, in this embodiment, a sealing gasket 6 is provided at the top of the slag cleaning port 14 to seal the gap between the slag cleaning port 14 and the cover plate 1. After the cover plate 1 is closed, the sealing and waterproof effect inside the slag cleaning port 14 is ensured to prevent water from seeping in.

[0059] In this embodiment, a wide-angle camera 11 is preferably provided on the inner wall of the slag removal port 14, and the controller 16 is electrically connected to the wide-angle camera 11. It can provide real-time images, and humans can participate in correction and record the results into a database for reference, and can peek at the slag accumulation at the bottom of the pipe, the development of stratum fissures, stratum water quality, etc., to help the controller 16 make more correct judgments. Furthermore, a lighting lamp is provided inside the wide-angle camera 11 to ensure that the external environment can be clearly observed.

[0060] In this embodiment, preferably, a waterproof portion is provided between the side wall of the slag removal port 14 and the water pressure sensor 10, the density sensor 12, the wide-angle camera 11 and the water extraction port 13. Specifically, the gap between the side wall and the slag removal port 14 is filled with a waterproof material to prevent water from seeping into the drive system.

[0061] Preferably, in this embodiment, the cover plate 1 and the main body 2 are both made of stainless steel plates welded together, and have waterproof and durable properties.

[0062] According to a second aspect of the technical solution of the present invention, there is provided a friction reduction and drag reduction method of the water-rich hard rock jacking pipe friction reduction and drag reduction device as in the above embodiment, comprising:

[0063] S1, the data of the top force sensor, the water pressure sensor 10 and the density sensor 12 are uploaded to the controller 16 for processing. If the data of the top force sensor is abnormal, the controller 16 makes a judgment based on the data of the water pressure sensor 10 and the density sensor 12;

[0064] S2. If the water pressure is greater than the maximum threshold, the buoyancy is greater than the weight of the pipe joint, and the pipe joint rubs against the upper rock wall of the formation; if the water pressure is within the threshold range, the buoyancy is equal to the weight of the pipe joint, and the pipe joint rubs against the slag at the bottom of the pipe; if the water pressure is less than the minimum threshold, the weight of the pipe joint is greater than the buoyancy, and the pipe joint rubs against the lower rock wall of the formation;

[0065] S3, the controller 16 makes corresponding instructions according to the judgment result. When the pipe joint rubs against the upper rock wall, the controller 16 starts the pumping module 15; when the pipe joint rubs against the bottom of the pipe and slag is accumulated, the controller 16 opens the slag removal port 14 and starts the pumping module 15; when the pipe joint rubs against the lower rock wall, the controller 16 starts the grouting module 17, and the grouting module 17 injects mud into the formation through the grouting pipeline;

[0066] S4. The data received by the controller 16 from the top force sensor, the water pressure sensor 10 and the density sensor 12 are all within the respective set threshold ranges, and the controller 16 controls the pumping module 15, the slag cleaning port 14 or the grouting module 17 to be closed.

[0067] Step S1 also includes the wide-angle camera 11 uploading real-time images to the controller 16, so as to observe the slag accumulation at the bottom of the pipe, the development of stratum fissures, stratum water quality, etc.

[0068] After the controller 16 receives the jacking force signal from the jacking force sensor, if the jacking force signal is abnormal, the controller 16 determines the abnormality in combination with the water pressure signal of the water pressure sensor 10, and the controller 16 receives the buoyancy signal from the density sensor 12, and calculates the relationship between the buoyancy and gravity of the current pipe section according to the water pressure and density to analyze the current state of the pipe section. If the jacking force signal is normal, it means that the buoyancy and gravity of the current pipe section are equal, and the monitoring continues.

[0069] In step S2, the threshold range of water pressure is the water pressure when the buoyancy and gravity of the pipe joint are equal. Therefore, if the top force data is abnormal in this case, it can be indicated that the pipe joint is rubbing against the slag accumulated at the bottom of the pipe, and the bottom of the pipe needs to be cleaned.

[0070] In step S3, the pumping module 15 includes a pumping pump. When the pumping module 15 receives the pumping instruction, the pumping pump is turned on to extract water from the formation from the pumping port 13, thereby adjusting the state of the pipe joint; when the controller 16 issues a slag cleaning instruction, the drive device 9 rotates the cover plate 1 to open, the slag cleaning port 14 leaks out, and the pumping pump is started, and the slag cleaning port 14 and the pumping module 15 cooperate to complete the slag cleaning, thereby reducing friction and resistance; the grouting module 17 includes a slurry storage tank, a grouting pump, and a grouting pipeline. After receiving the grouting instruction, the grouting module 17 extracts mud from the slurry storage tank and pumps it into the grouting pipeline at high pressure. The drag reducing mud will eventually be injected into the formation from the outlet of the grouting pipeline.

[0071] In this embodiment, the controller 16 is located in the terminal system, which also includes a database. The terminal system can evaluate the friction reduction and resistance reduction effect each time, record this case as a sample and store it in the database, and continuously optimize the processing method through machine learning and big data technology to give more correct instructions for the abnormal increase of friction resistance of the top pipe in the water-rich formation in the future. And according to the real-time image provided by the wide-angle camera 11, manual correction can be performed and the results can be recorded in the database for learning reference.

[0072] Furthermore, when faced with more complex formation conditions, the judgment result of the controller 16 can be more finely differentiated or additional judgment logic can be added.

[0073] Through highly integrated data monitoring, terminal processing, system collaboration, result evaluation, sample recording and learning optimization functions, real-time collection and analysis of dynamic data during the construction process are achieved. The system continuously learns from practice and updates processing strategies, improves the ability to respond to changing working conditions, and ensures the advancement of technology. Through intelligent drag reduction strategies, it reduces reliance on manual experience and possible misjudgment, and provides more accurate and effective engineering operation guidance.

[0074] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0075] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0076] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0077] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A friction and resistance reducing device for water-rich hard rock jacking pipe, characterized in that: include: Jacking module, monitoring module, pumping module, grouting module and controller; The jacking force module includes a jacking force sensor; The monitoring module is located in the stratum and includes a water pressure sensor and a density sensor. The monitoring module is provided with a water pumping port and a slag removal port, and the water pumping port is connected to the water pumping module; The grouting module is connected to the stratum through a grouting pipeline; The controller is respectively connected with the jacking force sensor, the water pressure sensor, the density sensor, the pumping module and the grouting module by signals.

2. The friction and resistance reducing device for water-rich hard rock jacking pipe according to claim 1, characterized in that: The monitoring module comprises a cover plate and a main body which are slidably covered with each other, and the slag cleaning port is arranged on the main body; The slag cleaning port is a groove-shaped structure with an opening upward, and the cover plate can be slid open to allow the slag cleaning port to leak out; The water pressure sensor and the density sensor are arranged on the inner side wall of the slag cleaning port; The water pumping port is arranged on the side wall of the slag cleaning port and is communicated with the slag cleaning port.

3. The friction and resistance reducing device for water-rich hard rock jacking pipe according to claim 2, characterized in that: The cover plate is provided with a slide rail, the main body is provided with a slide groove matched with the slide rail, the main body is provided with a driving system, the slide rail is connected to the driving system, and the driving system drives the cover plate to slide along the main body.

4. The friction and resistance reducing device for water-rich hard rock jacking pipe according to claim 3 is characterized in that: The drive system comprises: A row ruler, which is a tooth-shaped structure, is arranged on the lower surface of the slide rail; A gear, arranged in the main body, the gear being adapted to the row of rulers; A driving device, used for driving the gear to rotate; A communication port is arranged on the upper surface of the main body so that the row of rulers can be engaged with the gear.

5. The friction and resistance reducing device for water-rich hard rock jacking pipe according to claim 4, characterized in that: The length of the row ruler is greater than or equal to the length of the edge of the cover plate close to the slag cleaning port completely leaking out from the slag cleaning port.

6. The friction and resistance reducing device for water-rich hard rock jacking pipe according to claim 1, characterized in that: A sealing gasket is provided on the top of the slag cleaning port.

7. The friction and resistance reducing device for water-rich hard rock jacking pipe according to claim 2, characterized in that: A wide-angle camera is also provided on the inner wall of the slag cleaning port, and the controller is electrically connected to the wide-angle camera.

8. The friction and resistance reducing device for water-rich hard rock jacking pipe according to claim 7, characterized in that: A waterproof portion is provided between the side wall of the slag cleaning port and the water pressure sensor, the density sensor, the wide-angle camera and the water pumping port.

9. A friction reduction and drag reduction method for a water-rich hard rock jacking pipe friction reduction and drag reduction device according to any one of claims 1 to 8, characterized in that: include: S1, data from the top force sensor, water pressure sensor and density sensor are uploaded to the controller for processing. If the data from the top force sensor is abnormal, the controller makes a judgment based on the data from the water pressure sensor and density sensor; S2. If the water pressure is greater than the maximum threshold, the buoyancy is greater than the weight of the pipe joint, and the pipe joint rubs against the upper rock wall of the formation; if the water pressure is within the threshold range, the buoyancy is equal to the weight of the pipe joint, and the pipe joint rubs against the slag accumulated at the bottom of the pipe; The water pressure is less than a minimum threshold, the weight of the pipe joint is greater than the buoyancy, and the pipe joint rubs against the lower rock wall of the formation; S3, the controller makes corresponding instructions according to the judgment result. When the pipe section rubs against the upper rock wall, the controller starts the pumping module; when the pipe section rubs against the slag at the bottom of the pipe, the controller opens the slag removal port and starts the pumping module; when the pipe section rubs against the lower rock wall, the controller starts the grouting module, and the grouting module injects mud into the formation through the grouting pipeline; S4. After the data from the jacking force sensor, water pressure sensor and density sensor received by the controller are within the respective set threshold ranges, the controller controls the pumping module, slag cleaning port or grouting module to close.

10. The friction reduction and drag reduction method of the water-rich hard rock jacking pipe friction reduction and drag reduction device according to claim 9, characterized in that: Step S1 also includes the wide-angle camera uploading the real-time image to the controller.

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