A dynamic control method, system and program product for dry-mix grouting

Abstract

The present invention belongs to the field of automation control technology, and specifically discloses a dry-mix grouting dynamic control method, system and program product. By collecting relevant process monitoring parameters in real time during the shield tunnel grouting process for comprehensive analysis and error correction calculation, the final adjustment pressure is obtained to dynamically adjust the grouting pump control system, thereby realizing automatic control of the shield tunnel grouting process, reducing the situation of manual intervention, and reducing the operational difficulty and cost of grouting control. In addition, through a multi-parameter feedback mechanism, a variety of factors are comprehensively considered to dynamically adjust the grouting parameters, thereby improving the accuracy and efficiency of grouting control, thereby effectively preventing surface settlement or uplift during the shield tunnel grouting process, and ensuring excavation efficiency and project quality.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic control, and in particular relates to a dry-mix grouting dynamic control method, system and program product. Background Art

[0002] Shield tunnel grouting is a technical method used during shield tunnel construction to inject specific slurry materials into the ground surrounding the tunnel to reinforce the ground, control ground subsidence, and ensure tunnel structural stability. During shield tunnel grouting, reliable grouting control methods are required to ensure grouting efficiency and accuracy. While some existing grouting control methods have made some progress in real-time monitoring and intelligent control, they still have the following drawbacks:

[0003] 1. Single feedback parameter: Most existing grouting control methods rely only on limited feedback parameters, such as grouting pressure or grouting volume, resulting in limited control accuracy and efficiency.

[0004] 2. Lack of dynamic adjustment capabilities: Existing technologies often lack the ability to make dynamic adjustments based on real-time working conditions and are unable to respond to complex changes in the grouting process in real time.

[0005] 3. Low system integration: Although some existing methods have adopted information technology, the overall integration is not high, making it difficult to achieve efficient and intelligent grouting control. Summary of the Invention

[0006] The purpose of the present invention is to provide a dry mix grouting dynamic control method, system and program product to solve the above-mentioned problems existing in the prior art.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] In a first aspect, a dry grouting dynamic control method is provided, comprising:

[0009] During the grouting process, the current grouting pressure, soil bin pressure, actual grouting volume, cutterhead excavation volume parameters, and actual excavation surface monitoring parameters are collected in real time. The cutterhead excavation volume parameters include cutterhead speed, footage per revolution, cutterhead diameter, segment outer diameter, and segment width. The actual excavation surface monitoring parameters include excavation quality, water quality, and foam quality.

[0010] The theoretical excavation volume is calculated using the cutterhead speed, footage per revolution, and cutterhead diameter, while the actual excavation volume is calculated using the excavated mass, water mass, and foam mass.

[0011] Determine the looseness coefficient based on the theoretical excavation volume and the actual excavated volume;

[0012] Calculate the target grouting volume based on the actual excavated volume, looseness coefficient, current grouting pressure, segment outer diameter, and segment width;

[0013] The initial adjustment pressure is determined based on the current grouting pressure and the soil bin pressure, and the grouting amount error is determined based on the actual grouting amount and the target grouting amount;

[0014] The initial adjustment pressure is corrected using the grouting volume error to obtain the final adjustment pressure;

[0015] A final grouting pressure instruction is generated according to the final adjustment pressure, and the final grouting pressure instruction is transmitted to the grouting pump control system so that the grouting pump control system performs grouting control in response to the final grouting pressure instruction.

[0016] In one possible design, the calculation of theoretical excavation volume using cutterhead rotation speed, footage per revolution, and cutterhead diameter includes:

[0017] Substitute the cutterhead speed, footage per revolution, and cutterhead diameter into the theoretical excavation volume calculation formula to obtain the theoretical excavation volume. The theoretical excavation volume calculation formula is:

[0018] V dig =π×(D1÷2) 2 ×h×N

[0019] Among them, V dig is the theoretical excavation volume, N is the cutterhead speed, h is the feed rate per revolution, and D1 is the cutterhead diameter.

[0020] In a possible design, the calculation of the actual excavated volume using the excavated mass, the water discharged mass and the foam mass includes:

[0021] Substitute the excavated mass, water mass and foam mass into the preset actual excavated volume calculation formula to calculate the actual excavated volume. The actual excavated volume calculation formula is:

[0022] V excavated =(m excavated -m water -m foam )÷ρ

[0023] Among them, V excavated is the actual excavated volume, m excavated is the unearthed mass, m water is the outlet water quality, m foam is the foam mass, and ρ is the set soil density.

[0024] In a possible design, the loose coefficient is determined based on the theoretical excavation volume and the actual excavated volume, including:

[0025] The loose coefficient is obtained by dividing the theoretical excavation volume by the actual excavated volume.

[0026] In one possible design, the target grouting volume is calculated based on the actual excavated volume, the looseness coefficient, the current grouting pressure, the outer diameter of the segment, and the segment width, including:

[0027] The actual excavated volume, loose coefficient and current grouting pressure are substituted into the preset grouting compensation amount calculation formula to calculate the grouting compensation amount. The grouting compensation amount calculation formula is:

[0028] ΔV=λ×V excavated × (1-p target ÷p)

[0029] Among them, ΔV is the grouting compensation amount, λ is the loose coefficient, V excavated is the actual excavated volume, p is the current grouting pressure, and p target is the set target grouting pressure;

[0030] Substitute the compensation amount, actual excavated volume, segment outer diameter, and segment width into the preset target grouting amount calculation formula to calculate the target grouting amount. The target grouting amount calculation formula is:

[0031] V grout =[V excavated -π×(D2÷2) 2 ×d]+ΔV

[0032] Among them, V grout is the target grouting volume, D2 is the outer diameter of the segment, and d is the width of the segment.

[0033] In one possible design, determining the preliminary adjustment pressure based on the current grouting pressure and the soil bin pressure, and determining the grouting amount error based on the actual grouting amount and the target grouting amount, includes:

[0034] Substitute the current grouting pressure and soil bin pressure into the preset preliminary adjustment pressure calculation formula to calculate and obtain the preliminary adjustment pressure. The preliminary adjustment pressure calculation formula is:

[0035] P1=α×p soil +k×(pp target )

[0036] Among them, P1 is the initial adjustment pressure, p soil is the soil bin pressure, α is the set soil bin pressure weight coefficient, p is the current grouting pressure, p target is the set target grouting pressure, k is the set response speed coefficient;

[0037] The grouting volume error is obtained by subtracting the target grouting volume from the actual grouting volume.

[0038] In a possible design, the method of correcting the preliminary adjustment pressure using the grouting amount error to obtain the final adjustment pressure includes:

[0039] Substitute the grouting amount error and the initial adjustment pressure into the preset pressure correction formula to calculate and obtain the final adjustment pressure. The pressure correction formula is:

[0040] P2=P1+K p ×E

[0041] Among them, P2 is the final adjustment pressure, P1 is the initial adjustment pressure, E is the grouting amount error, K p is the set error correction coefficient.

[0042] In a second aspect, a dry grouting dynamic control system is provided, comprising a data acquisition unit, a first calculation unit, a second calculation unit, a third calculation unit, a fourth calculation unit, a pressure correction unit, and a grouting control unit, wherein:

[0043] A data acquisition unit is used to collect, in real time during the grouting process, the current grouting pressure, soil bin pressure, actual grouting volume, cutterhead excavation volume parameters, and actual excavation surface monitoring parameters. The cutterhead excavation volume parameters include cutterhead speed, footage per revolution, cutterhead diameter, segment outer diameter, and segment width. The actual excavation surface monitoring parameters include excavation quality, water quality, and foam quality.

[0044] The first calculation unit is used to calculate the theoretical excavation volume using the cutterhead speed, the footage per revolution and the cutterhead diameter, and to calculate the actual excavation volume using the excavated mass, the water mass and the foam mass;

[0045] The second calculation unit is used to determine the loose coefficient according to the theoretical excavation volume and the actual excavated volume;

[0046] The third calculation unit is used to calculate the target grouting volume according to the actual excavated volume, loose coefficient, current grouting pressure, outer diameter of the segment and width of the segment;

[0047] a fourth calculation unit, configured to determine a preliminary adjustment pressure based on the current grouting pressure and the soil bin pressure, and to determine a grouting amount error based on the actual grouting amount and the target grouting amount;

[0048] A pressure correction unit is used to correct the initial adjustment pressure using the grouting amount error to obtain the final adjustment pressure;

[0049] The grouting control unit is used to generate a final grouting pressure instruction according to the final adjustment pressure, and transmit the final grouting pressure instruction to the grouting pump control system so that the grouting pump control system responds to the final grouting pressure instruction to perform grouting control.

[0050] In a third aspect, a dry-mix grouting dynamic control system is provided, comprising:

[0051] a memory for storing instructions;

[0052] A processor is used to read the instructions stored in the memory and execute any one of the methods described in the first aspect according to the instructions.

[0053] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform any one of the methods described in the first aspect. Furthermore, a computer program product is provided that, when executed on a computer, performs any one of the methods described in the first aspect.

[0054] Beneficial effects: The present invention collects relevant process monitoring parameters in real time during the shield tunnel grouting process for comprehensive analysis and error correction calculation, and obtains the final adjustment pressure to dynamically adjust the grouting pump control system, thereby realizing automated control of the shield tunnel grouting process, reducing manual intervention, and reducing the operational difficulty and cost of grouting control. In addition, a multi-parameter feedback mechanism is used to comprehensively consider various factors to dynamically adjust the grouting parameters, thereby improving the accuracy and efficiency of grouting control, thereby effectively preventing surface settlement or uplift during the shield tunnel grouting process, and ensuring excavation efficiency and project quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 these drawings without paying any creative work.

[0056] Figure 1 Schematic diagram of the steps of the method in Example 1 of the present invention;

[0057] Figure 2 Schematic diagram of the system structure in Example 2 of the present invention;

[0058] Figure 3 This is a schematic diagram of the system structure in Example 3 of the present invention. DETAILED DESCRIPTION

[0059] It should be noted that the description of these embodiments is intended to help understand the present invention, but does not constitute a limitation of the present invention. The specific structural and functional details disclosed herein are merely intended to describe exemplary embodiments of the present invention. However, the present invention may be embodied in a variety of alternative forms, and should not be construed as being limited to the embodiments set forth herein.

[0060] It should be understood that, unless otherwise expressly specified or limited, the corresponding terms should be understood in a broad sense. For example, "connection" can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments based on specific circumstances.

[0061] In the following description, certain details are provided to facilitate a thorough understanding of the example embodiments. However, one skilled in the art will appreciate that the example embodiments may be practiced without these specific details. For example, devices may be shown in block diagrams to avoid obscuring the examples with unnecessary detail. In other embodiments, well-known processes, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.

[0062] Example 1:

[0063] This embodiment provides a dynamic control method for dry grouting, which can be applied to corresponding control terminals, such as Figure 1 As shown, the method includes the following steps:

[0064] S1. During the grouting process, the current grouting pressure, soil bin pressure, actual grouting volume, cutterhead excavation volume parameters, and actual excavation surface monitoring parameters are collected in real time. The cutterhead excavation volume parameters include cutterhead speed, footage per revolution, cutterhead diameter, segment outer diameter, and segment width. The actual excavation surface monitoring parameters include excavation quality, water quality, and foam quality.

[0065] In specific implementation, during the shield tunnel grouting process, the current grouting pressure can be detected in real time through a pressure sensor, the soil bin pressure can be detected in real time through a soil bin pressure sensor, and the actual grouting volume can be measured in real time using a high-precision flow meter. In addition, the cutterhead excavation volume parameters and actual excavation surface monitoring parameters are collected. Among them, the cutterhead excavation volume parameters include the shield machine's cutterhead speed N (obtained in real time through a speed sensor, unit: revolution / ring, example value: 0.5 to 2 revolutions / ring), footage per revolution h (unit: mm / revolution, example value: 10 to 50 mm), cutterhead diameter D1 (unit: mm, example value: 6000 to 12000 mm), segment outer diameter D2 (unit: mm, example value: 6200 to 12200 mm) and segment width d (unit: mm, example value: 1200 to 2000 mm). The actual excavation surface monitoring parameters can be obtained by monitoring the belt weighing system, water circulation system and foam system installed on the shield machine. The actual excavation surface monitoring parameters include the excavated mass m excavated (Unit: kg, detection accuracy: ±1%), water quality m water (Unit: kg, detection accuracy: ±0.5%) and foam mass m foam (Unit: kg, detection accuracy: ±0.5%). In addition, laser or infrared sensor technology can be used to monitor the shape and size of the actual excavation surface to ensure that the excavation trajectory strictly matches the design requirements.

[0066] S2. Calculate the theoretical excavation volume using the cutterhead speed, footage per revolution, and cutterhead diameter. Calculate the actual excavation volume using the excavated mass, water mass, and foam mass.

[0067] In specific implementation, the cutterhead speed, footage per revolution and cutterhead diameter can be substituted into the theoretical excavation volume calculation formula to calculate the theoretical excavation volume. The theoretical excavation volume calculation formula is:

[0068] V dig =π×(D1÷2) 2 ×h×N

[0069] Among them, V dig is the theoretical excavation volume, N is the cutterhead speed, h is the feed rate per revolution, and D1 is the cutterhead diameter.

[0070] The excavated mass, the water mass and the foam mass can be substituted into the preset actual excavated volume calculation formula to calculate the actual excavated volume. The actual excavated volume calculation formula is:

[0071] V excavated =(m excavated -m water -m foam )÷ρ

[0072] Among them, V excavatedis the actual excavated volume, m excavated is the unearthed mass, m water is the outlet water quality, m foam is the foam mass, ρ is the set soil density (unit: kg / m³, example value: 1800~2200kg / m³).

[0073] S3. Determine the looseness coefficient based on the theoretical excavation volume and the actual excavated volume.

[0074] In specific implementation, the theoretical excavation volume V can be used dig Divide by the actual excavated volume V excavated , we get the loose coefficient λ, that is, λ=V dig / V excavated If λ>1, it means the soil is loose (for example: λ=1.2), and if λ<1, it means the soil is dense (for example: λ=0.8).

[0075] S4. Calculate the target grouting volume based on the actual excavated volume, looseness coefficient, current grouting pressure, segment outer diameter, and segment width.

[0076] In specific implementation, the actual excavated volume, loose coefficient and current grouting pressure are substituted into the preset grouting compensation amount calculation formula to calculate the grouting compensation amount. The grouting compensation amount calculation formula is:

[0077] ΔV=λ×V excavated × (1-p target ÷p)

[0078] Among them, ΔV is the grouting compensation amount, λ is the loose coefficient, V excavated is the actual excavated volume, p is the current grouting pressure, and p target The target grouting pressure can be set according to the geological survey report and engineering specifications (example value: 0.3-0.6MPa). Then, the compensation amount, actual excavated volume, segment outer diameter, and segment width are substituted into the preset target grouting volume calculation formula to calculate the target grouting volume. The target grouting volume calculation formula is:

[0079] V grout =[V excavated -π×(D2÷2) 2 ×d]+ΔV

[0080] Among them, V grout is the target grouting volume, that is, the actual volume of slurry to be injected into each ring, which is used to fill the gap between the segment and the soil and compensate for dynamic disturbances. D2 is the outer diameter of the segment, and d is the width of the segment.

[0081] S5. Determine a preliminary adjustment pressure based on the current grouting pressure and the soil bin pressure, and determine a grouting amount error based on the actual grouting amount and the target grouting amount.

[0082] In specific implementation, the current grouting pressure and soil bin pressure can be substituted into the preset preliminary adjustment pressure calculation formula to calculate and obtain the preliminary adjustment pressure. The preliminary adjustment pressure calculation formula is:

[0083] P1=α×p soil +k×(pp target )

[0084] Among them, P1 is the initial adjustment pressure, p soil is the soil bin pressure, α is the set soil bin pressure weight coefficient (example value range: 1.1~1.3), which is used to ensure that the grouting pressure is slightly higher than the soil bin pressure, p is the current grouting pressure, p target is the target grouting pressure, k is the response speed coefficient (example range: 0.1 ~ 0.5), which is used to balance the adjustment sensitivity. The initial adjustment pressure is calculated by the formula, the purpose of which is to adjust the soil bin pressure (p soil ) and the deviation from the current grouting pressure is included in the dynamic adjustment to ensure that the grouting pressure is always slightly higher than the soil bin pressure (through the coefficient α), and the current grouting pressure p is adjusted according to the difference between the current grouting pressure p and the target grouting pressure p. target The difference in response is corrected (via coefficient k).

[0085] At the same time, the actual grouting volume can be subtracted from the target grouting volume to obtain the grouting volume error E, that is, E = V actual -V grout , the error threshold can be set to: ±5% (example value).

[0086] S6. Use the grouting amount error to correct the initial adjustment pressure to obtain the final adjustment pressure.

[0087] In specific implementation, the grouting amount error and the preliminary adjustment pressure can be substituted into the preset pressure correction formula to calculate the final adjustment pressure. The pressure correction formula is:

[0088] P2=P1+K p ×E

[0089] Among them, P2 is the final adjustment pressure, P1 is the initial adjustment pressure, E is the grouting amount error, K p The error correction coefficient is set (example range: 0.2 to 0.8, typical value: 0.5), which is used to suppress system oscillation.

[0090] S7. Generate a final grouting pressure instruction according to the final adjustment pressure, and transmit the final grouting pressure instruction to the grouting pump control system, so that the grouting pump control system performs grouting control in response to the final grouting pressure instruction.

[0091] In specific implementation, after calculating the final adjustment pressure P2, the final adjustment pressure P2 can be used to generate a final grouting pressure instruction, and the final grouting pressure instruction is transmitted to the grouting pump control system so that the grouting pump control system responds to the final grouting pressure instruction for grouting control.

[0092] This method collects relevant process monitoring parameters in real time during the shield tunnel grouting process for comprehensive analysis and error correction calculation, and obtains the final adjustment pressure to dynamically adjust the grouting pump control system. It can realize the automatic control of the shield tunnel grouting process, reduce the situation of manual intervention, and reduce the operational difficulty and cost of grouting control. In addition, through the multi-parameter feedback mechanism, a variety of factors are comprehensively considered to dynamically adjust the grouting parameters, thereby improving the accuracy and efficiency of grouting control, thereby effectively preventing surface settlement or uplift during the shield tunnel grouting process, and ensuring excavation efficiency and project quality.

[0093] Example 2:

[0094] This embodiment provides a dry grouting dynamic control system, such as Figure 2 As shown, it includes a data acquisition unit, a first calculation unit, a second calculation unit, a third calculation unit, a fourth calculation unit, a pressure correction unit and a grouting control unit, wherein:

[0095] A data acquisition unit is used to collect, in real time during the grouting process, the current grouting pressure, soil bin pressure, actual grouting volume, cutterhead excavation volume parameters, and actual excavation surface monitoring parameters. The cutterhead excavation volume parameters include cutterhead speed, footage per revolution, cutterhead diameter, segment outer diameter, and segment width. The actual excavation surface monitoring parameters include excavation quality, water quality, and foam quality.

[0096] The first calculation unit is used to calculate the theoretical excavation volume using the cutterhead speed, the footage per revolution and the cutterhead diameter, and to calculate the actual excavation volume using the excavated mass, the water mass and the foam mass;

[0097] The second calculation unit is used to determine the loose coefficient according to the theoretical excavation volume and the actual excavated volume;

[0098] The third calculation unit is used to calculate the target grouting volume according to the actual excavated volume, loose coefficient, current grouting pressure, outer diameter of the segment and width of the segment;

[0099] a fourth calculation unit, configured to determine a preliminary adjustment pressure based on the current grouting pressure and the soil bin pressure, and to determine a grouting amount error based on the actual grouting amount and the target grouting amount;

[0100] A pressure correction unit is used to correct the initial adjustment pressure using the grouting amount error to obtain the final adjustment pressure;

[0101] The grouting control unit is used to generate a final grouting pressure instruction according to the final adjustment pressure, and transmit the final grouting pressure instruction to the grouting pump control system so that the grouting pump control system responds to the final grouting pressure instruction to perform grouting control.

[0102] Example 3:

[0103] This embodiment provides a dry grouting dynamic control system, such as Figure 3 As shown, at the hardware level, it includes:

[0104] Data interface, used to establish data connection between the processor and the external data acquisition terminal;

[0105] a memory for storing instructions;

[0106] The processor is used to read the instructions stored in the memory and execute the dry grouting dynamic control method in Example 1 according to the instructions.

[0107] Optionally, the system further includes an internal bus, through which the processor, memory, and data interface can be interconnected. The internal bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0108] The memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out memory (FIFO) and / or first-in-last-out memory (FILO), etc. The processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0109] Example 4:

[0110] This embodiment provides a computer-readable storage medium having instructions stored thereon. When the instructions are executed on a computer, the computer is caused to execute the dry grouting dynamic control method of Embodiment 1. The computer-readable storage medium refers to a data storage medium, which may include, but is not limited to, a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash drive, and / or a memory stick. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable device.

[0111] This embodiment further provides a computer program product, which, when executed on a computer, executes the dry grouting dynamic control method of embodiment 1. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0112] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A dynamic control method for dry grouting, characterized in that: include: During the grouting process, the current grouting pressure, soil bin pressure, actual grouting volume, cutterhead excavation volume parameters, and actual excavation surface monitoring parameters are collected in real time. The cutterhead excavation volume parameters include cutterhead speed, footage per revolution, cutterhead diameter, segment outer diameter, and segment width. The actual excavation surface monitoring parameters include excavation quality, water quality, and foam quality. The theoretical excavation volume is calculated using the cutterhead speed, footage per revolution, and cutterhead diameter, while the actual excavation volume is calculated using the excavated mass, water mass, and foam mass. Determine the looseness coefficient based on the theoretical excavation volume and the actual excavated volume; Calculate the target grouting volume based on the actual excavated volume, looseness coefficient, current grouting pressure, segment outer diameter, and segment width, including: The actual excavated volume, loose coefficient and current grouting pressure are substituted into the preset grouting compensation amount calculation formula to calculate the grouting compensation amount. The grouting compensation amount calculation formula is: ΔV=λ×V excavated ×(1-p target (p) Among them, ΔV is the grouting compensation amount, λ is the loose coefficient, V excavated is the actual excavated volume, p is the current grouting pressure, and p target is the set target grouting pressure; Substitute the compensation amount, actual excavated volume, segment outer diameter, and segment width into the preset target grouting amount calculation formula to calculate the target grouting amount. The target grouting amount calculation formula is: V grout =[V excavated -π×(D2÷2) 2 ×d]+ΔV Among them, V grout is the target grouting volume, D2 is the outer diameter of the segment, and d is the segment width; The initial adjustment pressure is determined based on the current grouting pressure and the soil bin pressure, and the grouting amount error is determined based on the actual grouting amount and the target grouting amount; The initial adjustment pressure is corrected using the grouting volume error to obtain the final adjustment pressure; A final grouting pressure instruction is generated according to the final adjustment pressure, and the final grouting pressure instruction is transmitted to the grouting pump control system so that the grouting pump control system performs grouting control in response to the final grouting pressure instruction.

2. A dry grouting dynamic control method according to claim 1, characterized in that: The calculation of theoretical excavation volume using cutterhead speed, footage per revolution and cutterhead diameter includes: Substitute the cutterhead speed, footage per revolution, and cutterhead diameter into the theoretical excavation volume calculation formula to obtain the theoretical excavation volume. The theoretical excavation volume calculation formula is: In dig =π×(D1÷2) 2 ×h×N Among them, V dig is the theoretical excavation volume, N is the cutterhead speed, h is the feed rate per revolution, and D1 is the cutterhead diameter.

3. A dry grouting dynamic control method according to claim 1, characterized in that: The method of calculating the actual excavated volume using the excavated mass, the water discharged mass and the foam mass includes: Substitute the excavated mass, water mass and foam mass into the preset actual excavated volume calculation formula to calculate the actual excavated volume. The actual excavated volume calculation formula is: V excavated =(m excavated -m water -m foam )÷ρ Among them, V excavated is the actual excavated volume, m excavated is the unearthed mass, m water is the outlet water quality, m foam is the foam mass, and ρ is the set soil density.

4. A dry grouting dynamic control method according to claim 1, characterized in that: The determination of the loose coefficient based on the theoretical excavation volume and the actual unearthed volume includes: The loose coefficient is obtained by dividing the theoretical excavation volume by the actual excavated volume.

5. A dry grouting dynamic control method according to claim 1, characterized in that: The method of determining the preliminary adjustment pressure based on the current grouting pressure and the soil bin pressure, and determining the grouting amount error based on the actual grouting amount and the target grouting amount, includes: Substitute the current grouting pressure and soil bin pressure into the preset preliminary adjustment pressure calculation formula to calculate and obtain the preliminary adjustment pressure. The preliminary adjustment pressure calculation formula is: P1=α×p soil +k×(pp target ) Among them, P1 is the initial adjustment pressure, p soil is the soil bin pressure, α is the set soil bin pressure weight coefficient, p is the current grouting pressure, p target is the set target grouting pressure, k is the set response speed coefficient; The grouting volume error is obtained by subtracting the target grouting volume from the actual grouting volume.

6. A dry grouting dynamic control method according to claim 1, characterized in that: The method of correcting the preliminary adjustment pressure by using the grouting amount error to obtain the final adjustment pressure includes: Substitute the grouting amount error and the initial adjustment pressure into the preset pressure correction formula to calculate and obtain the final adjustment pressure. The pressure correction formula is: P2=P1+K p ×E Among them, P2 is the final adjustment pressure, P1 is the initial adjustment pressure, E is the grouting amount error, K p is the set error correction coefficient.

7. A dry grouting dynamic control system, characterized in that: It includes a data acquisition unit, a first calculation unit, a second calculation unit, a third calculation unit, a fourth calculation unit, a pressure correction unit and a grouting control unit, wherein: A data acquisition unit is used to collect, in real time during the grouting process, the current grouting pressure, soil bin pressure, actual grouting volume, cutterhead excavation volume parameters, and actual excavation surface monitoring parameters. The cutterhead excavation volume parameters include cutterhead speed, footage per revolution, cutterhead diameter, segment outer diameter, and segment width. The actual excavation surface monitoring parameters include excavation quality, water quality, and foam quality. The first calculation unit is used to calculate the theoretical excavation volume using the cutterhead speed, the footage per revolution and the cutterhead diameter, and to calculate the actual excavation volume using the excavated mass, the water mass and the foam mass; The second calculation unit is used to determine the loose coefficient according to the theoretical excavation volume and the actual excavated volume; The third calculation unit is used to calculate the target grouting volume based on the actual excavated volume, loose coefficient, current grouting pressure, segment outer diameter and segment width, including: The actual excavated volume, loose coefficient and current grouting pressure are substituted into the preset grouting compensation amount calculation formula to calculate the grouting compensation amount. The grouting compensation amount calculation formula is: ΔV=λ×V excavated ×(1-p target (p) Among them, ΔV is the grouting compensation amount, λ is the loose coefficient, V excavated is the actual excavated volume, p is the current grouting pressure, and p target is the set target grouting pressure; Substitute the compensation amount, actual excavated volume, segment outer diameter, and segment width into the preset target grouting amount calculation formula to calculate the target grouting amount. The target grouting amount calculation formula is: V grout =[V excavated -π×(D2÷2) 2 ×d]+ΔV Among them, V grout is the target grouting volume, D2 is the outer diameter of the segment, and d is the segment width; a fourth calculation unit, configured to determine a preliminary adjustment pressure based on the current grouting pressure and the soil bin pressure, and to determine a grouting amount error based on the actual grouting amount and the target grouting amount; A pressure correction unit is used to correct the initial adjustment pressure using the grouting amount error to obtain the final adjustment pressure; The grouting control unit is used to generate a final grouting pressure instruction according to the final adjustment pressure, and transmit the final grouting pressure instruction to the grouting pump control system so that the grouting pump control system responds to the final grouting pressure instruction to perform grouting control.

8. A dry grouting dynamic control system, characterized in that: include: a memory for storing instructions; A processor is used to read the instructions stored in the memory and execute the dry grouting dynamic control method described in any one of claims 1 to 6 according to the instructions.

9. A computer program product, characterized in that When the computer program product is run on a computer, the dry grouting dynamic control method according to any one of claims 1 to 6 is executed.

Images