Underground diaphragm wall construction method based on water jet accurate grooving

Abstract

The invention relates to an underground diaphragm wall construction method based on water jet accurate grooving, and belongs to the technical field of underground engineering and rock-soil construction. Comprising the following steps that S10, positioning and guide frame installation are conducted, equipment installation is controlled in an auxiliary mode through an intelligent control system, and a benchmark is provided for grooving; s20, jet flow cutting is conducted to form grooves, and the intelligent control system conducts pretreatment in a differential mode according to the stratum characteristics; s30, slurry wall protection and deslagging are conducted, specifically, the slurry circulating system conducts deslagging through jet flow recoil force, and slurry is recycled; s40, real-time monitoring and dynamic adjustment are carried out, and the intelligent control system triggers adjustment of a corresponding strategy for a special stratum; and S50, groove wall finishing and quality acceptance are carried out, and the intelligent control system detects the perpendicularity and flatness of the groove wall. Through multi-system cooperative control, a high-precision detection means and a dynamic adjustment strategy, the precision, efficiency and adaptability of underground diaphragm wall grooving construction are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground engineering and geotechnical construction, and in particular relates to an underground continuous wall construction method based on precise grooving by water jetting. Background Art

[0002] The present invention belongs to the field of underground engineering and geotechnical construction technology, and specifically relates to an underground continuous wall trenching method based on ultra-high pressure water jet cutting technology, which is particularly suitable for precise trenching construction in complex strata in projects such as urban subways, deep foundation pit support, and water conservancy anti-seepage walls.

[0003] The prior art "CN113216153A" discloses an automatic high-pressure water jet device and construction method suitable for underground continuous wall excavation. In the device, wall water inlet pipes and wall water pumping pipes are arranged in the first anti-leakage slurry blocking wall and the second anti-leakage slurry blocking wall, and the output ends of all wall water inlet pipes are connected to the first high-pressure nozzle; a sliding connection is formed between the excavation support wall and the first anti-leakage slurry blocking wall and the second anti-leakage slurry blocking wall; an excavation wall water inlet pipe and an excavation wall water pumping pipe are arranged in the excavation support wall, and the output ends of all excavation wall water inlet pipes are downward and connected to the second high-pressure nozzle; the steel cage includes multiple first steel bars extending along the length direction of the excavation support wall; the steel cage movable locking unit is arranged in conjunction with each first steel bar to limit the first steel bar.

[0004] The existing technology has at least the following problems during use:

[0005] There is a lack of dynamic control systems and mud-coordinated wall protection solutions for complex formations. Summary of the Invention

[0006] The present invention provides an underground continuous wall construction method based on precise grooving by water jet, which is used to solve the technical problem in the prior art of lacking a dynamic control system for complex strata and a mud coordinated wall protection solution.

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

[0008] A method for constructing an underground continuous wall based on precise grooving with a water jet, comprising a high-pressure water jet subsystem, an abrasive supply system, a slurry circulation system, and an intelligent control system. The intelligent control system is electrically connected to the high-pressure water jet subsystem, the abrasive supply system, and the slurry circulation system, respectively, and is configured to receive operating data from each system and control the coordinated operation of each system. The construction method comprises the following steps:

[0009] Step S10: Positioning and guide frame installation, scanning the slot section coordinates through the intelligent control system, assisting in controlling and installing the high-pressure water jet subsystem, and providing a benchmark for the slotting operation;

[0010] Step S20: the intelligent control system regulates the high-pressure water jet subsystem, combines with the abrasive supply system, drives the nozzle to cut in layers according to the formation characteristics, and adopts differentiated mode preprocessing;

[0011] Step S30: The mud circulation system injects bentonite-based modified mud into the cutting area during jet cutting, utilizes the jet recoil force to remove slag, and recycles the separated and purified mud;

[0012] Step S40: The intelligent control system collects data, adjusts parameters after comparison and analysis, and triggers adjustment of corresponding strategies for special formations;

[0013] Step S50: The intelligent control system detects the verticality and flatness of the groove wall, and automatically repairs it if it does not meet the accuracy requirements to control the quality of the groove.

[0014] Furthermore, the high-pressure water jet subsystem includes: a multi-stage booster pump, a pressure buffer tank, and an adjustable nozzle. The water outlet of the multi-stage booster pump is connected to the water inlet of the pressure buffer tank, and the water outlet of the pressure buffer tank is connected to the water inlet end of the adjustable nozzle. The multi-stage booster pump can provide working pressure within a preset pressure range; the adjustable nozzle has multiple sets of symmetrically distributed rotating nozzles and an attitude monitoring module built in. The attitude monitoring module is connected to the intelligent control system for real-time collection of nozzle spatial attitude data and feedback to the intelligent control system. The nozzle diameter meets the cutting requirements of different formations.

[0015] Furthermore, the abrasive supply system includes: an abrasive tank, a venturi tube and a mass flow meter. The discharge port of the abrasive tank is connected to the abrasive inlet of the venturi tube through a pipe, and the mixed liquid outlet of the venturi tube is connected to the pipe between the pressure buffer tank and the adjustable nozzle in the high-pressure water jet subsystem; the mass flow meter is arranged on the pipe connecting the venturi tube and the abrasive tank, and is connected to the intelligent control system for real-time monitoring of the abrasive delivery rate and realizing closed-loop control of the abrasive delivery rate under the control of the intelligent control system. The venturi tube realizes the mixing of abrasive and water jet through negative pressure suction, supporting on-demand supply of various types of abrasives.

[0016] Furthermore, the intelligent control system integrates geological exploration data, groove wall geometric parameter monitoring data and detection device feedback data, and uses preset algorithms to regulate the jet pressure and nozzle speed of the high-pressure water jet subsystem, the abrasive ratio of the abrasive supply system, and the mud flow rate of the mud circulation system in real time to achieve dynamic optimization of construction parameters.

[0017] Furthermore, step S10 further includes the following steps:

[0018] Step S11: Generate three-dimensional coordinate data of the slot section based on the BIM model, perform real-time coordinate calibration on the construction site using a three-dimensional laser scanning device, and establish a construction coordinate system;

[0019] Step S12: hoisting the hydraulic guide frame to the preset slot section position, and adjusting the verticality by the guide frame's built-in leveling system so that the X and Y axis positioning errors of the guide frame are controlled within a preset accuracy range;

[0020] Step S13: Bind the initial position of the adjustable nozzle to the positioning reference point of the guide frame, and use a laser rangefinder to verify the deviation between the nozzle center and the slot section design axis to ensure that the initial positioning error meets the construction requirements.

[0021] Furthermore, step S20 further includes the following steps:

[0022] Step S21: Acquire geological exploration data, including formation resistivity, rock and soil hardness, and layered structure, and generate initial jet pressure, abrasive ratio, and cutting speed parameters by the intelligent control system;

[0023] Step S22: Start the multi-stage booster pump to stably output high-pressure water flow through the pressure buffer tank. Select a rotary nozzle or an array nozzle according to the formation type, adjust the nozzle speed to a preset range, and cut the formation layer by layer. The cutting depth of each layer is determined according to the equipment performance and formation stability.

[0024] Step S23: Start the first mode for the hard rock layer: use high-pressure jet to form initial cracks in the first stage, reduce the pressure and add hard abrasives for crushing and cutting in the second stage; the sand and gravel layer and the clay layer automatically match the abrasive type and jet parameters according to the preset strategy.

[0025] Furthermore, step S30 further includes the following steps:

[0026] Step S31: While the jet cutting is in progress, a bentonite-based modified mud is injected into the cutting area through a mud circulation system. The mud injection flow rate is linked to the jet cutting speed to ensure that the mud flow rate is maintained within a range that can form a stable mud skin.

[0027] Step S32: Using the jet recoil force, the mixture of slag and mud is driven through the recoil discharge device into the three-stage cyclone separator. The separator classifies the mixture according to the preset separation efficiency. The separated slag is collected and the purified mud is returned to the mud pool for recycling.

[0028] Step S33: real-time monitoring of mud density, viscosity and other parameters, and dynamic adjustment of the addition ratio of the modifier in the mud according to the formation permeability coefficient to ensure the formation of a dense mud skin with a thickness of 3-5 mm.

[0029] Furthermore, step S40 further includes the following steps:

[0030] Step S41: The nozzle attitude data is collected in real time by the MEMS inertial navigation system and fiber optic gyroscope built into the nozzle, and the groove wall distance parameters obtained by the laser rangefinder are combined to generate a three-dimensional model of the groove wall geometry;

[0031] Step S42: The intelligent control system compares the measured data with the BIM design model, calculates the nozzle attitude adjustment amount and the jet parameter correction value based on the PID control algorithm, and automatically drives the guide frame hydraulic system to adjust the nozzle position, or controls the booster pump and abrasive supply system to dynamically optimize the jet pressure and abrasive concentration;

[0032] S43. For loose sand layers and other prone to collapse formations, the anti-collapse strategy is automatically triggered: admixtures are added to the mud, the jet pressure is reduced and the nozzle diameter is increased simultaneously, balancing the cutting efficiency and the stability of the groove wall.

[0033] Furthermore, step S50 further includes the following steps:

[0034] Step S51: Replace the fan-shaped finishing nozzle and scan the tank wall a second time with a preset pressure to remove loose soil and uneven mud skin areas to ensure a smooth surface of the tank wall.

[0035] Step S52: Use a dual-probe ultrasonic detector to perform multi-point scanning along the depth direction of the groove section to collect verticality deviation data and flatness data. The detection data is uploaded to the intelligent control system in real time for compliance analysis;

[0036] Step S53: If the detection index does not meet the preset accuracy requirements, a repair plan is automatically generated and step S51 is repeated until it is accepted.

[0037] The present invention provides an underground continuous wall construction method based on precise grooving by water jet, which has the following beneficial effects:

[0038] Through multi-system collaborative control, high-precision detection methods and dynamic adjustment strategies, the accuracy, efficiency and adaptability of underground continuous wall trench construction have been significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] Figure 1 A flow chart of an underground continuous wall construction method based on precise grooving by water jetting is provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0042] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0044] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installation," "connection," and "connection" should be understood in a broad sense. For example, they can refer to welding, bolting, or riveting; fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or 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 this application based on the specific circumstances.

[0045] Example:

[0046] This embodiment provides a method for constructing an underground continuous wall based on precise grooving with a water jet, which includes a high-pressure water jet subsystem, an abrasive supply system, a slurry circulation system, and an intelligent control system, wherein:

[0047] The high-pressure water jet subsystem includes a multi-stage booster pump, a pressure buffer tank, and an adjustable nozzle. The multi-stage booster pump is used to increase the water pressure to 50-300MPa. The pressure buffer tank is used to stabilize the water pressure. The adjustable nozzle has at least three sets of symmetrically distributed rotating nozzles and an attitude monitoring module, which specifically includes a MEMS inertial navigation system and a fiber optic gyroscope. It also includes a rotating nozzle and an array nozzle. The rotating nozzle achieves 0-100r / min speed adjustment through a drive motor. The array nozzle adopts a matrix nozzle group design, and the total coverage area can cover 1-3m 2 Cutting range;

[0048] The abrasive supply system includes an abrasive tank, a Venturi tube, and a mass flowmeter. The abrasive tank has multiple independent chambers that store different types of abrasives, such as quartz sand and garnet sand. The discharge port of each chamber is connected to the Venturi tube through a pipe equipped with a solenoid valve. The Venturi tube uses negative pressure suction to achieve mixing of the abrasive and the water jet. The mass flowmeter is used to monitor the abrasive delivery rate in real time and conduct closed-loop control within the range of 10-50kg / min.

[0049] The mud circulation system includes a bentonite-based mud pool, a three-stage cyclone separator and a backwash slag removal device. The bentonite-based mud pool is used to inject modified mud into the cutting area. The mud injection flow rate can be between 10-30m 3 / h range and the jet cutting speed are linked and controlled. The recoil slag discharge device is used to collect the mixture of slag and mud and transport it to the three-stage cyclone separator. The three-stage cyclone separator returns the purified mud to the bentonite-based mud pool for recycling.

[0050] The intelligent control system uses a PLC programmable logic controller combined with an industrial computer, which is electrically connected to the above subsystems to receive operating data and control collaborative work.

[0051] The high-pressure water jet subsystem includes a multi-stage booster pump, a pressure buffer tank and an adjustable nozzle. The multi-stage booster pump is used to increase the water pressure to 50-300MPa. The pressure buffer tank is used to stabilize the water pressure. The adjustable nozzle has at least three sets of symmetrically distributed rotating nozzles and a posture monitoring module, and includes a rotating nozzle and an array nozzle. The rotating nozzle can achieve 0-100r / min speed adjustment through the drive motor. The array nozzle adopts a matrix nozzle group design, and the total coverage area can cover 1-3m 2 Cutting range;

[0052] The abrasive supply system includes an abrasive tank, a Venturi tube, and a mass flowmeter. The abrasive tank has multiple independent chambers that store different types of abrasives, such as quartz sand and garnet sand. The discharge port of each chamber is connected to the Venturi tube through a pipe equipped with a solenoid valve. The Venturi tube uses negative pressure suction to achieve mixing of the abrasive and the water jet. The mass flowmeter is used to monitor the abrasive delivery rate in real time and conduct closed-loop control within the range of 10-50kg / min.

[0053] The mud circulation system includes a bentonite-based mud pool, a three-stage cyclone separator and a backwash slag removal device. The bentonite-based mud pool is used to inject modified mud into the cutting area. The mud injection flow rate can be between 10-30m 3 / h range and the jet cutting speed are linked and controlled. The recoil slag discharge device is used to collect the mixture of slag and mud and transport it to the three-stage cyclone separator. The three-stage cyclone separator returns the purified mud to the bentonite-based mud pool for recycling.

[0054] The intelligent control system uses a PLC programmable logic controller combined with an industrial computer, which is electrically connected to the above subsystems to receive operating data and control collaborative work.

[0055] like Figure 1 As shown, the present embodiment provides a method for constructing an underground continuous wall based on precise grooving by water jet, comprising the following steps:

[0056] Step S10: Positioning and guide frame installation;

[0057] S11. Generate 3D coordinate data of the slot section based on the BIM model, perform real-time coordinate calibration on the construction site using 3D laser scanning equipment, establish a construction coordinate system, and ensure that the coordinate positioning accuracy is within ±5mm;

[0058] S12. Hoist the hydraulic guide frame to the preset slot section position and adjust the verticality using the guide frame's built-in leveling system to control the X and Y axis positioning errors within the range of ±3mm.

[0059] S13. Bind the initial position of the adjustable nozzle to the positioning reference point of the guide frame, and use a laser rangefinder to verify the deviation between the nozzle center and the slot section design axis to ensure that the initial positioning error is controlled within ±2mm.

[0060] Step S20, jet cutting into grooves;

[0061] S21. Obtain geological exploration data, including formation resistivity, rock and soil hardness, and layered structure. The intelligent control system generates initial jet pressure, abrasive ratio, and cutting speed parameters based on a preset algorithm. For example, for hard rock formations, the jet pressure can be set to 200-300 MPa, the abrasive used is garnet sand with an abrasive ratio of 20-30%, and the cutting speed is 0.5-1 m / h. For sand and gravel formations, the jet pressure can be set to 100-200 MPa, the abrasive used is quartz sand with an abrasive ratio of 10-20%, and the cutting speed is 1-2 m / h.

[0062] S22. Start the multi-stage booster pump to steadily output high-pressure water flow through the pressure buffer tank. Select a rotary nozzle or array nozzle according to the formation type, adjust the nozzle speed to a preset range, and cut the formation layer by layer. The cutting depth of each layer is determined by the equipment performance and formation stability, generally 0.5-1m;

[0063] S23: The "pre-cracking-crushing" mode is activated for hard rock layers: a high-pressure jet of 250-300 MPa is used to form initial cracks in the first stage, and the pressure is reduced to 200-250 MPa in the second stage, and hard abrasives are added for crushing and cutting; the sand and gravel layer and the clay layer are automatically matched with the abrasive type and jet parameters according to the preset strategy.

[0064] Step S30, mud wall protection and slag removal;

[0065] S31. During jet cutting, bentonite-based modified mud is injected into the cutting area through the mud circulation system. The mud injection flow rate is linked to the jet cutting speed to ensure that the mud flow rate is maintained in the range of 1-3m / s to form a stable mud skin with a thickness of 3-5mm.

[0066] S32, using the jet recoil force to drive the mixture of slag and mud through the recoil discharge device into the three-stage cyclone separator, where the separator classifies the mixture according to the preset separation efficiency, collects the separated slag, and returns the purified mud to the mud pool for recycling;

[0067] S33. Real-time monitoring of mud density, viscosity and other parameters, and dynamic adjustment of the addition ratio of modifiers in the mud according to the formation permeability coefficient, specifically sodium carboxymethyl cellulose and polyacrylamide, to ensure stable mud performance.

[0068] Step S40: real-time monitoring and dynamic adjustment;

[0069] S41. Using the MEMS inertial navigation system and fiber optic gyroscope built into the nozzle, the nozzle attitude data, including the inclination angle and azimuth angle, are collected in real time. Combined with the groove wall distance parameters obtained by the laser rangefinder, a three-dimensional model of the groove wall geometry is generated.

[0070] S42. The intelligent control system compares the measured data with the BIM design model, calculates the nozzle attitude adjustment amount and the jet parameter correction value based on the PID control algorithm, automatically drives the guide frame hydraulic system to adjust the nozzle position, or controls the booster pump and abrasive supply system to dynamically optimize the jet pressure and abrasive concentration. The specific algorithm is processed by technicians in this field based on process requirements and is not within the scope of protection of this application;

[0071] S43. For loose sand layers and other prone to collapse formations, the anti-collapse strategy is automatically triggered: admixtures such as water glass are added to the mud, the jet pressure is simultaneously reduced to 50-100MPa and the nozzle diameter is increased to 4-5mm, balancing cutting efficiency and groove wall stability.

[0072] Step S50: groove wall finishing and quality inspection;

[0073] S51. Replace the fan-shaped finishing nozzle and scan the trench wall a second time at a preset pressure of 50-100 MPa to remove loose soil and uneven mud skin areas to ensure a smooth trench wall surface.

[0074] S52. Use a dual-probe ultrasonic detector to perform multi-point scanning along the depth of the groove section to collect verticality deviation data and flatness data. The test data is uploaded to the intelligent control system in real time for compliance analysis. The verticality deviation must be controlled within ±0.3%, and the flatness deviation must be controlled within ±5mm.

[0075] S53: If the detection index does not meet the preset accuracy requirements, a repair plan is automatically generated and step S51 is repeated until it is accepted.

[0076] Install the high-pressure water jet subsystem, abrasive supply system, mud circulation system, and intelligent control system according to design requirements, and make electrical and piping connections. Debug the multi-stage booster pump, checking its pressure adjustment range and stability to ensure it can output the preset pressure of 50-300 MPa. Debug the abrasive supply system, checking the opening and closing of the solenoid valve and the accuracy of the mass flowmeter to ensure that the abrasive delivery rate can be precisely adjusted within the range of 10-50 kg / min. Debug the mud circulation system, checking the liquid level control of the bentonite-based mud tank, the separation efficiency of the three-stage cyclone separator, and the slag discharge capacity of the recoil slag discharge device. Program and debug the intelligent control system, input geological exploration data and design parameters into the system, and test its data acquisition, processing, and control functions.

[0077] During the construction process, as required by step S10, the BIM model and 3D laser scanning equipment are used to determine the coordinates of the trench sections. A hydraulic guide frame is installed and precisely leveled to ensure that the guide frame positioning error is within the allowable range. Based on the geological exploration data, the intelligent control system automatically generates initial construction parameters, activates the high-pressure water jet subsystem and abrasive supply system, and drives the adjustable nozzle for layered cutting. During the cutting process, the nozzle posture and trench wall conditions are monitored in real time, and construction parameters are adjusted promptly based on changes in the strata. Simultaneously with the jet cutting, the mud circulation system is activated, injecting bentonite-based modified mud into the cutting area to maintain a stable mud flow rate. The jet's recoil force transports the mixture of slag and mud to a three-stage cyclone separator for separation. The purified mud then flows back to the mud pool for recycling. The nozzle's built-in monitoring module collects data in real time. The intelligent control system compares the measured data with the design model, calculates and adjusts parameters based on the PID control algorithm, and automatically adjusts the nozzle's attitude, jet pressure, and abrasive ratio to ensure stability and precision during the construction process. After cutting, the sector-shaped finishing nozzle is replaced to perform a second scan and finishing of the slot wall. The slot wall is then inspected using a dual-probe ultrasonic detector. If the test results do not meet the requirements, further finishing is performed according to the repair plan until it passes acceptance.

[0078] After the construction is completed, the high-pressure water jet subsystem, abrasive supply system and mud circulation system are shut down, and the equipment and construction site are cleaned; the data in the intelligent control system is saved and analyzed, and the construction experience is summarized to provide reference for subsequent projects.

[0079] In summary, by adopting ultra-high pressure water jet cutting technology, combined with abrasives to enhance cutting ability, and adopting differentiated cutting modes for different strata, the grooving speed has been greatly improved, especially in hard strata. The intelligent control system monitors and adjusts construction parameters in real time, as well as the precise positioning and guiding system, to ensure that the verticality and flatness of the grooving wall meet the design requirements. The recycling of mud is achieved, which reduces the discharge and waste of mud and reduces the impact on the surrounding environment. The jet pressure, abrasive ratio and other parameters can be automatically adjusted according to different stratum conditions, making it suitable for underground continuous wall construction under various geological conditions.

[0080] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope of the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for constructing underground continuous walls based on precise grooving with water jets, comprising a high-pressure water jet subsystem, an abrasive supply system, a slurry circulation system, and an intelligent control system, characterized in that: The intelligent control system is electrically connected to the high-pressure water jet subsystem, the abrasive supply system, and the mud circulation system, respectively, and is used to receive operating data of each system and control the coordinated operation of each system. The construction method includes the following steps: Step S10: Positioning and guide frame installation, scanning the slot section coordinates through the intelligent control system, assisting in controlling and installing the high-pressure water jet subsystem, and providing a benchmark for the slotting operation; Step S20: jet cutting into grooves, wherein the intelligent control system regulates the high-pressure water jet subsystem, combines with the abrasive supply system, drives the nozzle to cut in layers according to the formation characteristics, and adopts differentiated mode preprocessing; Step S30, mud wall protection and slag removal, the mud circulation system injects bentonite-based modified mud into the cutting area during jet cutting, uses the jet recoil force to remove slag, and the separated and purified mud is recycled; Step S40: Real-time monitoring and dynamic adjustment: the intelligent control system collects data, adjusts parameters after comparison and analysis, and triggers corresponding strategy adjustments for special formations; Step S50: groove wall finishing and quality inspection. The intelligent control system detects the verticality and flatness of the groove wall. If the accuracy requirements are not met, it will be automatically repaired to control the quality of the groove.

2. The underground continuous wall construction method based on water jet precise grooving according to claim 1 is characterized in that: The high-pressure water jet subsystem includes: a multi-stage booster pump, a pressure buffer tank, and an adjustable nozzle. The water outlet of the multi-stage booster pump is connected to the water inlet of the pressure buffer tank, and the water outlet of the pressure buffer tank is connected to the water inlet end of the adjustable nozzle. The multi-stage booster pump can provide a working pressure within a preset pressure range; the adjustable nozzle has multiple groups of symmetrically distributed rotating nozzles and a posture monitoring module built in. The posture monitoring module is connected to the intelligent control system for real-time collection of nozzle spatial posture data and feedback to the intelligent control system. The nozzle diameter meets the cutting requirements of different formations.

3. The underground continuous wall construction method based on water jet precise grooving according to claim 2 is characterized in that: The abrasive supply system includes: an abrasive tank, a venturi tube and a mass flow meter. The discharge port of the abrasive tank is connected to the abrasive inlet of the venturi tube through a pipeline, and the mixed liquid outlet of the venturi tube is connected to the pipeline between the pressure buffer tank and the adjustable nozzle in the high-pressure water jet subsystem; the mass flow meter is arranged on the pipeline connecting the venturi tube and the abrasive tank, and is connected to the intelligent control system, for real-time monitoring of the abrasive delivery amount and realizing closed-loop control of the abrasive delivery amount under the control of the intelligent control system. The venturi tube realizes mixing of abrasive and water jet through negative pressure suction, supporting on-demand supply of various types of abrasives.

4. The underground continuous wall construction method based on water jet precise grooving according to claim 3 is characterized in that: The intelligent control system integrates geological exploration data, groove wall geometric parameter monitoring data and detection device feedback data, and uses a preset algorithm to regulate the jet pressure and nozzle speed of the high-pressure water jet subsystem, the abrasive ratio of the abrasive supply system, and the mud flow rate of the mud circulation system in real time to achieve dynamic optimization of construction parameters.

5. The underground continuous wall construction method based on water jet precise grooving according to claim 4 is characterized in that: The step S10 further includes the following steps: Step S11: Generate three-dimensional coordinate data of the slot section based on the BIM model, perform real-time coordinate calibration on the construction site using a three-dimensional laser scanning device, and establish a construction coordinate system; Step S12: hoisting the hydraulic guide frame to the preset slot section position, and adjusting the verticality by the guide frame's built-in leveling system so that the X and Y axis positioning errors of the guide frame are controlled within a preset accuracy range; Step S13: Bind the initial position of the adjustable nozzle to the positioning reference point of the guide frame, and use a laser rangefinder to verify the deviation between the nozzle center and the slot section design axis to ensure that the initial positioning error meets the construction requirements.

6. The underground continuous wall construction method based on water jet precise grooving according to claim 4 is characterized in that: Step S20 further includes the following steps: Step S21: Acquire geological exploration data, including formation resistivity, rock and soil hardness, and layered structure, and generate initial jet pressure, abrasive ratio, and cutting speed parameters by the intelligent control system; Step S22: Start the multi-stage booster pump to stably output high-pressure water flow through the pressure buffer tank. Select a rotary nozzle or an array nozzle according to the formation type, adjust the nozzle speed to a preset range, and cut the formation layer by layer. The cutting depth of each layer is determined according to the equipment performance and formation stability. Step S23: Start the first mode for the hard rock layer: use high-pressure jet to form initial cracks in the first stage, reduce the pressure and add hard abrasives for crushing and cutting in the second stage; the sand and gravel layer and the clay layer automatically match the abrasive type and jet parameters according to the preset strategy.

7. The underground continuous wall construction method based on water jet precise grooving according to claim 4 is characterized in that: Step S30 further includes the following steps: Step S31: While the jet cutting is in progress, a bentonite-based modified mud is injected into the cutting area through a mud circulation system. The mud injection flow rate is linked to the jet cutting speed to ensure that the mud flow rate is maintained within a range that can form a stable mud skin. Step S32: Using the jet recoil force, the mixture of slag and mud is driven through the recoil discharge device into the three-stage cyclone separator. The separator classifies the mixture according to the preset separation efficiency. The separated slag is collected and the purified mud is returned to the mud pool for recycling. Step S33: real-time monitoring of mud density, viscosity and other parameters, and dynamic adjustment of the addition ratio of the modifier in the mud according to the formation permeability coefficient to ensure the formation of a dense mud skin with a thickness of 3-5 mm.

8. The underground continuous wall construction method based on water jet precise grooving according to claim 4 is characterized in that: Step S40 further includes the following steps: Step S41: The nozzle attitude data is collected in real time by the MEMS inertial navigation system and fiber optic gyroscope built into the nozzle, and the groove wall distance parameters obtained by the laser rangefinder are combined to generate a three-dimensional model of the groove wall geometry; Step S42: The intelligent control system compares the measured data with the BIM design model, calculates the nozzle attitude adjustment amount and the jet parameter correction value based on the PID control algorithm, and automatically drives the guide frame hydraulic system to adjust the nozzle position, or controls the booster pump and abrasive supply system to dynamically optimize the jet pressure and abrasive concentration; S43. For loose sand layers and other prone to collapse formations, the anti-collapse strategy is automatically triggered: admixtures are added to the mud, the jet pressure is reduced and the nozzle diameter is increased simultaneously, balancing the cutting efficiency and the stability of the groove wall.

9. The underground continuous wall construction method based on water jet precise grooving according to claim 4 is characterized in that: Step S50 further includes the following steps: Step S51: Replace the fan-shaped finishing nozzle and scan the tank wall a second time with a preset pressure to remove loose soil and uneven mud skin areas to ensure a smooth surface of the tank wall. Step S52: Use a dual-probe ultrasonic detector to perform multi-point scanning along the depth direction of the groove section to collect verticality deviation data and flatness data. The detection data is uploaded to the intelligent control system in real time for compliance analysis; Step S53: If the detection index does not meet the preset accuracy requirements, a repair plan is automatically generated and step S51 is repeated until it is accepted.

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