Intelligent control device and method for physical properties of large soil body sample

Abstract

The invention relates to the field of geotechnical engineering, and discloses an intelligent control device and method for the physical property of a large soil body sample, and the device comprises an intelligent control center, a physical parameter testing device and a physical property regulation and control device. The testing device integrates the functions of automatic soil sampling and compactness and moisture content testing; the regulation and control device integrates compactness and water content regulation and control functions. According to the method, after target parameters are set, an intelligent control center automatically executes a closed-loop feedback process from sampling testing to comparison and judgment to regulation and control quantity calculation to regulation and control execution. The closed-loop feedback process enables the physical property of the sample to iteratively approach a target value by accurately controlling the compaction frequency or the water replenishing time until the deviation enters an allowable range. According to the invention, the full automation of the sample preparation process is realized, the defects of low efficiency, poor precision and experience dependence of the traditional manual operation are overcome, and the high precision, high uniformity and high repeatability of the finally prepared soil sample in compactness and moisture content are ensured.

Description

Technical Field

[0001] This invention relates to the field of geotechnical engineering, specifically to an intelligent control device and method for the physical properties of large soil samples. Background Technology

[0002] In geotechnical engineering, large-scale physical model tests are an important tool for studying complex engineering problems such as foundation bearing capacity, slope stability, and tunnel surrounding rock deformation. A key prerequisite for conducting such tests is the preparation of large soil samples with uniform physical properties (especially density and moisture content) that precisely meet preset target values. The quality of sample preparation directly determines the accuracy and reliability of subsequent physical model test results.

[0003] Currently, the preparation of large soil samples still largely relies on traditional manual methods. These methods typically include layered filling, manual compaction, and manual watering. During the process, operators rely on their experience to judge the compaction level and moisture content of the soil, and repeatedly operate tools such as tampers until they subjectively deem the requirements met.

[0004] However, this traditional manual sample preparation method has inherent technical drawbacks. First, the entire process is extremely labor-intensive and inefficient, especially when handling large or even ultra-large samples, requiring a significant amount of manpower and time. More importantly, due to the lack of real-time, quantitative feedback of physical parameters, the accuracy of sample preparation heavily relies on the operator's experience and subjective judgment. This leads to inaccurate control over compaction energy and inaccurate grasp of water replenishment, resulting in soil samples with densities and moisture contents that often deviate significantly from target values, and the uniform distribution within the sample is also difficult to guarantee.

[0005] Furthermore, differences in the skill level, physical condition, and operating habits of different operators make it difficult to standardize the sample preparation process, resulting in poor consistency between batches. This low repeatability makes model test results obtained under different test conditions incomparable, seriously affecting the scientific rigor and accuracy of geotechnical engineering research. Therefore, existing manual sample preparation techniques are no longer sufficient to meet the high precision, high efficiency, and high repeatability requirements of modern geotechnical engineering testing for sample quality, necessitating a new technical solution that can automatically and precisely control the physical properties of large soil samples. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an intelligent control device and method for the physical properties of large soil samples. This solves the problems of low control precision, low efficiency, and inability to achieve automated closed-loop feedback control in the preparation and regulation of the physical properties of existing large soil samples, which rely on manual operation.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: The first aspect of this invention provides an intelligent control device for the physical properties of a large soil sample, comprising: an intelligent control center, a soil and rock physical parameter testing device, and a soil and rock physical property adjustment device. The intelligent control center establishes data and control connections with both the soil and rock physical parameter testing device and the soil and rock physical property adjustment device. The soil and rock physical parameter testing device is used to acquire physical parameter data of the soil sample, and the soil and rock physical property adjustment device is used to adjust the physical properties of the soil sample according to instructions from the intelligent control center.

[0008] The soil and rock physical parameter testing device includes a soil sampling module. In one specific embodiment, the soil sampling module includes: a base that can move and rotate in a horizontal plane; an outer tube threadedly connected to the upper surface of the base; an inner tube that can be axially slidably connected inside the outer tube; a buckle fixedly connected to the side wall of the inner tube, the buckle being used to cooperate with the internal structure of the outer tube to fix the relative position of the inner tube and the outer tube; a robotic arm hinged to the upper end of the inner tube; and a soil sampler mounted and connected to the end wall of the robotic arm.

[0009] The device for regulating the physical properties of soil and rock includes a density regulation module and a moisture content regulation module.

[0010] Preferably, the density control module includes a reaction frame and a pressure plate disposed below the reaction frame. Each of the four corners of the pressure plate is welded with a lifting lug, and a vertical pipe is threadedly connected to its upper surface. A compaction hammer is disposed on its upper surface, and the upper surface of the compaction hammer is also welded with a lifting lug.

[0011] In one specific embodiment, the compaction control module further includes a chain lifter. Two I-beams are arranged between the reaction frames, and multiple equally spaced lifting lugs are provided on the lower side of the I-beams. One end of one or more chain lifters is fixedly connected to the inside of the lifting lugs at both ends of the two I-beams, and the other end is fixedly connected to the four corner lifting lugs of the pressure plate, used to control the lifting and lowering of the pressure plate. A crossbeam is provided in the middle of the reaction frame, and a hole is opened inside the crossbeam for the vertical tube to pass through, the sidewall of the vertical tube being slidably connected inside the hole. Two lifting lugs are provided on the lower side of this crossbeam, and one end of another chain lifter is fixedly connected to the inside of these two lifting lugs, the other end of which is fixedly connected to the lifting lug of the compaction hammer, used to control the lifting and lowering and striking of the compaction hammer.

[0012] Preferably, the moisture content control module includes a water tank disposed on the side wall of the reaction frame. A water pump is disposed on the side wall of the water tank, and connecting pipes are provided at both ends of the water pump. One end of the connecting pipe is fixedly connected to the side wall of the water tank to draw water from the water tank. A water inlet is opened on the side wall of the pressure plate, and the other end of the connecting pipe is connected to the water inlet by a threaded connection. Multiple water outlets are opened at the bottom of the pressure plate. A water pipe is also fixedly connected to the side wall of the connecting pipe, forming a water supply pipeline.

[0013] Preferably, the soil and rock physical parameter testing device further includes a density tester and a moisture content tester. Both the density tester and the moisture content tester are connected to the intelligent control center via data cables for transmitting test data to the intelligent control center.

[0014] The intelligent control center integrates a control algorithm module, which is used to calculate and generate control commands for the soil and rock physical property regulation device based on the deviation between the received current physical parameters and the preset target physical parameters.

[0015] In one specific embodiment, the intelligent control center calculates the number of compaction passes required for density adjustment. The control logic can follow the following relationship: ; in, The calculated number of hammer blows required to complete the compaction process; It is a compaction coefficient that is pre-calibrated based on physical conditions such as soil type, hammer weight, drop height, and compaction plate area; The preset target dry density; The current dry density is measured by the density tester.

[0016] The intelligent control center calculates the pump operating time required for moisture content regulation. The control logic can follow the following relationship: ; ; in, The calculated continuous operating time required for the water pump; The calculated mass of water that needs to be replenished; The mass of the soil sample taken by the soil sampler can be obtained through pre-calibration or real-time weighing. The preset target moisture content; The current moisture content is measured by the moisture content tester; Let be the density of water, and be a known constant. is the rated flow rate of the water pump, and is the inherent parameter of the equipment.

[0017] A second aspect of this invention provides an intelligent control method for the physical properties of large soil samples. The method, using large soil samples as the control object, includes the following steps: S1. Set the target compaction and target moisture content of the large soil sample through the intelligent control center; S2. Control the soil sampler of the soil sampling module to remove a local soil sample from the predetermined position of the large soil sample. S3. The local soil sample is placed in a compaction tester and a moisture content tester for testing to obtain the current compaction and current moisture content that can characterize the current state of the large soil sample. S4. The intelligent control center compares the current density and the current moisture content with the target density and target moisture content set in step S1 to make a judgment. S5. When the judgment result is that the target has not been achieved, the soil and rock physical property control device is activated to control the large soil sample.

[0018] Preferably, the step of controlling the soil sampling module in step S2 specifically includes: The control base moves and rotates to a predetermined position above the large soil sample. Through the relative sliding of the inner and outer tubes and the rotation of the robotic arm, the soil sampler is positioned to the sampling point corresponding to the predetermined position.

[0019] In one specific embodiment, the control operation in step S5 includes a density control step, which is as follows: The intelligent control center controls the chain crane, which drives the compaction hammer to compact the pressure plate along the vertical pipe, thereby regulating the density of the large soil sample.

[0020] In one specific embodiment, the regulation operation of step S5 includes a moisture content regulation step, which is as follows: The intelligent control center controls the water pump to pump water from the water tank into the pressure plate through the connecting pipe and the inlet hole, and then adds it to the large soil sample through the outlet hole, thereby regulating the moisture content of the large soil sample.

[0021] Preferably, after the adjustment operation in step S5 is completed, the iterative loop of steps S2, S3, S4 and S5 is returned and repeated until the intelligent control center determines in step S4 that the current density and the current moisture content have reached the target density and the target moisture content.

[0022] This invention provides an intelligent control device and method for the physical properties of large soil samples. It has the following beneficial effects: 1. This invention, by setting up an intelligent control center and connecting it to a soil and rock physical parameter testing device containing a soil sampling module, and a soil and rock physical property control device containing a density control module and a moisture content control module, realizes full automation of the process from random sampling and parameter testing to physical property control. This changes the traditional mode of large soil sample preparation that relies on manual operation, reduces manual intervention and labor intensity, and improves the intelligence level of the sample preparation process.

[0023] 2. This invention establishes a closed-loop feedback control system. By setting up a density tester and a moisture content tester, the current physical parameters of the soil sample are obtained in real time. The intelligent control center compares these current parameters with preset target parameters to make a judgment, thereby accurately controlling the number of compaction hammers or the water pump's water replenishment time. This cyclical operation mode of testing, comparison, and control ensures that the physical properties of the final soil sample can accurately converge to the target value, avoiding the problems of over-compaction or inaccurate moisture content caused by traditional manual operation based on experience, and improving the accuracy of physical property control.

[0024] 3. The entire sample preparation process of this invention is uniformly scheduled and executed by the intelligent control center based on a fixed algorithm model and input target parameters, eliminating the randomness and uncertainty introduced by human factors in different operators or different batches of operations. Therefore, when targeting the same target parameters, multiple large soil samples with highly consistent physical properties can be prepared, realizing the standardization and high repeatability of the sample preparation process, and providing a basis for the reliability and comparability of subsequent geotechnical engineering tests. Attached Figure Description

[0025] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the pressure plate device of the present invention; Figure 3 This is a flowchart illustrating the intelligent control method for the physical properties of large soil samples according to the present invention.

[0026] The components include: 1. Base; 2. Robotic arm; 3. Soil sampler; 4. Outer pipe; 5. Inner pipe; 6. Buckle; 7. Data cable; 8. Intelligent control center; 9. Pressure plate; 10. Vertical pipe; 11. Compaction hammer; 12. Reaction frame; 13. Chain lifter; 14. Water tank; 15. Water pump; 16. Connecting pipe; 17. Water pipe; 18. Water inlet; 19. Water outlet; 20. Density tester; 21. Moisture content tester; a. Parameter setting module; b. Data acquisition module; c. Comparison and judgment module; d. Control command generation module; e. Execution control module. Detailed Implementation

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see the appendix Figure 1 - Appendix Figure 2 This invention provides an intelligent control device and method for the physical properties of large soil samples, comprising: The intelligent control center 8 is connected to the soil and rock physical parameter testing device and the soil and rock physical property control device, respectively. The soil and rock physical parameter testing device includes a soil sampling module, and the soil and rock physical property control device includes a density control module and a moisture content control module. The soil sampling module includes a base 1, an outer tube 4 is threadedly connected to the upper surface of the base 1, an inner tube 5 is slidably connected inside the outer tube 4, a buckle 6 is fixedly connected to the side wall of the inner tube 5, the buckle 6 is engaged with the inside of the outer tube 4, a mechanical arm 2 is hinged to the upper end of the inner tube 5, and a soil sampler 3 is installed and connected to the end wall of the mechanical arm 2.

[0029] In this embodiment, the intelligent control center 8 is the control core of the entire device, which can be composed of hardware such as an industrial control computer or a programmable logic controller, and runs a preset control program internally. The intelligent control center 8 establishes a two-way data link with the soil and rock physical parameter testing device through the data line 7 to receive test data; at the same time, it establishes a control link with the soil and rock physical property control device to send execution commands. The soil sampling module, as part of the testing device, is responsible for obtaining representative small soil samples from different locations of the large soil sample. The compaction control module and the moisture content control module, as components of the control device, are used to physically adjust the overall compaction and moisture content of the large soil sample, respectively. The base 1 is equipped with drive wheels or guide rails at the bottom, driven by a motor, which can translate in the XY plane and rotate around the central axis within the predetermined coordinate system of the model box or site where the large soil sample is located under the command of the intelligent control center 8, thereby achieving coarse positioning of the sampling point. The outer tube 4 and the inner tube 5 form a telescopic column structure for adjusting the vertical height of the soil sampling operation. The latch 6 is a mechanical locking device that locks the inner tube 5 after it has been adjusted to a predetermined height, preventing it from sliding under its own weight or operational load. The robotic arm 2 is a multi-degree-of-freedom robotic arm whose base is connected to the upper end of the inner tube 5. It can perform rotation, pitch, and extension movements, thereby achieving precise fine-tuning and positioning of the sampling point. The soil sampler 3 is installed at the end of the robotic arm 2 and is a cylindrical sampler with a specific volume and cutting edge, used to cut and contain a soil sample with a basically fixed volume and mass from the soil surface.

[0030] Please see the appendix Figure 1 - Appendix Figure 2 The density control module includes a reaction frame 12 and a pressure plate 9 located below the reaction frame 12. Each of the four corners of the pressure plate 9 is welded with a lifting lug. A vertical tube 10 is threadedly connected to the upper surface of the pressure plate 9. A compaction hammer 11 is provided on the upper surface of the pressure plate 9, and a lifting lug is welded to the upper surface of the compaction hammer 11.

[0031] The compaction control module is used for compacting the entire large soil sample. The reaction frame 12 is a large, high-rigidity, fixed frame structure spanning the entire test site, providing a stable balancing base for the enormous impact and reaction forces generated during compaction. The pressure plate 9 is a large-area, high-strength, flat metal plate, its dimensions matching the surface dimensions of the large soil sample. As the interface directly in contact with the soil, its function is to evenly distribute the single-point impact force across the entire soil surface. The vertical tube 10 serves as a guide and connecting component, its lower end connected to the center of the pressure plate 9, ensuring the vertical movement of the pressure plate 9. The compaction hammer 11 is a heavy block fitted outside the vertical tube 10, used to transfer potential or kinetic energy to the pressure plate 9 through free fall or forced impact, thereby compacting the soil below. The lifting lugs welded to the pressure plate 9 and the compaction hammer 11 are structural joints connecting to the lifting drive device.

[0032] Please see the appendix Figure 1 - Appendix Figure 2 The compaction control module also includes a chain lifter 13. An I-beam is provided between the reaction frames 12. Multiple equally spaced lifting lugs are provided on the lower side of the I-beam. One end of the chain lifter 13 is fixedly connected to the inside of the lifting lugs at both ends of the I-beam. The other end of the chain lifter 13 is fixedly connected to the lifting lugs at the four corners of the pressure plate 9. A crossbeam is provided in the middle of the reaction frame 12. Holes are opened inside the crossbeam. The side wall of the vertical tube 10 is slidably connected to the inside of the hole. Lifting lugs are provided on the lower side of the crossbeam. One end of the chain lifter 13 is fixedly connected to the inside of the lifting lug. The other end of the chain lifter 13 is fixedly connected to the compaction hammer 11.

[0033] The chain hoist 13 is an electric actuator directly controlled by the intelligent control center 8. The entire drive system is divided into two groups: the first group of chain hoists controls the overall lifting and lowering of the pressure plate 9, with its lifting chains connected to the lifting lugs at the four corners of the pressure plate 9. Through synchronous lifting, the distance between the pressure plate 9 and the soil surface can be precisely controlled, or it can be lifted away after the operation is completed. The second group of chain hoists is dedicated to driving the compaction hammer 11. Its lifting chain is connected to the lifting lugs of the compaction hammer 11. During compaction operations, this group of hoists will lift the compaction hammer 11 to a preset, constant height according to the instructions issued by the intelligent control center 8, and then release it, allowing it to fall freely down the vertical pipe 10 to impact the pressure plate 9. The crossbeam in the middle of the reaction frame 12 and the holes on it provide central support and guidance for the vertical pipe 10, ensuring the stability and verticality of the compaction hammer 11 during reciprocating motion.

[0034] Please see the appendix Figure 1 - Appendix Figure 2The moisture content control module includes a water tank 14, which is located on the side wall of the reaction frame 12. A water pump 15 is installed on the side wall of the water tank 14. Connecting pipes 16 are installed at both ends of the water pump 15. One end of the connecting pipe 16 is fixedly connected to the side wall of the water tank 14. A water inlet hole 18 is opened on the side wall of the pressure plate 9. The other end of the connecting pipe 16 is threaded into the inside of the water inlet hole 18. Multiple water outlet holes 19 are opened at the bottom of the pressure plate 9. A water pipe 17 is fixedly connected to the side wall of the connecting pipe 16.

[0035] The function of the moisture content control module is to uniformly replenish moisture to large soil samples. Water tank 14 serves as a water storage container. Water pump 15 is a metering pump whose start / stop and flow rate can be controlled by the intelligent control center 8. Water pipe 17 and connecting pipe 16 together form the water supply pipeline from water pump 15 to pressure plate 9. Pressure plate 9 is not only used for compaction but is also designed as a large sprinkler head. After being pressurized by water pump 15, the water flows through the pipeline into the inlet hole 18 on the side wall of pressure plate 9 and disperses within the cavity or pre-set flow channel inside pressure plate 9. Multiple smaller outlet holes 19 are evenly distributed on the bottom surface of pressure plate 9, the side in contact with the soil. When water pump 15 is working, water is evenly applied to the entire soil surface through these outlet holes 19 in a manner similar to spraying or drip irrigation, thereby achieving uniform water replenishment over a large area and avoiding soil erosion and localized excessive moisture content caused by single-point water injection.

[0036] Please see the appendix Figure 1 - Appendix Figure 2 The physical parameter testing device for soil and rock includes a density tester 20 and a moisture content tester 21. Both the density tester 20 and the moisture content tester 21 are connected to a data cable 7, which is connected to the intelligent control center 8.

[0037] The density tester 20 and moisture content tester 21 are data acquisition terminals for closed-loop control. They are placed at a fixed testing station. After the soil sampling module completes sampling, the robotic arm 2 moves the soil sampler 3 to the testing station. The density tester 20 is used to determine the dry density of the soil sample, which can be calculated by measuring its mass and volume and combining it with the moisture content data. The moisture content tester 21 is used to determine the moisture content of the soil sample. It can use measurement principles that can quickly obtain readings, such as high-frequency capacitance method, resistance method, or neutron method, to meet the efficiency requirements of automated processes. Both testers integrate sensors and transmitters that convert the measured physical quantities into standard electrical signals. The digitized density and moisture content data are transmitted to the intelligent control center 8 in real time and accurately via data line 7, serving as the data basis for subsequent judgment and control decisions.

[0038] See attached document Figure 3 , attached Figure 3This is a flowchart illustrating an intelligent control method for the physical properties of large soil samples according to an embodiment of the present invention. The method provided by the present invention operates as an automated closed-loop feedback control system. The main body executing the method is the intelligent control center 8 described in the foregoing embodiment, whose internal control program can be logically divided into multiple functional modules.

[0039] In one specific embodiment, the control program inside the intelligent control center 8 includes: parameter setting module a, data acquisition module b, comparison and judgment module c, control command generation module d, and execution control module e.

[0040] The overall flow of the method of this invention begins in the initialization phase. Parameter setting module a receives externally input target physical property parameters, specifically the target dry density. and target moisture content These target physical properties serve as the benchmark for all subsequent automated operations.

[0041] After the process enters the cyclic execution phase, the data acquisition module b first activates the soil and rock physical parameter testing device. The device obtains a soil sample from a predetermined or random location of the large soil sample using the soil sampling module, and the density tester 20 and moisture content tester 21 determine the current physical parameters of the soil sample to obtain the current dry density. and current moisture content The test results are transmitted to data acquisition module b via data cable 7.

[0042] Data acquisition module b will acquire the current parameters and The parameter is passed to the comparison and judgment module c. The comparison and judgment module c compares the current parameter with the target parameter stored in the parameter setting module a. and The parameters are compared. If the deviation between the current parameter and the target parameter is within the preset error threshold, the physical properties are deemed to meet the standard, and the process terminates. If the deviation exceeds the threshold, the deviation value is transmitted to the control command generation module d, and the control operation is triggered.

[0043] Based on the received deviation value, the control command generation module d calculates the amount of adjustment work required to eliminate the deviation. For compaction adjustment, the control command generation module d calculates the number of hammer blows required based on the following formula. : ; in, The calculated number of hammer blows required to complete the compaction process; A compaction coefficient is a pre-calibrated compaction coefficient based on physical conditions such as soil type, weight of compaction hammer 11, drop height, and area of ​​pressure plate 9. The preset target dry density; The current dry density is measured by the density tester 20.

[0044] For moisture content control, the control command generation module d calculates the duration for which pump 15 needs to operate continuously based on the following formula. : ; ; in, The calculated continuous operating time required for water pump 15; The calculated mass of water that needs to be replenished; The mass of the soil sample taken by soil sampler 3 can be obtained through pre-calibration or real-time weighing. The preset target moisture content; The current moisture content is measured by the moisture content tester 21; Let be the density of water, and be a known constant. is the rated flow rate of water pump 15, and is an inherent parameter of the equipment.

[0045] The control instruction generation module d will calculate the workload ( or The data is sent to the execution control module e. The execution control module e converts the workload into a low-level control signal for the specific actuator (such as chain hoist 13 or water pump 15) in the soil and rock physical property control device, and drives it to complete a quantitative control operation.

[0046] After a control operation is completed, the system process does not terminate but automatically returns to the data acquisition step, starting a new cycle of sampling, testing, comparison, calculation, and control execution. This iterative process continues until the comparison module c determines the currently measured data. and All parameters have been brought within the allowable error range of the target parameters, and the entire intelligent control process has ended.

[0047] See attached document Figure 3 The initial step of the method of the present invention is the setting and initialization of the target physical property parameters. The initial step is executed by the parameter setting module a in the aforementioned embodiment, providing an initial benchmark and final target for the entire automated control process.

[0048] In one specific embodiment, the initial steps are performed via a human-machine interface connected to the intelligent control center 8. The human-machine interface can be a touchscreen or a monitor and keyboard connected to an industrial control computer. According to the experimental design requirements, the operator inputs the target dry density to be achieved for the large soil sample in the designated input area of ​​the human-machine interface. The numerical value and target moisture content The numerical value. For example, input the target dry density. The target moisture content is 1.85 g / cm³. It is 15.0%.

[0049] To ensure stable convergence of the control process and define the conditions for task completion, this step also includes setting an allowable error threshold corresponding to the target parameter. Specifically, the operator needs to set a dry density error threshold. and a moisture content error threshold These two thresholds define an acceptable range around the target value. For example, setting... It is ±0.02 g / cm³. It is ±0.5%.

[0050] After the numerical input is completed, parameter setting module a will set these parameters. These parameters are stored in designated registers or memory areas within the intelligent control center 8. These parameters remain constant throughout the entire control process's lifecycle, serving as the benchmark for logical judgments by the comparison and judgment module c in subsequent steps. Once the parameters are set and confirmed, the intelligent control center 8 completes initialization, the entire automation control process is activated, and it proceeds to the next step.

[0051] See attached document Figure 1 Appendix Figure 2 and appendix Figure 3 After the target physical property parameters are set and initialized, the intelligent control center 8 automatically enters the step of automated sampling and real-time testing of physical parameters. This step is the data acquisition stage of the closed-loop control system, and its purpose is to obtain the real physical property parameters of large soil samples under the current state.

[0052] This step begins with the spatial positioning of the sampling points and the soil sampling operation. The execution control module e of the intelligent control center 8 generates the three-dimensional spatial coordinates (X, Y, Z) of the sampling points according to a preset sampling strategy. The sampling strategy can be a specific coordinate sequence input during the parameter setting stage, or it can be a standardized point layout scheme built into the system, such as dividing the soil sample surface into a nine-square grid and sampling sequentially at the center of each grid to ensure the representativeness of the samples.

[0053] After the positioning command is issued, the soil sampling module begins to operate. First, the servo motor at the bottom of base 1 starts, driving base 1 to move in the XY plane directly below the target coordinates. Next, the motor controlling the height of the column starts, driving the inner tube 5 to slide axially relative to the outer tube 4 until the initial height of the soil sampler 3 reaches the target Z coordinate. Finally, multiple joint motors of the robotic arm 2 work in concert, precisely adjusting the position and orientation of the soil sampler 3 according to the inverse kinematic solution calculated by the intelligent control center 8, so that its cutting edge is vertically aligned with and slightly contacts the target sampling point on the soil surface.

[0054] After positioning is complete, robotic arm 2 applies a vertically downward pressure, which will move the robot to a position with a known standard volume. The soil sampler 3 is smoothly pressed into the soil until it is completely filled. Then, the robotic arm 2 performs a slight rotation and translation to sever the soil connection at the bottom of the soil sampler 3 and remove it from the soil intact and undisturbed.

[0055] Next, the soil sample is transferred and its physical parameters are measured. The robotic arm 2 lifts the soil sampler 3 to a safe height, and the base 1 transports the entire sample to the testing station. At the testing station, the robotic arm 2 precisely places the soil sampler 3 onto the weighing unit of the compaction tester 20.

[0056] The core of the compaction tester 20 is a high-precision electronic balance. It first measures the total mass of the soil sampler 3 and the moist soil inside. Due to the mass of the soil sampler 3 itself. It is a known, pre-calibrated constant, therefore the mass of the wet soil It is possible The calculated wet density of the soil sample at this point is... You can pass The calculation yielded the result.

[0057] Simultaneously or shortly thereafter, the moisture content tester 21 measures the moisture content of the soil sample within the soil sampler 3. In one specific embodiment, the moisture content tester 21 employs the high-frequency capacitance method. Its test probe is automatically inserted into the soil sample, and the volumetric moisture content of the soil is determined by measuring the change in the dielectric constant of the soil medium between the probes. The mass moisture content is then calculated by combining this with the specific gravity of the soil particles. This method requires no drying and can complete a precise measurement within tens of seconds.

[0058] After the two testers complete the measurement, data acquisition module b receives the wet density. and current moisture content The numerical value. The algorithm inside data acquisition module b will automatically calculate the current dry density based on the physical relationship between dry density, wet density, and moisture content. : ; Finally, the current dry density was calculated. and the current moisture content measured directly These two key parameters are transmitted via data line 7 to the comparison and judgment module c of the intelligent control center 8 using industrial bus protocols such as RS-485 or Modbus, for subsequent comparison and judgment.

[0059] See attached document Figure 3 After obtaining the current dry density of a large soil sample Compared with the current moisture content Next, the process flow enters the step of intelligent judgment and control command generation and execution. This step is the core link in realizing closed-loop control, and it is completed collaboratively by the comparison and judgment module c, the control command generation module d, and the execution control module e within the intelligent control center 8.

[0060] The comparison and judgment module c first receives the current parameters passed in by the data acquisition module b. and The comparison and judgment module c then reads the target dry density set in step S1 from the internal storage area. Target moisture content and the corresponding error threshold and It performs two independent numerical comparisons: first, it calculates the absolute deviation between the current dry density and the target dry density. And determine whether the deviation is less than or equal to the set error threshold. The second step is to calculate the absolute deviation between the current moisture content and the target moisture content. And determine whether the deviation is less than or equal to the set error threshold. .

[0061] Based on the comparison and judgment results, the system makes control decisions. If both deviation values ​​are within their respective error threshold ranges, the comparison and judgment module c determines that the physical properties of the current soil sample have met the standards and generates a process termination signal, ending the entire automated control process. Conversely, if any one or both deviation values ​​exceed the threshold, the comparison and judgment module c triggers the control command generation module d and initiates the corresponding control operation according to the preset control logic. In a preferred embodiment, the control logic is set to prioritize controlling the compaction density, and then control the moisture content after the compaction density meets the standards, in order to avoid interference from moisture content changes on the compaction effect.

[0062] When the determination result indicates that density adjustment is required, the control command generation module d is activated. The control command generation module d first determines the required density based on the received current dry density. and target dry density Based on the built-in compaction control model, i.e., the formula The number of hammer blows required by the compaction hammer 11 to achieve the target density is calculated. The compaction coefficient here This is a key empirical parameter, derived through a series of calibration tests on a specific type of soil before the actual test. Its value comprehensively reflects the mass of the compaction hammer 11, the standard drop height, the area of ​​the pressure plate 9, and the compressibility characteristics of the soil itself. The calculated... The value will be rounded up to the nearest integer.

[0063] The control instruction generation module d will calculate the integer value The command is sent to the execution control module e. The execution control module e then sends a cyclic execution command sequence to the chain hoist 13 that controls the impact hammer 11. This sequence includes three basic actions: lifting to a preset height H, releasing, and waiting for the impact to complete. The execution control module e precisely repeats this command sequence. This completes one quantitative compaction operation.

[0064] When the determination result indicates that moisture content adjustment is required (usually after the density requirement has been met), the control command generation module d is activated to perform water addition calculations. The control command generation module d first determines the water addition calculation based on the received current moisture content. and target moisture content and the total mass of the pre-input large soil sample According to the formula Calculate the total mass of water that needs to be replenished. Subsequently, the control command generation module d, based on the known water density... and the rated flow rate of the calibrated water pump 15 According to the formula Calculate the precise duration for which water pump 15 needs to operate continuously. .

[0065] The control instruction generation module d will calculate the duration. The signal is sent to the execution control module e. The execution control module e then sends a start signal to the power controller of the water pump 15 and simultaneously starts an internal high-precision timer. When the timer's count reaches... At this time, the execution control module e immediately sends a stop signal to the power controller of the water pump 15. In this way, the system applies a fixed amount of water evenly to the surface of the soil sample through the water outlet 19 at the bottom of the pressure plate 9, completing a fixed amount of moisture content control operation.

[0066] See attached document Figure 3A core feature of the method of this invention lies in its iterative cycle and system convergence mechanism. After a control operation (whether it is density control or moisture content control) in step S5 is completed, the entire control process does not terminate immediately, but automatically enters the next iterative cycle until the physical property parameters of the soil sample converge to the preset target range.

[0067] Specifically, once the execution control module e confirms the completion of a quantitative compaction or water replenishment operation, it returns a status signal indicating that the single control operation is complete to the main control program of the intelligent control center 8. Upon receiving this signal, the main control program starts a preset stabilization waiting timer.

[0068] The purpose of setting this stabilization waiting period is that physical regulation of soil properties requires a certain amount of time to reach a stable and uniform state. For example, after compaction, the pore water pressure inside the soil needs time to dissipate, and the soil particle skeleton needs time to reach a new equilibrium. After water replenishment, the newly added water needs to infiltrate and diffuse within the soil through capillary action and gravity to achieve a uniform distribution of moisture content. The specific value of this waiting time, such as 30 minutes or 60 minutes, can be pre-input during the parameter setting stage, based on the permeability and consolidation characteristics of the soil type (e.g., sand, clay).

[0069] Once the stabilization timer expires, the main control program will reactivate data acquisition module b and automatically return to step S2, beginning a new complete cycle from sampling to testing to judgment and adjustment. The system will instruct the soil sampling module to take a sample at a new location on the surface of the large soil sample (different from the previous sampling point to ensure global representativeness of the sample), and repeat step S3 to measure the latest dry density of the soil sample after one round of adjustment. and current moisture content .

[0070] After obtaining the new current parameters, the process re-enters step S4. The comparison and judgment module c will then... and With fixed target parameters and A new round of comparisons will be conducted. If the parameter deviation is still outside the allowable error threshold, the system will execute step S5 again based on the new deviation value to calculate the number of compaction passes required for the next round of control. or water pump operating time This drives the corresponding control module to perform this smaller-scale fine-tuning operation.

[0071] This iterative process of adjustment, waiting, remeasurement, and re-adjustment will continue automatically. As the number of cycles increases, through this closed-loop negative feedback mechanism, the current physical property parameters... and It will gradually approach the target value. and .

[0072] The final condition for system convergence is determined by the comparison and judgment module c. In a certain iteration loop, when the latest measured current dry density... and current moisture content When both of the following inequalities are satisfied: ; ; The comparison and judgment module c will determine that the system has converged, meaning that the physical properties of the soil sample have reached the preset target requirements. At this point, it will no longer trigger control commands, but will generate a final status signal indicating that the task is completed. The entire automated control process will officially end, and the device will stop all operations and enter standby mode.

Claims

1. A smart control device for the physical properties of large soil samples, characterized in that, include: The intelligent control center (8) is connected to the soil and rock physical parameter testing device and the soil and rock physical property control device respectively. The soil and rock physical parameter testing device includes a soil sampling module, and the soil and rock physical property control device includes a density control module and a moisture content control module. The soil sampling module includes a base (1), an outer tube (4) is threadedly connected to the upper surface of the base (1), an inner tube (5) is slidably connected inside the outer tube (4), a buckle (6) is fixedly connected to the side wall of the inner tube (5), the buckle (6) engages with the inside of the outer tube (4), a mechanical arm (2) is hinged to the upper end of the inner tube (5), and a soil sampler (3) is installed on the end wall of the mechanical arm (2).

2. The intelligent control device for the physical properties of a large soil sample according to claim 1, characterized in that, The density control module includes a reaction frame (12) and a pressure plate (9) located below the reaction frame (12). The pressure plate (9) has lifting lugs welded to its four corners. A vertical tube (10) is threadedly connected to the upper surface of the pressure plate (9). A compaction hammer (11) is provided on the upper surface of the pressure plate (9). The upper surface of the compaction hammer (11) has lifting lugs welded to its upper surface.

3. The intelligent control device for the physical properties of a large soil sample according to claim 2, characterized in that, The density control module also includes a chain lifter (13). An I-beam is provided between the reaction frames (12). Multiple equally spaced lifting lugs are provided on the lower side of the I-beam. One end of the chain lifter (13) is fixedly connected to the inside of the lifting lugs at both ends of the I-beam. The other end of the chain lifter (13) is fixedly connected to the four corner lifting lugs of the pressure plate (9). A crossbeam is provided in the middle of the reaction frame (12). A hole is opened inside the crossbeam. The side wall of the vertical tube (10) is slidably connected to the inside of the hole. A lifting lug is provided on the lower side of the crossbeam. One end of the chain lifter (13) is fixedly connected to the inside of the lifting lug. The other end of the chain lifter (13) is fixedly connected to the compaction hammer (11).

4. The intelligent control device for the physical properties of a large soil sample according to claim 3, characterized in that, The moisture content control module includes a water tank (14), which is located on the side wall of the reaction frame (12). A water pump (15) is provided on the side wall of the water tank (14). A connecting pipe (16) is provided at both ends of the water pump (15). One end of the connecting pipe (16) is fixedly connected to the side wall of the water tank (14). A water inlet hole (18) is provided on the side wall of the pressure plate (9). The other end of the connecting pipe (16) is threaded into the water inlet hole (18). Multiple water outlet holes (19) are provided at the bottom of the pressure plate (9). A water pipe (17) is fixedly connected to the side wall of the connecting pipe (16).

5. The intelligent control device for the physical properties of a large soil sample according to claim 1, characterized in that, The physical parameter testing device for soil and rock includes a density tester (20) and a moisture content tester (21). Both the density tester (20) and the moisture content tester (21) are connected to a data cable (7), which is connected to the intelligent control center (8).

6. A method for intelligent control of the physical properties of large soil samples, characterized in that, The intelligent control device for the physical properties of a large soil sample according to any one of claims 1-5, wherein the method uses a large soil sample as the control object, includes the following steps: S1. Set the target compaction and target moisture content of the large soil sample through the intelligent control center (8); S2, control the soil sampler (3) of the soil sampling module to take out a local soil sample from the predetermined position of the large soil sample; S3. The local soil sample is placed in a compaction tester (20) and a moisture content tester (21) for testing to obtain the current compaction and current moisture content that can characterize the current state of the large soil sample. S4. The intelligent control center (8) compares the current density and the current moisture content with the target density and target moisture content set in step S1 to make a judgment. S5. When the judgment result is that the target has not been achieved, the soil and rock physical property control device is activated to control the large soil sample.

7. The intelligent control method for the physical properties of large soil samples according to claim 6, characterized in that, The specific steps for controlling the soil sampling module in step S2 are as follows: The control base (1) moves and rotates to a predetermined position above the large soil sample. Through the relative sliding of the inner tube (5) and the outer tube (4) and the rotation of the robotic arm (2), the soil sampler (3) is positioned to the sampling point corresponding to the predetermined position.

8. The intelligent control method for the physical properties of large soil samples according to claim 6, characterized in that, The control operation in step S5 includes a density control step, which is as follows: The intelligent control center (8) controls the chain lifter (13) to drive the compaction hammer (11) to compact the pressure plate (9) along the vertical pipe (10), thereby regulating the density of the large soil sample.

9. The intelligent control method for the physical properties of large soil samples according to claim 6, characterized in that, The regulation operation in step S5 includes a moisture content regulation step, which is as follows: The intelligent control center (8) controls the water pump (15) to pump water from the water tank (14) into the pressure plate (9) through the connecting pipe (16) and the water inlet (18), and add it to the large soil sample through the water outlet (19), thereby regulating the moisture content of the large soil sample.

10. The intelligent control method for the physical properties of a large soil sample according to claim 6, characterized in that, After the adjustment operation in step S5 is completed, return to and repeat the iterative loop of steps S2, S3, S4 and S5 until the intelligent control center (8) determines in step S4 that the current density and the current moisture content have reached the target density and the target moisture content.

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