Intelligent milling construction method for waterproof curtain based on three-layer closed-loop control system

Abstract

A waterproof curtain intelligent milling construction method based on a three-layer closed-loop control system belongs to the field of deep foundation pit waterproof curtain construction in geotechnical engineering, and comprises the following steps: constructing the three-layer closed-loop control system; superfine cement paste is injected into the soft and hard interface crack through the grouting module, and pretreatment of the stratum interface is achieved; intelligent milling control is realized by using an LSTM neural network model; and correcting the deviation in real time. Force is dynamically applied through the hydraulic deviation rectifying plate, real-time response is quicker and faster, the problem that perpendicularity is out of control due to stratum sudden change is solved, and perpendicularity control precision is improved. The construction efficiency is greatly improved, the leakage accident rate is reduced by 90% or above, the construction period is shortened, and the cost is reduced; according to the method, the construction quality is improved, and the problem of construction quality fluctuation caused by manual experience dependence is avoided; the grouting pressure is dynamically matched through sound wave stratum sensing, the slurry utilization rate is increased, the diffusion radius can be accurately controlled, and slurry waste is avoided.

Description

Technical Field

[0001] This invention belongs to the field of deep foundation pit water-stop curtain construction technology in geotechnical engineering, specifically involving an intelligent milling construction method for water-stop curtain based on a three-layer closed-loop control system. Background Technology

[0002] With the acceleration of urbanization, deep foundation pit engineering is widely used in subways, high-rise buildings, and underground commercial complexes. Especially in coastal cities, there is a common composite stratum of soft upper and hard lower layers (shallow layer consisting of silty soil and sand, deep layer of moderately weathered rock or granite). In these strata, groundwater is abundant and highly permeable, placing extremely high demands on the seepage prevention performance of the cutoff wall. Traditional techniques such as the three-axis mixing pile (SMW method) lack sufficient penetration in hard rock layers, easily leading to problems such as wall discontinuity and increased leakage risk, directly affecting the safety of the foundation pit and the stability of surrounding buildings.

[0003] Currently, the construction technology for seepage barriers at the interface between soft soil and hard rock (such as soft upper and hard lower strata) mainly faces the following technical bottlenecks:

[0004] (1) Formation adaptability defects;

[0005] SMW method: Due to the limited torque of the drill rod, the pile depth in gravel or rock layers (uniaxial compressive strength > 30MPa) is usually less than 30m, and the verticality deviation is > 0.5%, resulting in loose wall overlap.

[0006] TRD construction method: Although it can form a continuous wall of uniform thickness, the efficiency of the chainsaw cutting box drops sharply in hard rock, and the height of the equipment is limited, making ultra-deep (>50m) construction difficult.

[0007] (2) Insufficient level of intelligence;

[0008] Traditional methods rely on manual experience to adjust parameters, lacking real-time geological awareness. For example, at the interface between soft and hard rock (such as clay-sandstone abrupt change layers), the drill bit is prone to deflection or jamming, leading to decreased efficiency (milling speed in hard rock sections is only 0.5-1.0 m / h) and abnormal tool wear (life <15 linear meters / set).

[0009] (3) Environmental and economic shortcomings;

[0010] Traditional mixing pile technology has low cement utilization (about 70%) and large waste slurry discharge. Although the CSM method increases the utilization rate to 90%, the high maintenance cost of the hydraulic system of imported equipment (such as Bauer of Germany) restricts its promotion.

[0011] In summary, existing methods for constructing cutoff walls at the interface between soft soil and hard rock (such as soft upper and hard lower strata) mainly suffer from the following technical problems:

[0012] First, the problem of uncontrolled verticality caused by abrupt changes in strata;

[0013] Traditional twin-wheel milling machines, at interfaces between soft and hard materials (such as silt → granite), suffer from uneven stress on the milling head due to differences in soil stiffness (soft soil elastic modulus ≤50MPa vs hard rock ≥5GPa), leading to deviations in verticality >0.5% (industry standard requires ≤0.3%). This can result in loose wall joints, creating leakage channels (permeability coefficient >5×10⁻⁶). -6 (cm / s); it can also cause excessive settlement of nearby buildings.

[0014] Second, there are problems with low construction efficiency and high costs in hard rock sections;

[0015] Milling speeds in hard rock formations (strength > 50 MPa) are only 0.5–1.0 m / h, with tool wear rates as high as 15 linear meters per set. Meanwhile, imported hobs cost over 200,000 yuan each, and frequent replacements drive up costs. This can extend the project timeline by 30% and increase tooling costs by over 2 million yuan per project.

[0016] Third, the problem of construction quality fluctuations caused by reliance on manual experience;

[0017] Parameter adjustments rely on manual experience and cannot respond in real time to formation changes (e.g., response delay > 5 min when torque surge ≥ 50 kN·m); simultaneously, there is a mismatch between grouting pressure and formation permeability, resulting in grout utilization rate < 70%. This can lead to poor interfacial bonding, the formation of weak permeability zones, 30% cement waste, and a 15% increase in waste grout treatment costs. Summary of the Invention

[0018] To address the problems of uncontrolled verticality due to abrupt changes in strata, low construction efficiency and high costs in hard rock sections, and construction quality fluctuations caused by reliance on manual experience in existing methods for constructing cutoff walls at the interface of soft soil and hard rock (such as soft upper and hard lower strata), this invention provides an intelligent milling construction method for cutoff walls based on a three-layer closed-loop control system. This method is mainly applicable to the construction of cutoff walls at the interface of soft soil and hard rock (such as soft upper and hard lower strata).

[0019] The technical solution adopted by this invention to solve the technical problem is as follows:

[0020] This invention provides a three-layer closed-loop control system for geological sensing, intelligent decision-making, and precise execution, specifically comprising:

[0021] A geological sensing layer consisting of a drilling acoustic sensor and a drilling torque sensor, wherein the drilling acoustic sensor is used to identify formation interfaces in real time;

[0022] An intelligent decision-making layer composed of LSTM neural network models is used to optimize construction parameters;

[0023] The execution control layer consists of a hydraulic module, a grouting module, a vibration module, and a tool switching mechanism. The hydraulic module is used to adjust the milling speed, downforce, and grouting pressure to match the formation changes. The grouting module is used to inject ultrafine cement slurry into the soft-hard interface cracks. The vibration module is used to accelerate the tool's entry speed into the rock to achieve vibration drag reduction. The tool switching mechanism is used to switch the rolling cutter mode.

[0024] Furthermore, the drilling acoustic sensor is embedded in the central rotating shaft of the dual-wheel milling head; the distance between the probe tip of the drilling acoustic sensor and the cutting surface of the dual-wheel milling head hub is ≤15cm; the frequency of the drilling acoustic sensor is set to 1~10kHz.

[0025] Furthermore, the hydraulic module is implemented using a real-time hydraulic correction system, which consists of an angle sensor and a hydraulic correction plate. The angle sensor is installed at the top center and four corners of the dual-wheel milling head housing to collect three-dimensional attitude data in real time. The hydraulic correction plate is installed on the side wall of the dual-wheel milling head housing to correct the motion trajectory of the dual-wheel milling head housing.

[0026] Furthermore, the vibration module is implemented using a high-frequency vibration damping device, which is embedded between the input and output rings of the dual-wheel milling power head and closely attached to the rubber damping body.

[0027] Furthermore, the tool switching mechanism is embedded in the non-cutting side of the dual-wheel milling head hub and fixed to the dual-wheel milling head hub base by high-strength bolts.

[0028] This invention provides an intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system, specifically including the following steps:

[0029] Step S1: Construct a three-layer closed-loop control system;

[0030] Step S2: Use the grouting module to inject ultrafine cement grout into the cracks at the soft-hard interface to achieve pretreatment of the formation interface;

[0031] Step S3: Implement intelligent milling control using an LSTM neural network model;

[0032] Step S4: Real-time correction.

[0033] Furthermore, in step S2, the water-cement ratio of the ultrafine cement slurry is 0.6:1 to 1.0:1, and the grouting pressure is 1.2 to 1.8 MPa.

[0034] Furthermore, the specific implementation process of step S3 is as follows:

[0035] S3.1 uses a drilling acoustic sensor to identify the formation interface in real time. When the formation interface is a soft soil layer, the milling speed, downforce, and grouting pressure are adjusted by a hydraulic real-time correction system. The milling speed is 2.5 to 3 m / h, the downforce is ≤150 kN, and the grouting pressure is 0.8 to 1.5 MPa.

[0036] S3.2 uses a drilling acoustic sensor to identify the formation interface in real time. When the formation interface is a soft-hard interface, a high-frequency vibration mode is triggered. The vibration frequency of the high-frequency vibration damping device is 10-15Hz. The milling speed is adjusted to 0.8-1.0m / h and the downforce is increased to 150-180kN through the hydraulic real-time correction system.

[0037] S3.3 uses a drilling acoustic sensor to identify the formation interface in real time. When the formation interface is a hard rock layer, the hobbing mode is switched through the tool switching mechanism, and the milling speed is adjusted to 1.2-1.8 m / h, the downforce is 180-300 kN, and the grouting pressure is 2.5-3.0 MPa through the hydraulic real-time correction system.

[0038] Furthermore, in step S4, a real-time vibration damping operation is performed using a high-frequency vibration damping device, with a vibration frequency of 12-15Hz and an amplitude of 0.5-1.0mm.

[0039] Furthermore, in step S4, every 1-2m of drilling, the attitude angle deviation value measured by the tilt sensor is fed back, and a lateral force of 50-80kN is applied by the hydraulic correction plate to correct the deviation of the movement trajectory of the twin-wheel milling head box.

[0040] The beneficial effects of this invention are:

[0041] Firstly, this invention achieves a millimeter-level breakthrough in verticality control;

[0042] This invention utilizes a hydraulic correction plate to dynamically apply force. Compared to manual correction, the LSTM neural network model provides a faster and more efficient real-time response, resolving the issue of verticality loss due to abrupt changes in strata and improving verticality control accuracy. This invention can meet the requirements for constructing anti-seepage walls at the interface between soft soil and hard rock (such as soft upper and hard lower strata), and can be rapidly applied in rail transit, water conservancy and energy projects, and urban renewal projects, demonstrating a wide range of applicability.

[0043] Secondly, this invention greatly improves construction efficiency, reduces leakage accident rate by more than 90%, and shortens construction period and cost.

[0044] This invention accelerates the cutting speed into the rock by using a high-frequency vibration drag reduction device, while optimizing the milling speed in real time through intelligent parameter matching. Combined with a modular tool set design, it extends the tool life and solves the problems of low construction efficiency and high cost in hard rock sections.

[0045] Thirdly, this invention improves construction quality and avoids the problem of construction quality fluctuations caused by reliance on human experience;

[0046] This invention uses acoustic strata sensing: 1-10kHz acoustic waves identify the permeability coefficient, dynamically match the grouting pressure, improve grout utilization, and can accurately control the diffusion radius, thus avoiding grout waste. Attached Figure Description

[0047] Figure 1 This invention provides a structural block diagram of a three-layer closed-loop control system consisting of "geological perception, intelligent decision-making, and precise execution".

[0048] Figure 2 This invention provides a schematic diagram of the structural principle of a three-layer closed-loop control system of "geological perception-intelligent decision-making-precise execution".

[0049] Figure 3 The image shows a microscopic view of the soft-hard interface obtained using an intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system provided by this invention.

[0050] Figure 4 This is a microscopic image of the soft-hard interface obtained using the traditional twin-wheel milling method.

[0051] In the figure, 1. Sonic sensor while drilling, 2. Terminal equipment, 3. Hydraulic correction plate, 4. Vibration module, 5. Tool switching mechanism. Detailed Implementation

[0052] The present invention will be further described in detail below with reference to the accompanying drawings.

[0053] Firstly, the present invention provides a three-layer closed-loop control system of "geological perception-intelligent decision-making-precise execution".

[0054] This invention provides a three-layer closed-loop control system of "geological perception-intelligent decision-making-precise execution", which solves the problems of uncontrolled verticality, low efficiency and quality fluctuation in composite strata with soft upper and hard lower layers by dynamically identifying the stratigraphic interface and optimizing construction parameters in real time.

[0055] like Figure 1 and Figure 2 As shown, the present invention provides a three-layer closed-loop control system of "geological perception-intelligent decision-making-precise execution", which mainly consists of three modules: the geological perception layer, the intelligent decision-making layer and the execution control layer.

[0056] According to the present invention, the geological sensing layer is mainly composed of a drilling acoustic sensor 1 and a drilling torque sensor.

[0057] Specifically, the acoustic sensor 1 used while drilling is embedded in the central rotating shaft of the dual-wheel milling head, and the distance between the tip of the probe of the acoustic sensor 1 and the cutting surface of the hub of the dual-wheel milling head is ≤15cm. This invention can identify the formation interface, such as soft soil or hard rock, in real time through the acoustic sensor 1 used while drilling.

[0058] Preferably, the frequency of the drilling acoustic sensor 1 is set to 1 to 10 kHz.

[0059] Specifically, the drilling torque sensor is installed at the flange connecting the hydraulic motor output end and the gearbox input shaft, and is mainly used to monitor changes in milling torque in real time.

[0060] According to the present invention, the intelligent decision-making layer mainly uses the LSTM neural network model to realize its specific functions. Data such as formation strength and tool status are input into the LSTM neural network model, and the LSTM neural network model dynamically outputs optimized construction parameters.

[0061] Specifically, the LSTM neural network model is embedded in terminal device 2.

[0062] Preferably, the terminal device 2 can be an industrial-grade embedded industrial control computer (Intel i7 processor + 32G RAM) + real-time edge computing module, etc., but is not limited to this.

[0063] According to the present invention, the execution control layer mainly consists of a hydraulic module, a grouting module, a vibration module 4, and a tool switching mechanism 5.

[0064] Specifically, the hydraulic module is implemented using a real-time hydraulic correction system, which is mainly used to adjust the milling speed, downforce, and grouting pressure to match changes in the formation.

[0065] Preferably, the hydraulic real-time correction system mainly consists of a tilt sensor (accuracy ±0.01°) and a hydraulic correction plate 3. The tilt sensor is installed at the top center and four corners of the twin-wheel milling head housing, mainly used for real-time acquisition of three-dimensional attitude data; the hydraulic correction plate 3 is installed on the side wall of the twin-wheel milling head housing, mainly used for correcting the motion trajectory of the twin-wheel milling head housing.

[0066] Specifically, the grouting module adopts a special mixing station for ultrafine cement slurry, a hydraulically driven plunger grouting pump, and a dual-circuit grouting pipeline system, which is mainly used to inject ultrafine cement slurry into the cracks at the interface between soft and hard surfaces.

[0067] Specifically, vibration module 4 is implemented using a high-frequency vibration damping device. The high-frequency vibration damping device is embedded between the input and output rings of the dual-wheel milling power head and closely attached to the rubber damping body. It is mainly used to accelerate the cutting speed into the rock and perform real-time vibration damping operation.

[0068] Specifically, the tool switching mechanism 5 is embedded in the non-cutting side of the dual-wheel milling head hub (at a 90° angle with the tool arm) and fixed to the dual-wheel milling head hub base by high-strength bolts (grade 10.9), and is mainly used for tool switching.

[0069] According to the present invention, the terminal device 2 is connected to the drilling acoustic sensor 1, the drilling torque sensor, the hydraulic module, the grouting module, the vibration module 4, and the tool switching mechanism 5 respectively, and controls the operation of each part through the terminal device 2.

[0070] Secondly, the present invention provides an intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system. This construction method is based on a three-layer closed-loop control system of "geological perception-intelligent decision-precise execution" provided in the first aspect.

[0071] The present invention provides an intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system, the specific implementation process of which is as follows:

[0072] Step S1: Construct a closed-loop control system;

[0073] To realize the construction method of the present invention, a three-layer closed-loop control system of "geological perception-intelligent decision-making-precise execution" is constructed, the specific structure and working principle of which are described in the first aspect.

[0074] Step S2: Formation interface pretreatment;

[0075] Within 0.5m of the top of the hard rock, a distinct weak permeability zone is visible. Ultrafine cement grout is injected using a grouting module to fill the cracks at the interface between the soft and hard rock.

[0076] Preferably, the water-cement ratio of the ultrafine cement slurry is 0.6:1 to 1.0:1; more preferably, the water-cement ratio of the ultrafine cement slurry is 0.8:1.

[0077] Preferably, the grouting pressure is 1.2 to 1.8 MPa; more preferably, the grouting pressure is 1.5 MPa.

[0078] Step S3: Intelligent milling control;

[0079] Intelligent milling control is achieved using an LSTM neural network model embedded in terminal device 2. Specifically, the control parameters are as follows:

[0080] S3.1 The formation interface is identified in real time by the drilling acoustic sensor 1. When the formation interface is a soft soil layer, the milling speed, downforce and grouting pressure are adjusted by the hydraulic real-time correction system. The milling speed is 2.5 to 3 m / h, the downforce is ≤150 kN and the grouting pressure is 0.8 to 1.5 MPa.

[0081] S3.2 The formation interface is identified in real time by the drilling acoustic sensor 1. When the formation interface is a soft-hard interface, a high-frequency vibration mode is triggered. The vibration frequency of the high-frequency vibration damping device is 10-15Hz. The milling speed is adjusted to 0.8-1.0m / h and the downforce is increased to 150-180kN by the hydraulic real-time correction system.

[0082] S3.3 uses the drilling acoustic sensor 1 to identify the formation interface in real time. When the formation interface is a hard rock layer, the hobbing mode is switched through the tool switching mechanism 5. The milling speed is adjusted to 1.2 to 1.8 m / h, the downforce is 180 to 300 kN, and the grouting pressure is 2.5 to 3.0 MPa through the hydraulic real-time correction system.

[0083] Step S4: Real-time correction;

[0084] This invention utilizes a high-frequency vibration damping device for real-time vibration damping reduction, with a vibration frequency of 12–15 Hz and an amplitude of 0.5–1.0 mm. This real-time vibration damping reduction method can reduce tool adhesion resistance by more than 40%.

[0085] Every 1-2m of drilling, the attitude angle deviation value is fed back by the tilt sensor (accuracy ±0.01°), and a lateral force of 50-80kN is applied by the hydraulic correction plate 3 to correct the movement trajectory of the twin-wheel milling head box.

[0086] Microscopic images of the soft-hard interface obtained using the intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system provided by this invention are shown below. Figure 3 As shown, the microscopic image of the soft-hard interface obtained by the traditional twin-wheel milling method is as follows. Figure 4 As shown in the figure. 2-2 is silt, 2-3 is silty sand, 2-4 is silty soil, 2-5 is silty clay, 2-6 is silty soil, 2-7 is silty sand, 4-1 is completely weathered granite gneiss, 4-2 is strongly weathered granite gneiss, 4-3 is strongly weathered granite gneiss, 4-4 is moderately weathered granite gneiss, and 5-1 is a weakly permeable zone.

[0087] Through analysis Figure 3 It can be seen that the ultrafine cement slurry forms a continuous and dense cementitious body in the interface zone, with a crack width of <0.01mm and a smooth transition between the interfaces of each soil and rock layer.

[0088] Through analysis Figure 4 It can be seen that there is a clearly visible weak permeability zone (marked 5-1), the crack width is >0.5mm, and there is a discontinuous area of ​​grout filling at the interface.

[0089] Conclusion: This invention achieves 100% effective filling of the interface and eliminates weak permeability zones through precise grouting pressure and interface pretreatment.

[0090] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of this invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-layer closed-loop control system for geological sensing, intelligent decision-making, and precise execution, characterized in that, include: A geological sensing layer consisting of a drilling acoustic sensor and a drilling torque sensor, wherein the drilling acoustic sensor is used to identify formation interfaces in real time; An intelligent decision-making layer composed of LSTM neural network models is used to optimize construction parameters; The execution control layer consists of a hydraulic module, a grouting module, a vibration module, and a tool switching mechanism. The hydraulic module is used to adjust the milling speed, downforce, and grouting pressure to match the formation changes. The grouting module is used to inject ultrafine cement slurry into the soft-hard interface cracks. The vibration module is used to accelerate the tool's entry speed into the rock to achieve vibration drag reduction. The tool switching mechanism is used to switch the rolling cutter mode.

2. The three-layer closed-loop control system of geological sensing-intelligent decision-making-precise execution according to claim 1, characterized in that, The drilling acoustic sensor is embedded in the central rotating shaft of the dual-wheel milling head; the distance between the probe tip of the drilling acoustic sensor and the cutting surface of the dual-wheel milling head hub is ≤15cm; the frequency of the drilling acoustic sensor is set to 1~10kHz.

3. The three-layer closed-loop control system of geological sensing-intelligent decision-making-precise execution according to claim 1, characterized in that, The hydraulic module is implemented using a real-time hydraulic correction system, which consists of an angle sensor and a hydraulic correction plate. The angle sensor is installed at the top center and four corners of the dual-wheel milling head housing to collect three-dimensional attitude data in real time. The hydraulic correction plate is installed on the side wall of the dual-wheel milling head housing to correct the motion trajectory of the dual-wheel milling head housing.

4. The three-layer closed-loop control system of geological sensing-intelligent decision-making-precise execution according to claim 1, characterized in that, The vibration module is implemented using a high-frequency vibration damping device, which is embedded between the input and output rings of the dual-wheel milling power head and closely attached to the rubber damping body.

5. The three-layer closed-loop control system of geological perception-intelligent decision-making-precise execution according to claim 1, characterized in that, The tool switching mechanism is embedded in the non-cutting side of the dual-wheel milling head hub and fixed to the dual-wheel milling head hub base by high-strength bolts.

6. A method for intelligent milling construction of a waterstop curtain based on a three-layer closed-loop control system, as described in any one of claims 1-5, characterized in that: Includes the following steps: Step S1: Construct a three-layer closed-loop control system; Step S2: Use the grouting module to inject ultrafine cement grout into the cracks at the soft-hard interface to achieve pretreatment of the formation interface; Step S3: Implement intelligent milling control using an LSTM neural network model; Step S4: Real-time correction.

7. The intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system according to claim 6, characterized in that, In step S2, the water-cement ratio of the ultrafine cement slurry is 0.6:1 to 1.0:1, and the grouting pressure is 1.2 to 1.8 MPa.

8. The intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system according to claim 6, characterized in that, The specific implementation process of step S3 is as follows: S3.1 uses a drilling acoustic sensor to identify the formation interface in real time. When the formation interface is a soft soil layer, the milling speed, downforce, and grouting pressure are adjusted by a hydraulic real-time correction system. The milling speed is 2.5 to 3 m / h, the downforce is ≤150 kN, and the grouting pressure is 0.8 to 1.5 MPa. S3.2 uses a drilling acoustic sensor to identify the formation interface in real time. When the formation interface is a soft-hard interface, a high-frequency vibration mode is triggered. The vibration frequency of the high-frequency vibration damping device is 10-15Hz. The milling speed is adjusted to 0.8-1.0m / h and the downforce is increased to 150-180kN through the hydraulic real-time correction system. S3.3 uses a drilling acoustic sensor to identify the formation interface in real time. When the formation interface is a hard rock layer, the hobbing mode is switched through the tool switching mechanism, and the milling speed is adjusted to 1.2-1.8 m / h, the downforce is 180-300 kN, and the grouting pressure is 2.5-3.0 MPa through the hydraulic real-time correction system.

9. The intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system according to claim 6, characterized in that, In step S4, a real-time vibration damping operation is performed using a high-frequency vibration damping device, with a vibration frequency of 12-15Hz and an amplitude of 0.5-1.0mm.

10. The intelligent milling construction method for a waterstop curtain based on a three-layer closed-loop control system according to claim 6, characterized in that, In step S4, every 1-2m of drilling, the attitude angle deviation value measured by the tilt sensor is fed back, and a lateral force of 50-80kN is applied by the hydraulic correction plate to correct the movement trajectory of the twin-wheel milling head box.

Images