Soft soil in-situ solidification stirring robot system and automatic operation method

Abstract

The invention relates to the technical field of soft soil in-situ solidification, and particularly discloses a soft soil in-situ solidification stirring robot system and an automatic operation method.The robot system comprises a stirring robot, a controller, an upper computer central processing unit, a first positioning module, a rotation angle sensor, a tilt angle sensor and a rotation speed sensor; the operation method comprises the following steps of S1, constructing a digital twinborn model corresponding to an operation area, S2, presetting a soft soil in-situ solidification automatic operation path, S3, setting stirring parameters of each solidification point, and S4, carrying out stirring operation. The soft soil in-situ solidification stirring robot system and the automatic operation method have the advantages of being high in intelligent degree, high in operation efficiency, accurate in positioning, high in operation quality and high in adaptability.

Description

Technical Field

[0001] This invention relates to the field of soft soil in-situ solidification technology, specifically to a soft soil in-situ solidification mixing robot system and automated operation method, applicable to soft soil foundation reinforcement projects such as highways, railways, building foundations, mines, fish ponds, landfills, and land reclamation, and can realize automated, precise, and intelligent control of soft soil in-situ solidification operations. Background Technology

[0002] In civil engineering construction, soft soil is characterized by high water content, high compressibility, and low bearing capacity. If not effectively treated, it can easily lead to engineering problems such as building settlement and road cracking. Currently, in-situ solidification technology for soft soil is a commonly used treatment method. This involves injecting a solidifying agent into the soft soil and stirring it, causing a chemical reaction between the soft soil and the solidifying agent to form a solidified body with a certain strength, thereby improving the bearing capacity of the foundation.

[0003] Current soft soil in-situ stabilization operations largely rely on manual operation of mixing equipment, which presents the following problems: First, low positioning accuracy; manual operation makes it difficult to ensure that the mixing equipment moves along the preset path, easily leading to missed areas or repeated mixing, affecting the stabilization quality. Second, coarse parameter control; key parameters such as mixing depth, solidifying agent injection volume, and mixing speed are mostly set based on operator experience, unable to be dynamically adjusted according to the actual soft soil conditions in the work area, resulting in uneven strength of the solidified body. Third, lack of operational status monitoring; it is impossible to obtain real-time information on the operating status of various components of the mixing equipment (such as the boom and arm tilt angles, mixing head speed, etc.), making it difficult to detect and handle equipment failures or obstructions in a timely manner, easily causing equipment damage or work interruption. Fourth, low operational efficiency; manual planning of work paths and operation of equipment makes it difficult to achieve large-scale, continuous operations, and the quality of the work is greatly affected by the operator's skill level.

[0004] To address the aforementioned issues, there is an urgent need to develop a soft soil in-situ solidification mixing robot system capable of precise positioning, real-time monitoring, and dynamic parameter adjustment, in order to improve the automation level and engineering quality of soft soil in-situ solidification operations. Summary of the Invention

[0005] The purpose of this invention is to provide a soft soil in-situ solidification mixing robot system and an automated operation method to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] On one hand, the present invention provides a soft soil in-situ solidification mixing robot system, comprising:

[0008] A mixing robot, comprising a robot base, a large arm rotatably connected to the robot base, a small arm rotatably connected to the large arm, a mixing arm rotatably mounted on the small arm, and a mixing head mounted on the mixing arm;

[0009] A controller is mounted on the robot base.

[0010] The host computer central processing unit is communicatively connected to the controller. The host computer central processing unit receives data information uploaded by the controller and can issue control commands to the controller. The controller controls the mixing robot to move along a preset path according to the received control commands, controls the mixing head to move along a preset trajectory and mixes the soft soil according to preset mixing parameters.

[0011] A first positioning module is installed on the robot base and communicates with the controller to obtain the position information of the mixing robot and upload the position information to the controller.

[0012] An angle sensor, one in number, is installed at the upper and lower pivots of the robot base and communicates with the controller to obtain the rotation angle of the upper part of the robot base relative to the lower part and upload the rotation angle data to the controller.

[0013] Three tilt sensors are installed on the boom, arm and stirring arm respectively and communicate with the controller to acquire tilt angle data of the boom, arm and stirring arm respectively, and upload the tilt angle data to the controller.

[0014] A speed sensor is installed on the stirring head and communicates with the controller to obtain the speed data of the stirring head and upload the speed data to the controller.

[0015] Furthermore, it also includes:

[0016] The input module is communicatively connected to the host computer's central processing unit. The input module is used to generate an engineering map of the soft soil in-situ solidification operation area. The host computer's central processing unit generates a dot matrix operation path based on the engineering map of the soft soil in-situ solidification operation area.

[0017] Furthermore, it also includes:

[0018] The surveying device is communicatively connected to the host computer central processing unit. The surveying device is equipped with a second positioning module. The surveying device acquires real-time images of the soft soil in-situ solidification operation area. The surveying device uploads the real-time images and the acquired location coordinates to the host computer central processing unit. The host computer central processing unit combines the engineering map of the soft soil in-situ solidification operation area with the real-time images to construct a digital twin model corresponding to the operation area.

[0019] Furthermore, it also includes:

[0020] The display terminal is communicatively connected to the host computer's central processing unit and is used to display a digital twin model corresponding to the work area.

[0021] On the other hand, the present invention provides an automated method for in-situ solidification of soft soil, including the aforementioned soft soil in-situ solidification mixing robot system, wherein the host computer central processing unit controls the mixing robot to perform automated in-situ solidification of soft soil according to the following steps:

[0022] Step S1: Construct a digital twin model corresponding to the work area. Combine the engineering map of the soft soil in-situ consolidation work area with the real-time images uploaded by the surveying device to construct a digital twin model corresponding to the work area.

[0023] Step S2: Pre-setting the automated operation path for in-situ solidification of soft soil, dividing the operation area into several matrix solidification points, with an overlap rate of 0%-50% between adjacent solidification points;

[0024] Step S3: Set the mixing parameters for each solidification point. Based on the engineering drawing of the soft soil in-situ solidification operation area, set the mixing depth of each solidification point. Based on the moisture content of the operation area, set the amount of solidifying agent injected. Based on the location of the solidification point, set the number of mixing times, the upward and downward movement speed of the mixing head, and the residence time at a specific depth for the corresponding solidification point.

[0025] Step S4: Perform the mixing operation. The host computer central processing unit sends the operation path data from step S2 and the mixing parameter data from step S3 to the controller. The controller controls the mixing robot to perform the mixing operation based on the received data. The controller controls the mixing robot to move along the Y-axis to the first row of mixing operation points. Then, the controller controls the mixing head of the mixing robot to mix the solidification points point by point along the X-axis from near to far or from far to near.

[0026] Step S5: After completing the mixing operation of the first row of mixing points, the controller controls the mixing robot to move along the Y-axis to the second row of mixing points, and controls the mixing head to complete the mixing operation of the second row of mixing points in the manner of step S4; and so on, until the controller controls the mixing robot to complete the mixing operation of all the points in the entire work area.

[0027] Furthermore, during step S4, the stirring robot stirs each solidification point sequentially according to the stirring parameters set for each solidification point in step S3.

[0028] Furthermore, during step S4, the process of dynamically adjusting the amount of curing agent being stirred also includes the following: the controller maintains the pumping speed of the curing agent constant based on the moisture content of the current curing point obtained by the moisture content detection module installed on the stirring head, controls the lifting and lowering speed of the stirring head at the current curing point, and then adjusts the stirring time to adjust the amount of curing agent penetrating.

[0029] Furthermore, during step S4, a hard object handling process is also included. The controller determines whether the stirring head has encountered a hard object at the current solidification point based on the actual rotational speed of the stirring head and the pressure data of the hydraulic system obtained by the rotational speed sensor and the pressure sensor of the hydraulic system installed on the stirring head. If the stirring head encounters a hard object, the controller issues a command to the stirring robot to stop the downward operation at that work point and controls the stirring robot to drive the stirring head out of the work point.

[0030] Furthermore, during step S4, a deviation warning process is also included. The controller obtains the current actual coordinates of the mixing robot from the first positioning module and compares them with the preset working coordinate range. If the two are inconsistent, the host computer central processing unit controls the mixing robot to return to the normal mixing operation range.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. The beneficial effects of the soft soil in-situ solidification mixing robot system provided by the present invention are as follows:

[0033] 1) High level of intelligence and high work efficiency: This invention achieves remote control through data transmission between the host computer's central processing unit and the controller. During the curing operation, there is no need for manual operation on the mixing robot. Instead, the controller independently controls the mixing robot to automatically perform the curing operation according to the preset curing operation program and parameters through control commands remotely issued by the host computer's central processing unit. Moreover, the work area is visualized and managed through a digital twin model, and automated path planning and parameter setting reduce manual intervention. The mixing robot operates row by row according to the preset process, without the need for frequent manual adjustments to the equipment, and the work efficiency is improved by more than 30% compared to manual operation.

[0034] 2) Precise positioning and high-quality operation: Through the collaboration of the first positioning module and the corner sensor, the real-time positioning and heading monitoring of the mixing robot are realized. Combined with the dot matrix operation path planning, the work area is avoided from being missed or repeatedly mixed. At the same time, the tilt sensor detects the tilt angle of each arm in real time to ensure that the mixing parameters meet the preset requirements and improve the uniformity of the solidified body strength.

[0035] 3) Visualized operation and traceable operation quality: This invention can record the curing process and related parameters for each curing operation, such as the actual stirring depth of any curing operation area, curing agent ratio parameters, operation date, etc.

[0036] 2. The beneficial effects of the automated on-site solidification method for soft soil provided by this invention are as follows:

[0037] 1) Dynamic parameter adjustment and strong adaptability: The moisture content detection module obtains the moisture content of soft soil in real time, and the host computer central processor dynamically adjusts the mixing time and the amount of curing agent injected to match the curing parameters with the actual situation of soft soil; for different work areas with different curing depth and density requirements, the number of mixing times, travel speed and residence time can be set in a personalized way to adapt to diverse engineering needs.

[0038] 2) Real-time monitoring and high safety: The speed sensor and pressure sensor work together to monitor the operating status of the stirring head, promptly detect hard objects blocking the way and trigger an exit command to avoid equipment damage; the position deviation early warning mechanism can promptly calibrate the robot position to prevent the operation deviation from expanding; the data from each sensor is uploaded to the display terminal in real time, allowing operators to intuitively grasp the operation status and improve operation safety. Attached Figure Description

[0039] Figure 1 A block diagram of the soft soil in-situ solidification mixing robot system provided by the present invention;

[0040] Figure 2 A flowchart illustrating the automated in-situ solidification method for soft soil provided by this invention;

[0041] Figure 3This is a schematic diagram of the dot matrix operation path.

[0042] In the diagram: 1. Mixing robot; 101. Robot base; 102. Large arm; 103. Small arm; 104. Mixing arm; 105. Mixing head; 2. Controller; 3. First positioning module; 4. Rotation sensor; 5. Tilt sensor; 6. Speed ​​sensor; 7. Input module; 8. Exploration device; 9. Display terminal; 10. Host computer central processing unit; 11. Moisture content detection module; 12. Pressure sensor of hydraulic system. Detailed Implementation

[0043] The technical solutions of 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.

[0044] Example 1

[0045] like Figure 1 As shown, the present invention provides a soft soil in-situ solidification mixing robot system, comprising:

[0046] A mixing robot 1 includes a robot base 101, a large arm 102 rotatably connected to the robot base 101, a small arm 103 rotatably connected to the large arm 102, a mixing arm 104 rotatably mounted on the small arm 103, and a mixing head 105 mounted on the mixing arm 104. The mixing robot 1 is composed of an excavator with a mixing head as described in the prior art. Its specific structure and principle are existing technologies in the field and will not be described in detail here.

[0047] Controller 2 is installed on the robot base 101. Controller 2 is the core electrical control device of the mixing robot 1. It can be a domain controller, an industrial computer, or other control components equipped with an MCU chip to control the operation of the entire mixing robot 1.

[0048] The host computer central processing unit 10 is communicatively connected to the controller 2. The host computer central processing unit 10 receives data information uploaded by the controller 2 and can issue control commands to the controller 2. The controller 2 controls the mixing robot 1 to move along a preset path according to the received control commands, and controls the mixing head 105 to move along a preset trajectory and mix the soft soil according to preset mixing parameters. Specifically, the host computer central processing unit 10 and the controller 2 are connected wirelessly, that is, the mixing robot 1 is equipped with a wireless module electrically connected to the controller 2. The wireless module is a 4G module, a 5G module or a Wi-Fi module, so as to realize efficient long-distance signal transmission between the mixing robot 1 and the controller 2.

[0049] The first positioning module 3 is installed on the robot base 101 and communicates with the controller 2 to obtain the position information of the mixing robot 1 and upload the position information to the controller 2. The first positioning module 3 is a geolocation information first positioning module based on GNSS and carrier phase differential technology, such as GPS, Beidou, Galileo and other satellite navigation. The first positioning module 3 preferably uses Beidou, whose positioning error is at the centimeter level, which can accurately locate the geolocation of the mixing robot, ensuring that the controller 2 obtains accurate position information of the mixing robot 1, thereby controlling the mixing robot 1 to accurately find each preset solidification point and then perform fast and efficient mixing operations.

[0050] An angle sensor 4, one in number, is installed at the upper and lower pivot points of the robot base 101 and communicates with the controller 2 to obtain the rotation angle of the upper part of the robot base 101 relative to the lower part and upload the rotation angle data to the controller 2. By setting the angle sensor 4, the rotation angle of the upper and lower parts of the mixing robot 1 can be detected. When the mixing robot 1 is working, after the operator drives the mixing robot 1 to the starting point of the work area, before the mixing operation, the upper arm 102, the forearm 103 and the mixing arm 104 of the mixing robot 1 are all located in front of the mixing robot 1. Therefore, when mixing each solidification point, it is necessary to first rotate the upper part of the mixing robot 1 by 90° so that the vertical plane where the extension lines of the upper arm 102, the forearm 103 and the mixing arm 104 of the mixing robot 1 are located is perpendicular to the vertical plane where the mixing robot 1 is traveling. Therefore, the angle sensor 4 is needed to measure the rotation angle of the upper part of the robot base 101 relative to the lower part so that the controller 2 can accurately control the mixing robot 1.

[0051] Three tilt sensors 5 are respectively installed on the main arm 102, the forearm 103, and the stirring arm 104 and are communicatively connected to the controller 2 to acquire the tilt angle data of the main arm 102, the forearm 103, and the stirring arm 104, and upload the tilt angle data to the controller 2. It can be understood that the three tilt sensors 5 acquire the tilt angle of the main arm 102, the forearm 103, and the stirring arm 104, and thus obtain the position and attitude of the stirring head 105.

[0052] A speed sensor 6 is installed on the stirring head 105 and communicates with the controller 2 to obtain the speed data of the stirring head 105 and upload the speed data to the controller 2.

[0053] This embodiment also includes:

[0054] Input module 7 is communicatively connected to the host computer central processing unit 10. Input module 7 is used to generate an engineering map of the soft soil in-situ solidification operation area. The host computer central processing unit 10 generates a dot matrix operation path based on the engineering map of the soft soil in-situ solidification operation area. Input module 7 is a keyboard and mouse. The host computer central processing unit 10 is a CPU installed in a computer host. The memory module in the computer host is equipped with drawing software (such as AutoCAD, Tianzheng drawing software, aPriori digital manufacturing simulation software, NetObjex digital twin intelligent automation platform, DJI Terra, etc.).

[0055] This embodiment also includes:

[0056] The surveying device 8 is communicatively connected to the host computer central processing unit 10. The surveying device 8 is equipped with a second positioning module. It acquires real-time images of the soft soil in-situ consolidation operation area and uploads these images, along with the acquired location coordinates, to the host computer central processing unit 10. The host computer central processing unit 10 then combines the engineering map of the soft soil in-situ consolidation operation area with the real-time images to construct a digital twin model corresponding to the operation area. Alternatively, the surveying device 8 can be a surveying drone equipped with a vision camera and wirelessly connected to the host computer central processing unit 10. The drone can upload real-time images of the soft soil in-situ consolidation operation area, along with the acquired location coordinates, to the host computer central processing unit 10 in real time. In other embodiments, the surveying device 8 can also be a handheld surveying terminal, which is also equipped with a vision camera. The handheld surveying terminal can communicate with the host computer central processing unit 10 via wired or wireless communication.

[0057] This embodiment also includes:

[0058] Display terminal 9 is communicatively connected to the host computer central processing unit 10. Display terminal 9 is used to display a digital twin model corresponding to the work area. Display terminal 9 is a computer screen or an LED screen. The digital twin model displayed by the display terminal includes the mountain topography image of the work area, the real-time position and real-time posture of the mixing robot 1, the mixing and movement posture and parameters of the mixing head 105, and the markings of whether the solidification point is mixed (for example, unmixed solidification point is a white solid dot, mixed solidification point is a green solid dot, solidification point in the mixing process is a yellow solid dot, and solidification point that is not mixed due to faults or obstacles is a red solid dot or displayed as an abnormal alarm light).

[0059] Example 2

[0060] like Figure 2 As shown, this embodiment provides an automated method for in-situ solidification of soft soil, including the aforementioned soft soil in-situ solidification mixing robot system. The host computer central processing unit 10 controls the mixing robot 1 to perform automated in-situ solidification of soft soil according to the following steps:

[0061] Step S1: Construct a digital twin model corresponding to the work area. Combine the engineering map of the soft soil in-situ consolidation work area with the real-time images uploaded by the survey device 8 to construct a digital twin model corresponding to the work area.

[0062] The surveying device 8, equipped with a second positioning module and a vision camera, acquires real-time images of the soft soil in-situ solidification operation area. The surveying device 8 then uploads the real-time images, along with the acquired location coordinates, to the host computer central processing unit 10. The host computer central processing unit 10 combines the engineering map of the soft soil in-situ solidification operation area with the real-time images to construct a digital twin model corresponding to the operation area. The digital twin model includes real-time image mapping of the mountain topography of the operation area, the real-time position and attitude of the mixing robot 1, the mixing and movement attitude and parameters of the mixing head 105, and the markings of whether the solidification points are mixed (e.g., unmixed solidification points are white solid dots, solidified points that have been mixed are green solid dots, solidified points that are being mixed are yellow solid dots, and solidified points that have not been mixed due to faults or obstacles are red solid dots (or displayed as red flashing abnormal alarm lights)). This allows the back-end management personnel to observe image information consistent with the actual situation of the soft soil in-situ solidification operation area through the display terminal 9.

[0063] Step S2: Pre-setting the automated operation path for in-situ solidification of soft soil, dividing the operation area into several matrix solidification points (e.g., Figure 3As shown in the figure, the overlap rate between two adjacent curing points is 0%-50%. Assuming the working range of the mixing head 105 is 1m*1.5m, the maximum distance between two adjacent curing points is 1m or 1.5m (with an overlap rate of 0%), and the minimum distance is 0.5m or 0.75m (with an overlap rate of 50%). To ensure the curing effect on the working area, the minimum overlap rate between two adjacent curing points should not be less than 20% during actual curing operations.

[0064] Step S3: Set the mixing parameters for each solidification point. Based on the engineering drawing of the soft soil in-situ solidification operation area, set the mixing depth of each solidification point. Based on the moisture content of the operation area, set the amount of solidifying agent injected. Based on the location of the solidification point, set the number of mixing times, the upward and downward movement speed of the mixing head, and the residence time at a specific depth for the corresponding solidification point.

[0065] Step S4: Perform the mixing operation. The host computer central processing unit 10 sends the operation path data from step S2 and the mixing parameter data from step S3 to the controller 2. The controller 2 controls the mixing robot 1 to perform the mixing operation based on the received data. The controller 2 controls the mixing robot 1 to move along the Y-axis to the first row of mixing operation points. Then, the controller 2 controls the mixing head 105 of the mixing robot 1 to mix the solidification points point by point along the X-axis from near to far or from far to near. After completing the mixing operation of the first row of mixing operation points, the controller 2 controls the mixing robot 1 to move along the Y-axis to the second row of mixing operation points. The previous process is repeated until the mixing of the last row of mixing operation points is completed.

[0066] Step S5: After completing the mixing operation of the first row of mixing points, the controller 2 controls the mixing robot 1 to move along the Y-axis to the second row of mixing points, and controls the mixing head 105 to complete the mixing operation of the second row of mixing points in the manner of step S4; and so on, until the controller 2 controls the mixing robot 1 to complete the mixing operation of all the points in the entire work area.

[0067] In this embodiment, during step S4, the stirring robot 1 stirs each solidification point sequentially according to the stirring parameters set for each solidification point in step S3. The stirring parameters for each solidification point are set by the administrator in the background through the input module 7, and the setting is based on the solidification depth, moisture content, etc. of each solidification point. After the stirring parameters are set, the host computer central processing unit 10 sends the operation parameters of the current solidification operation area to the controller 2, and the controller 2 independently controls the stirring robot 1 to complete the stirring operation of the current solidification operation area.

[0068] In this embodiment, when performing step S4, the process of dynamically adjusting the amount of curing agent being stirred is also included. The controller 2 keeps the pumping speed of the curing agent constant based on the moisture content of the current curing point obtained by the moisture content detection module 11 installed on the stirring head 105, and controls the lifting and lowering speed of the stirring head 105 at the current curing point, thereby adjusting the stirring time to adjust the amount of curing agent penetrating. The higher the moisture content, the more curing agent needs to be injected, and at this time the lifting and lowering speed of the stirring head 105 needs to be reduced.

[0069] In this embodiment, when performing step S4, a hard object handling process is also included. The controller 2 determines whether the stirring head 105 has encountered a hard object at the current solidification point based on the actual rotational speed of the stirring head 105 and the pressure data of the hydraulic system obtained by the speed sensor 6 installed on the stirring head 105 and the pressure sensor 12 of the hydraulic system. If the stirring head encounters a hard object, the controller 2 issues an instruction to the stirring robot 1 to stop the downward operation at the working point and controls the stirring robot 1 to drive the stirring head 105 out of the working point.

[0070] For example, when the pressure sensor 12 of the hydraulic system detects an increase in the pressure value of the oil circuit of the mixing head 105, it indicates that the mixing head 105 is stuck or has stopped operating. Combined with the actual rotation speed of the mixing head 105 fed back by the speed sensor 6, it is determined that the mixing head 105 has encountered a hard object at the current solidification point. This hard object prevents the mixing head 105 from rotating forward, thus affecting the mixing operation. At this time, the controller 2 determines that the mixing head 105 has encountered a hard object and cannot continue mixing based on the actual rotation speed and the pressure data of the hydraulic system. At the same time, the controller 2 issues an instruction to the mixing robot 1 to stop the downward operation at this work point, and displays a solid red dot or a flashing red abnormal alarm light on the current solidification work point on the digital twin model. After the mixing operation of the entire area is completed, the management personnel can go to the site to inspect the solidification point where the abnormal alarm occurred.

[0071] In this embodiment, when performing step S5, a deviation warning process is also included. The controller 2 obtains the current actual coordinates of the mixing robot 1 from the first positioning module 3 and compares them with the preset working coordinate range. If the two are inconsistent, the controller 2 controls the mixing robot 1 to return to the normal mixing operation range.

[0072] It should be noted that during the process of controller 2 controlling the mixing robot 1 to perform mixing operations according to the instructions sent by the host computer central processing unit 10, controller 2 receives data detected by the rotation angle sensor 4, tilt angle sensor 5, speed sensor 6 and hydraulic system pressure sensor 12 in real time. While controller 2 adjusts the operating status of mixing robot 1 according to the received data, it also uploads the received data to the host computer central processing unit 10. The host computer central processing unit 10 stores, analyzes and processes the received data.

[0073] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A soft soil in-situ solidification mixing robot system, comprising: A mixing robot (1) includes a robot base (101), a large arm (102) rotatably connected to the robot base (101), a small arm (103) rotatably connected to the large arm (102), a mixing arm (104) rotatably mounted on the small arm (103), and a mixing head (105) mounted on the mixing arm (104). Controller (2), which is mounted on the robot base (101); Its characteristic is that it further includes: The host computer central processing unit (10) is connected to the controller (2) for communication. The host computer central processing unit (10) receives data information uploaded by the controller (2) and can send control commands to the controller (2). The controller (2) controls the mixing robot (1) to move along a preset path according to the received control commands, controls the mixing head (105) to move along a preset trajectory and mixes the soft soil according to the preset mixing parameters. The first positioning module (3) is installed on the robot base (101) and communicates with the controller (2) to obtain the position information of the stirring robot (1) and upload the position information to the controller (2). Angle sensor (4), the number of which is one, is installed at the upper and lower pivots of the robot base (101) and communicates with the controller (2) to obtain the rotation angle of the upper part of the robot base (101) relative to the lower part and upload the rotation angle data to the controller (2). The tilt sensor (5) consists of three tilt sensors, which are respectively installed on the boom (102), the forearm (103) and the stirring arm (104) and communicate with the controller (2) to obtain the tilt angle data of the boom (102), the forearm (103) and the stirring arm (104) respectively, and upload the tilt angle data to the controller (2). A speed sensor (6) is installed on the stirring head (105) and communicates with the controller (2) to obtain the speed data of the stirring head (105) and upload the speed data to the controller (2).

2. The soft soil in-situ solidification mixing robot system according to claim 1, characterized in that, Also includes: The input module (7) is connected to the host computer central processing unit (10) for communication. The input module (7) is used to generate an engineering map of the soft soil in-situ solidification operation area. The host computer central processing unit (10) generates a dot matrix operation path based on the soft soil in-situ solidification operation area engineering map.

3. The soft soil in-situ solidification mixing robot system according to claim 2, characterized in that, Also includes: The surveying device (8) is connected to the host computer central processing unit (10) for communication. The surveying device (8) is equipped with a second positioning module. The surveying device (8) acquires real-time images of the soft soil in-situ solidification operation area. The surveying device (8) uploads the real-time images and the acquired location coordinates to the host computer central processing unit (10). The host computer central processing unit (10) combines the engineering map of the soft soil in-situ solidification operation area with the real-time images to construct a digital twin model corresponding to the operation area.

4. The soft soil in-situ solidification mixing robot system according to claim 3, characterized in that, Also includes: Display terminal (9), which is communicatively connected to the host computer central processing unit (10), is used to display the digital twin model and operation status corresponding to the operation area.

5. An automated method for in-situ solidification of soft soil, comprising the soft soil in-situ solidification mixing robot system as described in any one of claims 1-4, characterized in that, The host computer central processing unit (10) controls the mixing robot (1) to perform automated on-site solidification of soft soil according to the following steps: Step S1: Construct a digital twin model corresponding to the work area. Combine the engineering map of the soft soil in-situ solidification work area with the real-time images uploaded by the survey device (8) to construct a digital twin model corresponding to the work area. Step S2: Pre-setting the automated operation path for in-situ solidification of soft soil, dividing the operation area into several matrix solidification points, with an overlap rate of 0%-50% between adjacent solidification points; Step S3: Set the mixing parameters for each solidification point. Based on the engineering drawing of the soft soil in-situ solidification operation area, set the mixing depth of each solidification point. Based on the moisture content of the operation area, set the amount of solidifying agent injected. Based on the location of the solidification point, set the number of mixing times, the upward and downward movement speed of the mixing head, and the residence time at a specific depth for the corresponding solidification point. Step S4: Perform the mixing operation. The host computer central processing unit (10) sends the operation path data in step S2 and the mixing parameter data in step S3 to the controller (2). The controller (2) controls the mixing robot (1) to perform the mixing operation according to the received data. The controller (2) controls the mixing robot (1) to move along the Y-axis to the first row of mixing operation points. Then, the controller (2) controls the mixing head (105) of the mixing robot (1) to mix the solidification points point by point along the X-axis from near to far or from far to near. Step S5: After completing the mixing operation of the first row of mixing points, the controller (2) controls the mixing robot (1) to move along the Y-axis to the second row of mixing points, and controls the mixing head (105) to complete the mixing operation of the second row of mixing points in the manner of step S4; and so on, until the controller (2) controls the mixing robot (1) to complete the mixing operation of all the points in the entire work area.

6. The automated method for in-situ solidification of soft soil according to claim 5, characterized in that: During step S4, the stirring robot (1) stirs each solidification point sequentially according to the stirring parameters set for each solidification point in step S3.

7. The automated method for in-situ solidification of soft soil according to claim 5, characterized in that, When performing step S4, the process of dynamically adjusting the amount of curing agent is also included. The controller (2) keeps the pumping speed of the curing agent constant according to the moisture content of the current curing point obtained by the moisture content detection module (11) installed on the stirring head (105), and controls the lifting speed of the stirring head (105) at the current curing point, thereby adjusting the stirring time to adjust the amount of curing agent penetration.

8. The automated method for in-situ solidification of soft soil according to claim 5, characterized in that, When performing step S4, a hard object handling process is also included. The controller (2) determines whether the stirring head (105) has encountered a hard object at the current solidification point based on the actual rotation speed of the stirring head (105) and the pressure data of the hydraulic system obtained by the speed sensor (6) installed on the stirring head (105) and the pressure sensor (12) of the hydraulic system. If the stirring head encounters a hard object, the controller (2) issues an instruction to the stirring robot (1) to stop the downward operation at the work point and controls the stirring robot (1) to drive the stirring head (105) to exit the work point.

9. The automated method for in-situ solidification of soft soil according to claim 5, characterized in that, When performing step S5, a deviation warning process is also included. During the movement of the mixing robot (1) along the Y-axis, the controller (2) obtains the current actual coordinates of the mixing robot (1) according to the first positioning module (3) and compares them with the preset working coordinate range. If the two are inconsistent, the controller (2) controls the mixing robot (1) to return to the normal mixing operation range.

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