Control system for in-situ curing construction and construction method

Abstract

The invention discloses a control system for in-situ curing construction and a construction method, the system is installed on a vehicle-mounted all-in-one machine display control terminal, and the system comprises a communication module used for establishing communication connection with a stirring head, a stirring head attitude sensor, a small arm attitude sensor, a large arm attitude sensor, an excavator and a vehicle body attitude sensor; the information processing module monitors the three-dimensional position of the stirring head in real time according to signals collected by the GNSS antenna and data collected by the Beidou positioning system, the forearm attitude sensor and the big arm attitude sensor; the GNSS antenna is located at the top of the rear end of the excavator; the display module is used for displaying the construction progress, the equipment state and the early warning information in real time, manual intervention and automatic mode switching are supported, and the system is used for controlling a hydraulic system of the excavator and controlling starting and stopping of a slurry pump and the flow. And a set of high-precision and intelligent construction monitoring and management system is constructed.

Description

Technical Field

[0001] This invention relates to the field of construction control system technology, and in particular to a control system and construction method for in-situ curing construction. Background Technology

[0002] In-situ solidification mixing technology has wide applications in civil engineering and contaminated soil treatment. It is an advanced engineering technology that uses physical, chemical, or biological methods to directly solidify or harden materials at the target location without demolishing or removing the existing structure, thereby achieving repair, reinforcement, or shaping. In the current market environment, we have noticed a series of common problems: 1. The mixing head cannot accurately display the depth it is inserted into the soil, and cannot ensure that the depth requirements stipulated in the contract are met.

[0003] 2. The slurry system cannot display the amount of solidifying agent used in the pumped material, nor can it display the depth or pumping volume of the solidifying agent, which will lead to uneven mixing of the solidifying agent and the soil.

[0004] 3. Currently, construction relies entirely on manual marking and quantitative delivery of curing agent. However, due to the large size of the area, it is impossible to guarantee that the amount of curing agent supplied to each location is consistent. Manual judgment of mixing time and effect is required, and there is a lack of effective recording tools. There is also a lack of effective tools to record which areas have been completed and which areas have not yet been constructed.

[0005] This reliance on manual intervention makes the entire process complex and cumbersome. The presence of human error cannot guarantee accuracy, significantly increasing the inefficiency of the process. When performing such operations, people typically need to invest more time and effort to ensure accuracy, but even then, achieving ideal precision remains difficult. This not only reduces work efficiency but can also affect the quality of the final product due to measurement errors.

[0006] 4. In the existing technology, excavators are usually operated by a single person on site, which leads to high safety risks for operators in high-risk working environments. Moreover, when multiple machines work together, the utilization rate of human resources is low, scheduling is difficult, and it is difficult to achieve centralized control and remote operation, thus affecting the overall work efficiency and intelligence level.

[0007] Based on this, this application proposes a control system and construction method for in-situ curing construction. Summary of the Invention

[0008] This invention provides a control system and construction method for in-situ solidification construction, relating to the treatment technology of shallow water, silt, and contaminated soft foundations. It specifically addresses the three-dimensional positioning of the mixing head and the slurry supply system during in-situ solidification construction. This system can automatically identify and supply appropriate materials based on the underlying geological conditions and the moving speed of the mixing head. A high-precision, intelligent construction monitoring and management system is constructed, achieving real-time positioning, attitude monitoring, and data management of construction equipment (such as the mixing head) through multi-module collaboration, thereby improving the accuracy, stability, and decision-making efficiency of the construction process.

[0009] According to one aspect of this disclosure, a control system for in-situ curing construction (an integrated in-situ curing construction control system comprising a mixing head, excavator, and slurry preparation system) is provided, the system being installed on an on-board integrated display and control terminal, the system comprising: The communication module is used to establish communication connections with the mixing head, mixing head attitude sensor, boom attitude sensor, boom attitude sensor, excavator and body attitude sensor; attitude sensors are added to the excavator bucket, boom, boom and body positions, a GNSS antenna is installed on the excavator, and an on-board integrated display terminal is installed in the excavator operator's cab to realize 3D position display of the mixing head.

[0010] The information processing module monitors the three-dimensional position of the mixing head in real time (3D positioning of the mixing head during in-situ curing construction) based on signals collected by the GNSS antenna, the BeiDou positioning system, and data collected by the boom and arm attitude sensors. The GNSS antenna is located at the top of the rear end of the excavator. The three-dimensional position of the mixing head includes: planar position and depth position. The display module is used to display the construction progress, equipment status and early warning information in real time, and supports manual intervention and automatic mode switching. The display module displays and records the three-dimensional position of the mixing head, the supply of curing agent, the rotation speed of the mixing head and the mixing time in real time during the construction process. The system is used to control the hydraulic system of the excavator, adjust the thrust and speed of the robotic arm, and control the depth and speed of the mixing head. The system also controls the slurry making system. For example, the hydraulic valves in the excavator control system are changed to solenoid valves, which can be operated with one button in the cab to realize the automatic in-situ solidification of the mixing head according to the preset path.

[0011] The system is used to control the start and stop of the mud pump and its flow rate, and to adjust the supply of hardener according to the formation characteristics and construction requirements to ensure uniform distribution of hardener within the block. For example, a traditional mud pump can be replaced with a variable frequency motor-controlled pump, and a remote controller can be added to control the pump's start / stop and discharge rate.

[0012] In one possible implementation, the radio setting module, when using the base station radio mode, communicates with the base station by setting the radio protocol and frequency, receives differential data, and calculates the high-precision coordinates of the stirring head. The system includes a data storage module for recording attitude data, positioning information, and operation logs during the construction process, and supports remote data uploading and analysis.

[0013] In one possible implementation, the system acquires positioning information transmitted by the GNSS antenna and information from the vehicle's attitude sensor to dynamically perceive the excavator's spatial position, three-dimensional attitude, and working depth. The system generates construction trajectory planning instructions based on preset construction area coordinates, and corrects the motion parameters of the robotic arm and mixing head in real time. It adjusts the construction parameters in real time to optimize the uniform distribution and solidification effect of the mixture. The construction parameters include: mixing head rotation direction, mixing head speed, pump flow rate, and mixing head up-and-down movement speed. The system controls the construction process of a preset path through the external file import function. The external files include: the construction area defined by latitude and longitude, the construction sequence, and the construction area.

[0014] A control system for in-situ curing construction, the software interface of the system includes the following functional modules: project management, mixing guidance, measurement and setting out, radio settings, parameter settings, model settings, data debugging, network differential and software registration; Among them, project management includes managing work files, including creating, deleting, and modifying content; Mixing Guide: Access the guide function through this interface to assist the excavator operator in completing the construction task; Measurement and layout: This function is used to collect the coordinates of the system's positioning antenna and confirm the on-site coordinate standards; Radio settings: When using base station radio mode, the system communicates with the base station by setting the radio protocol and frequency, receives differential data, and calculates high-precision coordinates of the construction area. Parameter settings: Four parameters are calculated to ensure consistency between the system and the field coordinates, and three parameters are set for fine-tuning to quickly eliminate small-range errors; Model settings: The parameters of the kinematic model regarding the 3D coordinates of the excavator's key points are recorded here. The model is an important part of the system's coordinate calculation. Data debugging: A window used to view system operation information, such as the working status of the BeiDou positioning system; Network Differential: By setting up a network differential account to receive differential data, the system calculates high-precision coordinates of the construction area; Software registration: Enables software usage permissions.

[0015] In one possible implementation, the stirring guidance function module includes: a control interaction module, a job guidance module, and a status bar module; The control interaction module includes the following modules: work area module, settings module, machine centering module, block marking module, drill pipe control module, pumping control module, and drill bit control module; The job guidance module includes the following modules: boundary guidance module, job prompt module, and job information module; The status bar displays the following icons: CAN bus fault alarm, auxiliary control function enabled icon, auxiliary control failed icon, stirring head fault alarm, pumping system fault alarm, positioning antenna signal status, directional antenna signal status, heading signal status, number of satellites, and differential data type.

[0016] An in-situ curing construction method, wherein the construction method uses the aforementioned control system, and the construction method includes: Step 1: Survey and clear the silt that needs to be solidified. Specifically, measure the area of ​​the silt to be solidified, and remove the surface brick debris, trees, and withered grass to prepare the working surface for the solidification operation. Step 2: Load the preset construction path and process parameters into the display and control terminal using the external file import function; start the GNSS antenna for positioning calibration to ensure that the coordinates of the construction area match the actual terrain. The construction area is mapped using BeiDou positioning, and the construction program files are imported using drawing software to automatically divide the construction work blocks. Then, construction is carried out according to the preset trajectory.

[0017] Step 3: Control the excavator, excavator arm and mixing head on the excavator to carry out in-situ solidification intelligent process construction according to the control system.

[0018] The vehicle-mounted integrated display and control terminal is installed in the operator's cab of the excavator. The vehicle-mounted integrated display and control terminal is equipped with an intelligent control center to realize centralized collaborative control of multiple excavators. The vehicle-mounted integrated display and control terminal is wirelessly connected to the mixing head. The vehicle-mounted integrated display and control terminal has a data storage module. The vehicle-mounted integrated display and control terminal is configured to realize preset path construction process control through external file import function. The vehicle-mounted integrated display and control terminal is linked with the hydraulic system of the excavator.

[0019] By adopting the above technical solution, control commands are generated by receiving and processing data from tilt sensors. Integrated control of the mixing head, excavator, and slurry preparation system enables real-time acquisition of mixing parameters, monitoring of equipment operation status, and closed-loop control of the construction process. Wireless connectivity allows for real-time acquisition and processing of the mixing head's planar coordinates and depth information. Positioning information provided by a GNSS antenna dynamically senses the spatial position, three-dimensional attitude, and working depth of the construction equipment. Combined with preset construction area coordinates, construction trajectory planning commands are generated, and the motion parameters of the robotic arm and mixing head are corrected in real-time to optimize the uniform distribution and solidification effect of the mixture. A storage module records attitude data, positioning information, and operation logs during the construction process and supports remote data upload and analysis. Through linkage with the hydraulic system, the thrust and speed of the robotic arm are automatically adjusted according to construction needs, achieving precise control of the mixing head's depth and speed.

[0020] Through the above technical solution, the vehicle-mounted integrated display and control terminal can establish data connection with the mixing head, mixing head posture sensor, boom posture sensor, excavator and body posture sensor through wired or wireless communication. The boom posture sensor and boom posture sensor obtain the joint angle and displacement information of the robotic arm through encoder or laser ranging technology. Combined with the data from the tilt sensor, a three-dimensional construction environment model is established to realize closed-loop feedback control of construction actions.

[0021] Optionally, the vehicle-mounted integrated display and control terminal is equipped with radio settings: when using base station radio mode, it communicates with the base station by setting the radio protocol and frequency to receive differential data so that the system can calculate high-precision coordinates. This project plans to use network differential, so this function is only a backup.

[0022] Optionally, the GNSS antenna is located at the top of the rear end of the excavator.

[0023] Through the above technical solution, using a GNSS antenna and the BeiDou positioning system, the three-dimensional position of the mixing head can be monitored in real time, including its planar and depth positions, achieving global spatial positioning of the construction equipment. The system dynamically senses the spatial position, three-dimensional attitude, and operating depth of the construction equipment, combines this with preset construction area coordinates, generates construction trajectory planning instructions, and corrects the motion parameters of the robotic arm and mixing head in real time, adjusting construction parameters to optimize the uniform distribution and solidification effect of the mixture.

[0024] The excavator operator's cab allows for remote control of the mud pump's start-up, shutdown, and flow rate. The supply of hardener is adjusted according to geological characteristics and construction needs to ensure uniform distribution within the block. Electronic recorders display and record in real-time the three-dimensional position of the mixing head, hardener supply, mixing head speed, and mixing time. Modern intelligent control components monitor and record the entire construction process in real-time, ensuring construction quality, providing full-process visualization, and improving construction transparency. By importing pre-designed program files, the designed route can be utilized more effectively, and construction progress can be monitored in real-time. The intelligent control center allows for the simultaneous operation of 5 to 10 excavators from a single console in the control room, enabling collaborative work.

[0025] Optionally, the in-vehicle integrated display and control terminal includes data storage and analysis functions.

[0026] Compared with the prior art, the beneficial effects of the present invention are: 1. Install the Beidou positioning system on the excavator to view the 3D position of the mixing head in real time, including its planar position and depth position; 2. The mud pump can be remotely controlled from the excavator's control room to start, stop, and adjust the flow rate. The supply of hardener can be controlled according to the geological conditions and construction progress to ensure uniform supply of hardener within the block. 3. Use an electronic recorder to display and record in real time the 3D position of the mixing head, the amount of curing agent supplied, the speed of the mixing head, and the mixing time during the construction process; 4. By utilizing modern intelligent control components to monitor and record the entire construction process in real time, the quality of construction can be guaranteed after completion, while also making the entire process more transparent and visible.

[0027] 5. Importing pre-designed program files makes it easier to use the designed route for construction and real-time monitoring.

[0028] 6. Five to ten excavators can be controlled from a single console in the control room using the intelligent control center, allowing them to work simultaneously.

[0029] Improved construction efficiency: Precise control of the guidance system and real-time monitoring by the information management platform enhance construction efficiency and shorten the construction cycle. Assured construction quality: Ensuring uniform distribution of the mixture and achieving the required curing effect improves project quality and reduces construction risks. Data accumulation and analysis: Establishing a long-term accumulation and analysis mechanism for construction data provides experience and technical support for similar projects in the future.

[0030] 3D mixing guidance control system: It uses intelligent sensing components such as dynamic tilt sensors and GNSS antennas to analyze the precise position and attitude of the excavator in real time, and establishes a high-precision auxiliary construction system.

[0031] It can guide the machine to achieve one-button automatic mixing and precisely control each actuator. Its core advantage lies in: First, satellite positioning technology is used to achieve unitized construction and strictly ensure the quality of mixing.

[0032] Second, it intuitively guides operators to accurately locate the work area and depth, displaying the work area and depth in real time.

[0033] Third, intelligent monitoring of key construction parameters, such as flow rate and rotation speed, guides precise operation.

[0034] Fourth, it automatically records and stores data throughout the entire construction process, including accuracy, area, and grouting volume.

[0035] Fifth, it can generate project construction reports with one click, providing accurate data support for quality traceability and project management. Attached Figure Description

[0036] Figure 1 A schematic diagram showing the relative positions of a construction excavator and a sensor according to an embodiment of the present disclosure is provided.

[0037] Figure 2 A block diagram of the solidification and stirring module according to an embodiment of the present disclosure is shown.

[0038] Figure 3 This diagram illustrates the module architecture of a stirring guide module according to an embodiment of the present disclosure.

[0039] Figure 4 The file format of a new job module according to an embodiment of this disclosure is shown.

[0040] Figure 5 The diagram shows the operation page of the control interaction module according to an embodiment of the present disclosure.

[0041] Figure 6 An initial job file format according to an embodiment of this disclosure is shown.

[0042] Figure 7 To illustrate an embodiment of this disclosure, an initial job file is provided (applying appropriately sized circles to the corner points of blocks so that the corner point coordinates can be extracted using a plugin).

[0043] Reference numerals: 1: Mixing head; 2: Mixing head attitude sensor; 3: Boom attitude sensor; 4: Arm attitude sensor; 5: Vehicle-mounted integrated display and control terminal; 6: Excavator; 7: Vehicle body attitude sensor; 8: GNSS antenna. Detailed Implementation

[0044] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0045] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0046] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0047] like Figure 1 As shown, an equipment for in-situ solidification intelligent process control includes a touch-screen tablet integrated computer (core control unit) 5. The vehicle-mounted integrated display and control terminal 5, as the core control unit, is installed in the operator's cab of the excavator 6. It receives and processes data from the mixing head attitude sensor 2, the boom attitude sensor 3, the boom attitude sensor 4, and the body attitude sensor 7 to generate control commands. The operator's cab of the excavator 6 is connected to the mechanical boom on both sides. A boom attitude sensor 4 is installed on top of the mechanical boom. The mechanical boom is connected to the mechanical forearm, and a forearm attitude sensor 3 is installed on top of the mechanical forearm. A mixing head attitude sensor 2 is installed between the bottom of the mechanical forearm and the mixing head 1. Body attitude sensors are installed on the bottom sides of the excavator 6, and a GNSS antenna 8 is installed on the top of the rear end of the excavator 6.

[0048] See Figure 1 The vehicle-mounted integrated display and control terminal 5, installed in the excavator 6's operator's cab, serves as the core control unit. It receives and processes data from the mixing head attitude sensor, boom attitude sensor 3, boom attitude sensor 4, and vehicle body attitude sensor 7, generating control commands. The mixing head position, mixing speed, mixing time, and hardener usage at each time point can be digitally displayed in the operator's cab, making the entire construction process more transparent.

[0049] See Figure 1 The stirring head attitude sensor 2 is installed at the bottom of the mechanical arm where it connects to the stirring head 1, and collects the planar coordinates of the stirring head in real time, including longitude, latitude, and depth.

[0050] See Figure 1The vehicle attitude sensor 7 integrates a gyroscope and accelerometer to monitor the excavator's levelness, pitch angle, and yaw angle in real time. The tilt sensor is deeply integrated with a touch-screen tablet computer to detect changes in the mixing head's attitude (such as pitch and roll angles) in real time and transmit the data synchronously to the information management platform. The module's high precision (e.g., ±0.1° angular resolution) ensures precise monitoring of the construction equipment's trajectory, effectively avoiding construction deviations and guaranteeing project quality.

[0051] See Figure 1 The GNSS antenna 8 is installed on the top rear end of the excavator, providing high-precision positioning information and dynamically sensing the spatial position, three-dimensional attitude, and working depth of the construction equipment.

[0052] See Figure 1 The vehicle-mounted integrated display and control terminal 5 is linked with the mixing head 1, sensors, and excavator hydraulic system via wired or wireless communication to achieve real-time acquisition of construction parameters, monitoring of equipment operating status, and closed-loop control. The excavator hydraulic system adjusts the thrust and speed of the robotic arm according to construction needs, precisely controlling the depth and speed of the mixing head.

[0053] See Figure 1 Based on the positioning information of the GNSS antenna 8, the display and control terminal 5 combines the preset construction area coordinates to generate construction trajectory planning instructions, and corrects the motion parameters of the robotic arm and mixing head in real time to optimize the uniform distribution and solidification effect of the mixture.

[0054] See Figure 1 The display and control terminal 5 enables centralized and coordinated control of multiple excavators 6 through an intelligent control center, supporting simultaneous operation of multiple devices from a single control console within the control room. After a one-click operation is completed, the excavator is detached from the operator, allowing for remote one-click control of the excavator. One control room can control multiple excavators to work simultaneously.

[0055] See Figure 1 The display and control terminal 5 has a built-in data storage module that records attitude data, positioning information, and operation logs during the construction process, and supports remote data uploading and analysis. It can record the entire construction process, ensuring that the records are traceable.

[0056] See Figure 1 When the vehicle posture sensor 7 detects an abnormal posture of the excavator, the display and control terminal 5 triggers an alarm and suspends the construction operation to prevent equipment damage or construction deviation.

[0057] An in-situ curing construction method is also provided, which uses the aforementioned in-situ curing equipment and specifically includes the following steps: Step 1: Survey and clear the silt that needs to be solidified. Specifically, measure the area of ​​the silt to be solidified, and remove the surface debris, trees, and withered grass to prepare the working surface for the solidification operation.

[0058] Step 2: Load the preset construction path and process parameters into the display and control terminal 5 through the external file import function; start the GNSS antenna 8 for positioning calibration to ensure that the coordinates of the construction area match the actual terrain.

[0059] Importing files through the program speeds up the construction process, reduces the need for personnel to judge departmental content, and shortens the construction cycle while ensuring construction quality.

[0060] Step 3: Control the excavator, excavator arm and mixing head on the excavator to carry out in-situ solidification intelligent process construction according to the control system.

[0061] Please refer to the attached diagram in the instruction manual. Figure 2 The software functional modules of the in-situ solidification intelligent process construction control system provided in this embodiment of the invention include: (1) Project management: management of work files, including creation, deletion and content modification. (2) Mixing guidance: access the guidance function through this interface to assist the driver in completing the construction task. (3) Measurement and layout: through this function, coordinates of the location of the system positioning antenna are collected to facilitate confirmation of the unified results of the on-site coordinate standards. (4) Radio settings: when using the base station radio mode, the radio protocol and frequency are set to communicate with the base station and receive differential data so that the system can calculate high-precision coordinates. In this project, network differential is planned to be used, so this function is only used as a backup. (5) Parameter settings: including four-parameter and three-parameter settings. The four-parameter settings are used to ensure the consistency of the system and the on-site coordinates. The three-parameter settings are used to fine-tune and quickly eliminate small-range errors. (6) Model settings: the parameters of the kinematic model regarding the three-dimensional coordinates of the excavator's key points are recorded here. The model is an important part of the system's coordinate calculation. (7) Data debugging: this is a window for technicians to view the system's operating information, such as the working status of the Beidou positioning system. (8) Network Differential: Receive differential data by setting up a network differential account so that the system can calculate high-precision coordinates. (9) Software Registration: Enable software usage permissions.

[0062] First, click the software registration function to enter the software registration interface and register the software to obtain usage rights. After successful software registration, return to the main interface, click on network differential, enter the differential settings interface, and complete the network differential connection.

[0063] After the network differential connection is successful, return to the main interface, click the four-parameter setting function to enter the four-parameter setting interface, and complete the parameter calculation and saving operations. First, obtain the coordinates of three known coordinate points provided by the construction site; based on the three coordinates that have been collected, use the system's built-in four-parameter calculation function to complete the calculation of four parameters (mixing head rotation direction, mixing head speed, curing agent pump flow rate, and mixing head up-and-down movement speed); After completing the calculation and saving of the four parameters, return to the main interface, click the point measurement and layout function, enter the point measurement interface, and complete the verification of the point measurement (the purpose is to verify whether the calculation of the above four parameters is accurate): (1) First go to a known coordinate point on the construction site; (2) Use a flat plate and positioning equipment to collect the coordinates of the point; (3) Compare the plane coordinates X and Y coordinates obtained on the interface with the known coordinates and observe the error. If they are basically consistent, it means that the verification is successful and the calculation of the parameters is relatively accurate. If the error is large, it is necessary to return to the previous step to recalculate the parameters.

[0064] After completing the verification, return to the main interface, click the project management function to enter the project management interface, and complete the relevant management operations of the job file. If the job task has not been imported into the software, the job file needs to be imported first; the project management module includes two parts: (1) creating a new job and (2) a job list.

[0065] (1) Create a new job: There are two ways: manually inputting coordinate points or importing external job files. After successful import, the coordinate data of the relevant task points will be displayed on the interface.

[0066] (2) Job List: To manage jobs, access the job list through Project Management - Job List. To delete a job, access the following interface through Project Management - Delete Job, select the job to be deleted from the right-hand options, and then click Delete at the bottom.

[0067] like Figure 3 As shown, the stirring guidance module consists of three parts: control interaction, job guidance, and status bar.

[0068] The control interaction module comprises seven parts: work area, settings, machine centering, block marking, drill pipe control, pumping control, and drill bit control, as detailed below: The work area is defined as follows: Select the name of the work file to be performed. The interface will then display the layout of the work blocks to be worked on. Select the work block to be mixed from the work block list. See Figure 5.

[0069] Clicking the "Settings" button will bring up a drop-down menu. The settings button is located as follows: Figure 5The drop-down menu includes: (1) Elevation mode: This function is used to unify the elevation standards of the mixer and the site, and determine the mixing depth. (2) View setting: The prompt to guide to the center of a single block can be switched between two modes: east, south, west, north, or front, back, left, and right. (3) Vertical centering: If the software prompt does not match the actual vertical posture of the mixer head, the mixer head can be aligned vertically, and the verticality display of the software can be reset to zero through this function. (4) Refresh frequency: The software positioning data update frequency.

[0070] The machine centering function allows users to switch the viewpoint between the mixing task point and the machine's location on the map.

[0071] The block marking function: When the mixing operation is completed, the work block will be marked in green to indicate that the mixing of the work block has been completed, which is used to distinguish it.

[0072] The drill pipe control functions include: 1. Up Drill Start: The drill pipe performs an up drilling action according to the selected up and down drilling speed. 2. Down Drill Start: The mixing head is moved above the working point, and the mixing rod is manually adjusted to be vertical (within the error range). The drill pipe then performs a down drilling action according to the selected up and down drilling speed. 3. Up and Down Drill Stop: Used to stop the up and down drilling actions. 4. Drill Pipe Fast: The drill pipe's up and down drilling speed is relatively fast. 5. Drill Pipe Slow: The drill pipe's up and down drilling speed is relatively slow.

[0073] The pumping control functions include: 1. Pumping start. 2. Pumping stop. 3. Flow rate setting: Sending the target flow rate value set in the text box on the right to the pumping system.

[0074] The drill bit control includes: 1. Controlling the stirring head to rotate forward. 2. Controlling the stirring head to rotate in reverse. 3. Controlling the stirring head to stop rotating. 4. Controlling the stirring head to continuously accelerate to the system's predefined maximum motor displacement. 5. Controlling the stirring head to continuously decelerate to the system's predefined minimum motor displacement.

[0075] The job guidance module comprises three parts: boundary guidance, job prompts, and job information, as detailed below: 1. Boundary guidance: The upper left guides the data interface, showing the distance from the center coordinates of the stirring head to the edge of the selected block, as well as the angle between the robotic arm orientation and the boundary line.

[0076] 2. Assignment prompts: The system receives feedback and provides prompts in the same text box, located in the lower left corner of the main interface. The prompt content is in red.

[0077] 3. Operation Information: Target Value: Operation area name (number), operation block number, and the target value for the currently selected small block. Pump Flow Rate: The main interface displays the real-time hardener pump flow rate. Hardener Usage per Block: The main interface displays the real-time hardener usage for the current block. Curing Time per Block: The main interface displays the curing time for the current block. Pumping System Operating Status: Whether startup is allowed; whether there is a fault; whether it has already started; whether it is lost. Stirring Head Speed: Real-time display of the left and right stirring head speeds. Stirring Head Rotation: Real-time display of the stirring head rotation direction, whether forward or reverse.

[0078] The status bar includes: 1. CAN bus fault alarm; 2. Auxiliary control function enabled icon; 3. Auxiliary control failed icon; 4. Stirring head fault alarm; 5. Pumping system fault alarm; 6. Positioning antenna signal status; 7. Directional antenna signal status; 8. Heading signal status; 9. Number of satellites; 10. Differential data type.

[0079] The data storage module guides the system to store set parameters in the form of logs in a designated folder, such as flow rate, work data, curing agent usage, curing time, etc. It also generates a construction work statistical report according to the existing plan (data based on the number of work point markers in the work file).

[0080] The work log module includes: 1. CAN bus fault alarm time; 2. Auxiliary control start time; 3. Auxiliary control failure time; 4. Agitator head fault alarm time; 5. Pumping system fault alarm time; 6. Work text prompt appearance time (too large docking point error / not meeting one-key auxiliary control conditions); 7. Changes in the operating status of the pumping system and corresponding times; 8. Real-time pumping flow rate (recording frequency 1HZ); 9. Total cumulative pumping volume of the current work block (cumulative data); 10. Cumulative solidification time of the current work block (cumulative data); 11. Agitator head speed: real-time display of left and right agitator head speed values ​​(recording frequency 1HZ); 12. Agitator head rotation direction: real-time display of agitator head rotation direction, forward or reverse rotation, and the time of corresponding status change when the agitator head stops; 13. Pumping flow rate parameter input; 14. Pressing trigger time of pumping start, pumping stop, drill rod slow speed, drill rod fast speed, agitator head forward, reverse, stop, acceleration, and deceleration buttons; 15. 16. Work area selection time and specific work area name; 17. Work point selection time and specific work point name; 18. Real-time distance between the mixing head and the target point (one line every 100ms, the same below); 19. Equipment heading value; 20. Baseline length, K (ratio of baseline length to the length of the line connecting the centers of the positioning and directional antennas during modeling), planar coordinate positioning and directional baseline length, vehicle coordinate system positioning and directional baseline length; 21. Positioning antenna coordinates; 22. Directional antenna coordinates; 23. Real-time conversion parameters for vehicle body to planar rotation; 24. Real-time sensor readings; 25. Coordinates of the mixing head after rotating to the middle arm; 26. Coordinates of the middle arm point after rotating to the boom; 27. Coordinates of the boom point after rotating to the vehicle body; 28. Real-time parameters for boom to vehicle body rotation; 29. ​​Real-time parameters for middle arm to boom rotation; 30. Coordinates of the boom origin in the planar coordinate system; 31. Coordinates of the middle arm origin in the planar coordinate system; 32. The coordinates of the origin of the secondary arm in the plane coordinate system.

[0081] Steps for generating job files: 1. Job file generation process: 1) Collect key points of the overall construction area on-site; 2) Draw the drawings on CAD based on the collected coordinates; 3) As needed, divide the construction area into 5*5m or roughly the same size rectangular blocks. The direction, size and length are up to you, but the generated shape must have 4 points and must be a standard square or rectangle.

[0082] 4) Draw circles at the corner points of the divided drawing blocks and use a CAD plugin to extract the coordinates of the circle centers; 5) Based on the extracted center coordinates and map information, organize the assignment files according to the assignment template.

[0083] like Figure 6 As shown, the corresponding assignment template format is as follows: 1,01,lx1,ly1,rx1,ry1,lx2,ly2,rx2,ry2,depth1,34356,5,5,Target curing agent dosage 1234.5L Time: 1234.5h Rotation speed: 1234r / min; 2, 02, lx2, ly2, rx2, ry2, lx3, ly3, rx3, ry3, depth2, 34356, 5, 5, Target curing agent dosage 1234.5L Time: 1234.5h Rotation speed: 1234r / min; 3,03,lx3,ly3,rx3,ry3,lx4,ly4,rx4,ry4,depth3,34356,5,5,Target curing agent dosage 1234.5L Time: 1234.5h Rotation speed: 1234r / min; Specific meaning: The information includes: ID, small block name, x-coordinate of the left bank's front point, y-coordinate of the left bank's front point, x-coordinate of the right bank's front point, y-coordinate of the right bank's front point, x-coordinate of the left bank's rear point, y-coordinate of the left bank's rear point, x-coordinate of the left bank's rear point, y-coordinate of the right bank's rear point, target mixing depth, large block number, block's long side dimension, block's short side dimension, and text information. In summary: small block number, small block name, coordinates of the four corner points (in the order L1R1L2R2), mixing depth, large block number, small block size, and the prompt information to be displayed. The large block number is used to send information to the controller for easy identification.

[0084] 2. Draw the homework drawings.

[0085] Open the CAD software and enter the specified coordinates (acquired by RTK, which stands for Real-Time Kinematic, a high-precision differential positioning technology based on the Global Navigation Satellite System (GNSS)) via the command line to determine the construction area. Then, divide it into 5x5 blocks as needed and create the initial work drawings.

[0086] 3. Prepare to give pointers.

[0087] like Figure 7 As shown, draw circles at each vertex of the drawn block, the size of which should be appropriate. Drag the point extraction plugin into the main interface of the CAD drawing. A pop-up window will appear; select "Always Load". In the command box, type "tqyzb" (extract circle coordinates) and press Enter. Then select points in the extraction order; the order in which you select the circles will determine the order of the extracted coordinates. Press Enter after selection. The plugin will generate an Excel file.

[0088] 4. Organize the data into a TXT job file.

[0089] According to the assignment template L1R1L2R2, the corner point coordinate allocation principle is as follows: Block 1 (1, 2, 5, 6) Block 2 (2, 3, 6, 7) Block 3 (3, 4, 7, 8) Block 4 (5, 6, 9, 10) Block 5 (6, 7, 10, 11) Block 6 (7, 8, 11, 12) To make organization easier, you can arrange the coordinate values ​​sequentially, one block per line, and then copy them to a TXT file. The coordinates initially copied are separated by spaces; replace all of them with commas. Complete any other assignment information as needed, save, and you will get a TXT assignment file.

[0090] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A control system for in-situ curing construction, characterized in that, The system is installed on the vehicle-mounted integrated display and control terminal, and the system includes: The communication module is used to establish communication connections with the mixing head, mixing head attitude sensor, boom attitude sensor, excavator and body attitude sensor; The information processing module monitors the three-dimensional position of the mixing head in real time based on signals collected by the GNSS antenna, the BeiDou positioning system, and data collected by the boom and arm attitude sensors. The GNSS antenna is located at the top of the rear end of the excavator. The three-dimensional position of the mixing head includes: planar position and depth position. The display module is used to display the construction progress, equipment status and early warning information in real time, and supports manual intervention and automatic mode switching. The display module displays and records the three-dimensional position of the mixing head, the supply of curing agent, the rotation speed of the mixing head and the mixing time in real time during the construction process. The system is used to control the hydraulic system of the excavator, adjust the thrust and rotation speed of the robotic arm, and control the depth and speed of the mixing head. The system also controls the pulping system. The system is used to control the start and stop of the mud pump and the flow rate, and to adjust the supply of curing agent according to the geological characteristics and construction requirements to ensure that the curing agent is evenly distributed within the block.

2. The control system for in-situ curing construction according to claim 1, characterized in that, The radio setting module, when using base station radio mode, communicates with the base station by setting the radio protocol and frequency, receives differential data, and calculates the high-precision coordinates of the stirring head. The system includes a data storage module for recording attitude data, positioning information, and operation logs during the construction process, and supports remote data uploading and analysis.

3. The control system for in-situ curing construction according to claim 1, characterized in that, The system acquires positioning information transmitted by the GNSS antenna and information from the vehicle's attitude sensor to dynamically perceive the excavator's spatial position, three-dimensional attitude, and working depth. The system generates construction trajectory planning instructions based on preset construction area coordinates, and corrects the motion parameters of the robotic arm and mixing head in real time. It adjusts the construction parameters in real time to optimize the uniform distribution of the mixture and the curing effect. The construction parameters include: mixing head rotation direction, mixing head speed, curing agent pump flow rate, and mixing head up and down movement speed. The system controls the construction process of a preset path through the external file import function. The external files include: the construction area defined by latitude and longitude, the construction sequence, and the construction area.

4. A control system for in-situ curing construction, characterized in that, The system's software interface includes the following functional modules: project management, mixing guidance, measurement and setting out, radio settings, parameter settings, model settings, data debugging, network differential and software registration; Among them, project management includes managing work files, including creating, deleting, and modifying content; Mixing Guide: Access the guide function through this interface to assist the excavator operator in completing the construction task; Measurement and layout: This function is used to collect the coordinates of the system's positioning antenna and confirm the on-site coordinate standards; Radio settings: When using base station radio mode, the system communicates with the base station by setting the radio protocol and frequency, receives differential data, and calculates high-precision coordinates of the construction area. Parameter settings: Four parameters are calculated to ensure consistency between the system and the field coordinates, and three parameters are set for fine-tuning to quickly eliminate small-range errors; Model settings: The parameters of the kinematic model regarding the 3D coordinates of the excavator's key points are recorded here. The model is an important part of the system's coordinate calculation. Data debugging: A window used to view system operation information, such as the working status of the BeiDou positioning system; Network Differential: By setting up a network differential account to receive differential data, the system calculates high-precision coordinates of the construction area; Software registration: Enables software usage permissions.

5. A control system for in-situ curing construction according to claim 4, characterized in that, The mixing guidance function module includes: a control interaction module, a job guidance module, and a status bar module; The control interaction module includes the following modules: work area module, settings module, machine centering module, block marking module, drill pipe control module, pumping control module, and drill bit control module; The job guidance module includes the following modules: boundary guidance module, job prompt module, and job information module; The status bar displays the following icons: CAN bus fault alarm, auxiliary control function enabled icon, auxiliary control failed icon, stirring head fault alarm, pumping system fault alarm, positioning antenna signal status, directional antenna signal status, heading signal status, number of satellites, and differential data type.

6. An in-situ curing construction method, characterized in that, The construction method uses the control system described in any one of claims 1-5, and the construction method includes: Step 1: Survey and clear the silt that needs to be solidified. Specifically, measure the area of ​​the silt to be solidified, and remove the surface brick debris, trees, and withered grass to prepare the working surface for the solidification operation. Step 2: Load the preset construction path and process parameters into the display and control terminal using the external file import function; start the GNSS antenna for positioning calibration to ensure that the coordinates of the construction area match the actual terrain. Step 3: Control the excavator, excavator arm and mixing head on the excavator to carry out the in-situ solidification intelligent process according to the control system. The mixing head can automatically perform in-situ curing operations according to a preset path through one-button operation in the cab; after the operation starts, switch to remote control mode, and the control room can execute one-button operation commands to the excavator.

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