High-lifting type intelligent high-pressure jet grouting anchor cable construction method and high-lifting type intelligent high-pressure jet grouting anchor cable construction device

Abstract

The invention provides a high-lifting type intelligent high-pressure rotary jet grouting anchor cable construction method and device, and belongs to the technical field of slope supporting and rock anchoring. A crawler is moved to a construction position, a grouting platform is lifted, a hollow drill rod drills after laser positioning, and a drilling-while-spraying wall protection mode is started; the multi-dimensional force sensor array separately measures the rotating torque and the axial lifting resistance of the drill rod, the fuzzy self-adaptive PID controller recognizes the type of a soil layer and dynamically adjusts the grouting pressure, and the pressure flow diffusion radius feedback control system conducts back calculation according to the slurry return amount and the orifice pressure. When the deviation of the diffusion radius exceeds eight percent of a design value, the rotary jet grouting parameter collaborative optimization game model is started to optimize the rotation rate and the lifting speed, and after the drill rod reaches the design depth, the drill rod is gradually lifted and continuously subjected to rotary jet grouting to form a compact soil pile body anchoring structure; the technical problem that the diffusion radius is difficult to accurately control in real time in the high-pressure jet grouting construction process is solved.

Description

Technical Field

[0001] This invention belongs to the field of slope protection and soil anchoring technology, specifically, it relates to a high-lift intelligent high-pressure jet grouting anchor cable construction method and device. Background Technology

[0002] High-pressure jet grouting anchor cable technology is widely used in engineering fields such as slope reinforcement, foundation pit support, and foundation treatment. It involves using high-pressure grout to cut through the soil and penetrate and solidify to form an anchor body. Traditional construction methods use preset fixed parameters for jet grouting operations, setting process parameters such as injection pressure, drill rod rotation speed, and lifting speed based on experience. However, these methods lack the ability to monitor and dynamically control the actual diffusion radius during construction. Due to significant differences in the physical and mechanical properties of different soil layers, fixed parameters are difficult to adapt to soil layer variations, leading to uneven grout diffusion. Soft soil layers are prone to fracturing and dense soil layers suffer from insufficient penetration. Existing technologies rely on observing grout return and post-construction testing to evaluate the diffusion effect, failing to adjust process parameters in a timely manner based on actual diffusion radius deviations during construction. This results in large deviations in anchor body dimensions, with some areas not meeting design requirements. In other words, existing technologies suffer from the technical problem of difficulty in accurately controlling the diffusion radius in real time during high-pressure jet grouting construction. Summary of the Invention

[0003] In view of this, the present invention provides a high-lift intelligent high-pressure jet grouting anchor cable construction method and device, which can solve the technical problem that the diffusion radius is difficult to control in real time and accurately during the high-pressure jet grouting construction process in the prior art.

[0004] The present invention is implemented as follows: The first aspect of the present invention provides a high-lift intelligent high-pressure jet grouting anchor cable construction method, based on a high-lift high-pressure jet grouting anchor cable construction device, specifically including: after moving a tracked vehicle to the construction position, the four-way hydraulic outriggers are deployed for support; an electro-hydraulic proportional servo synchronous control system drives the bottom hydraulic piston column to cooperate with the lifting arm to lift the grouting platform to a specified height; after the laser positioning instrument calibrates the hole position, the controller drives the grouting hydraulic piston column to adjust the axis angle of the hollow drill rod; when the hollow drill rod drives the drill bit into the soil layer, a simultaneous drilling and spraying wall protection mode is activated to form a preliminary solidification layer; a multi-dimensional force sensor array separates and measures the rotational torque of the drill rod and... The axial lifting resistance of the drill rod is controlled by a fuzzy adaptive PID controller that identifies the soil layer type and dynamically adjusts the grouting pressure based on the rate of change of drill rod rotation torque and drilling speed. The pressure-flow diffusion radius feedback control system dynamically adjusts the injection pressure, drill rod rotation speed, and drill rod lifting speed after back-calculating the actual diffusion radius based on the return grout volume and borehole pressure. When the diffusion radius deviation exceeds 8% of the designed diffusion radius, the rotary grouting parameter collaborative optimization game model is activated to optimize the drill rod rotation speed and drill rod lifting speed. After the hollow drill rod reaches the designed drilling depth, the lifting device and the grouting hydraulic piston column work together to control the hollow drill rod to gradually lift and continue rotary grouting to form a soil pile anchorage structure.

[0005] The electro-hydraulic proportional servo synchronous control system includes multiple hydraulic cylinders and multiple independent proportional valves. Each hydraulic cylinder is equipped with a displacement sensor. The main controller collects the hydraulic cylinder displacement deviation of each hydraulic cylinder in real time and dynamically adjusts the hydraulic cylinder flow distribution of each hydraulic cylinder through a cross-coupling compensation algorithm.

[0006] The cross-coupling compensation algorithm calculates the coupling compensation between each hydraulic cylinder by establishing a hydraulic cylinder displacement deviation matrix, and outputs flow regulation commands to the corresponding independent proportional valves. The hydraulic cylinder displacement deviation is the difference between the actual displacement of a single hydraulic cylinder and the average displacement of multiple hydraulic cylinders.

[0007] The coupling compensation amount is the flow correction value obtained by multiplying the hydraulic cylinder displacement deviation by the compensation coefficient. The compensation coefficient is determined to be 0.8 to 1.2 through offline calibration tests. The specified height is determined based on the slope height of the construction location and is the slope height plus the operation safety margin.

[0008] Among them, the drilling and spraying wall protection mode is achieved by dynamically adjusting the coupling relationship between drilling speed and grouting volume. The drilling speed is set to 0.5 to 2 meters per minute according to the soil cohesion parameter, and the grouting volume is set to 15 to 35 liters per minute according to the borehole wall formation rate.

[0009] The multi-dimensional force sensor array includes a torque sensor mounted on top of the hollow drill pipe and an axial force sensor mounted on the rotating power head. The differential algorithm eliminates the coupling interference of the drill pipe rotation torque on the measurement of the drill pipe axial lifting resistance by establishing a torque and tension measurement matrix.

[0010] The fuzzy adaptive PID controller takes the grouting pressure deviation and the rate of change of the grouting pressure deviation as inputs, and adjusts the three control parameters—proportional coefficient, integral coefficient, and derivative coefficient—online through fuzzy inference rules.

[0011] Among them, soil layer type identification is achieved by establishing a soil layer hardness and pressure response database. Soil layer type is determined based on the change rate of drill rod rotation torque and the change rate of drilling speed. In soft soil layers, the target grouting pressure is reduced to 8 to 12 MPa to avoid fracturing, while in dense soil layers, the target grouting pressure is increased to 18 to 25 MPa to ensure penetration.

[0012] A second aspect of the present invention provides a high-lift, high-pressure jet grouting anchor cable construction device for the aforementioned method, comprising a tracked vehicle, a composite chassis of the tracked vehicle equipped with four-way hydraulic outriggers, a cab fixed to the upper surface of the composite chassis, a bottom hydraulic piston rod hinged to the cab via a pin, a lifting arm hinged to the bottom hydraulic piston rod via a pin, a chain track mounted above the lifting arm, a telescopic module mounted on the lifting arm, the telescopic module cooperating with the chain track, a hydraulic piston rod of the grouting platform and a robotic arm of the grouting platform connected to the lifting arm via a rotating chassis of the grouting platform, and a support device for the grouting platform robotic arm via a hinged support and a hollow drill rod. The grouting hydraulic piston column is hinged to the bottom of the grouting platform chassis, and the piston rod end of the grouting hydraulic piston column is connected to the hollow drill rod support device. The lifting device is connected to the rotary jet system integration box. The drive output shaft of the lifting device is connected to the hollow drill rod through a ball screw mechanism. The hollow drill rod is set up in conjunction with the anchor plate and anchor cable. A laser positioning instrument is installed at the front end of the grouting platform. The hybrid power box is equipped with a rotary drive unit and a slurry delivery unit. The slurry delivery channel of the slurry delivery unit is connected to the hollow drill rod. A controller is configured on the grouting platform. The controller is connected to the pressure sensor, displacement sensor and speed encoder signals.

[0013] The telescopic module includes a bidirectional hydraulic telescopic cylinder and a guide rail structure. The piston rod end of the bidirectional hydraulic telescopic cylinder is hinged to the upper end of the lifting arm. The lower end of the cylinder body of the bidirectional hydraulic telescopic cylinder is fixed to the composite chassis. The chain track is a closed-loop chain structure. The chain is driven by a sprocket, which is connected to the output shaft of the hydraulic motor.

[0014] This invention solves the technical problem of real-time and precise control of the diffusion radius by establishing a pressure-flow diffusion radius feedback control system. It utilizes the combined back-calculation of grout return volume and orifice pressure to calculate the actual diffusion radius, and dynamically adjusts the injection pressure, drill rod rotation speed, and drill rod lifting speed based on the diffusion radius deviation. When the diffusion radius deviation exceeds 8% of the design value, a collaborative optimization game model for the jet grouting parameters is activated. The upper-level optimization model optimizes the drill rod rotation speed with the goal of anchor body uniformity, while the lower-level optimization model optimizes the drill rod lifting speed with the goal of grout penetration depth. The two models achieve collaborative optimization through a rate-velocity coupling term, ensuring uniform helical spacing and sufficient penetration of the grout cutting trajectory. A fuzzy adaptive PID controller dynamically adjusts the grouting pressure according to the soil layer type, reducing pressure in soft soil layers to avoid splitting and increasing pressure in dense soil layers to ensure penetration, eliminating the defect of fixed parameters being unable to adapt to changes in soil layers. In summary, this invention solves the technical problem mentioned in the background art of the difficulty in real-time and precise control of the diffusion radius during high-pressure jet grouting construction. Attached Figure Description

[0015] Figure 1 This is a flowchart of the method of the present invention.

[0016] Figure 2 This is a side view of the equipment.

[0017] Figure 3 This is a diagram showing the components of a grouting platform.

[0018] Figure 4 Detailed drawing of high-pressure jet grouting anchor cable installation.

[0019] Figure 5 Detailed drawing of the anchor body.

[0020] 1. Four-way hydraulic outriggers; 2. Composite chassis; 3. Operator's cab; 4. Bottom hydraulic piston column; 5. Telescopic module; 6. Chain track; 7. Hydraulic piston column of grouting platform; 8. Grouting platform chassis; 9. Intelligent controller; 10. Hollow drill rod; 11. High-altitude protective fence; 12. Hybrid power supply box; 13. Diesel engine; 14. Electric motor; 15. Intelligent power distribution box; 16. Spin grouting system integration box; 17. Alarm device; 18. Rotary power head; 19. Grouting hydraulic piston column; 20. Lifting device; 21. Hollow drill rod support device; 22. Laser positioning device; 23. Rotary chassis of grouting platform; 24. Mechanical arm of grouting platform; 25. Nozzle; 26. Anchor plate; 27. Anchor cable; 28. Soil pile; 29. ​​Soft soil; 30. Drill bit; 31. Drill bit connecting rod; 32. Anti-slip head. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below.

[0022] like Figure 1 The diagram shown is a flowchart of a high-lift intelligent high-pressure jet grouting anchor cable construction method provided by the first aspect of the present invention. This method includes the following steps: S1. After the tracked vehicle moves to the construction position, the four-way hydraulic outriggers unfold to provide support. The electro-hydraulic proportional servo synchronous control system drives the bottom hydraulic piston column to cooperate with the lifting arm. Through the cross-coupling compensation algorithm, the telescopic module and chain track are controlled to lift the grouting platform to the specified height. S2. The laser positioning instrument emits a laser calibration signal to the hole position. After receiving the angle information, the controller drives the grouting hydraulic piston column to adjust the angle of the hollow drill rod axis, so that the deviation angle between the hollow drill rod axis and the designed drilling direction is less than 0.3 degrees. S3. When the hollow drill rod drives the drill bit into the soil layer, the drilling and spraying wall protection mode is activated. The slurry delivery unit delivers slurry with a pressure of 5 to 8 MPa to form a preliminary solidification layer on the borehole wall. The multi-dimensional force sensor array separates and measures the drill rod rotation torque and the drill rod axial lifting resistance through differential algorithm. S4. The fuzzy adaptive PID controller identifies the current soil layer type based on the rate of change of drill rod rotation torque and the rate of change of drilling speed, and adjusts the grouting pressure deviation and the rate of change of grouting pressure deviation to achieve dynamic control of grouting pressure. The pressure flow diffusion radius feedback control system dynamically adjusts the injection pressure, drill rod rotation speed and drill rod lifting speed after back-calculating the actual diffusion radius based on the return grout volume and the orifice pressure. S5. When the actual diffusion radius deviates from the designed diffusion radius by more than 8%, the jet grouting parameter collaborative optimization game model is activated. The upper optimization model optimizes the drill pipe rotation rate with the uniformity of the anchor body as the objective function, and the lower optimization model optimizes the drill pipe lifting speed with the slurry penetration depth as the objective function. The upper and lower optimization models achieve collaboration through the rate-velocity coupling term. S6. After the hollow drill rod reaches the designed drilling depth, the lifting device and the grouting hydraulic piston column work together to control the hollow drill rod to lift it gradually. During the lifting process, jet grouting continues until the hollow drill rod is completely removed from the soil layer, forming a dense soil pile anchoring structure.

[0023] The electro-hydraulic proportional servo synchronous control system includes multiple hydraulic cylinders and multiple independent proportional valves. Each hydraulic cylinder is equipped with a displacement sensor. The main controller collects the hydraulic cylinder displacement deviation of each hydraulic cylinder in real time and dynamically adjusts the hydraulic cylinder flow distribution through a cross-coupling compensation algorithm to control the hydraulic cylinder synchronization error within ±1mm. The cross-coupling compensation algorithm establishes a hydraulic cylinder displacement deviation matrix, calculates the coupling compensation amount between each hydraulic cylinder, and outputs flow adjustment commands to the corresponding independent proportional valves to ensure that the lifting arm maintains a stable posture under drilling vibration and wind load disturbance. The hydraulic cylinder displacement deviation is the difference between the actual displacement of a single hydraulic cylinder and the average displacement of multiple hydraulic cylinders. The coupling compensation amount is the flow correction value obtained by multiplying the hydraulic cylinder displacement deviation by a compensation coefficient, which is determined to be 0.8 to 1.2 through offline calibration tests.

[0024] The telescopic module includes a bidirectional hydraulic telescopic cylinder and a guide rail structure. The piston rod end of the bidirectional hydraulic telescopic cylinder is hinged to the upper end of the lifting arm, and the lower end of the cylinder body is fixed to the composite chassis. The smooth lifting and automatic locking of the grouting platform is achieved through signal linkage between a displacement sensor and a controller. The chain track is a closed-loop chain structure, with the chain driven by a sprocket. The sprocket is connected to the output shaft of a hydraulic motor. The telescopic movement of the bidirectional hydraulic telescopic cylinder is synchronously controlled with the rotation of the sprocket, ensuring balanced force distribution during lifting arm raising and lowering. The specified height is determined based on the slope height of the construction location, adding an operational safety margin of 1.5 to 2.5 meters.

[0025] The simultaneous drilling and grouting wall protection mode is achieved by dynamically adjusting the coupling relationship between drilling speed and grouting volume. The drilling speed is set to 0.5 to 2 m / min based on the soil cohesion parameter, and the grouting volume is set to 15 to 35 L / min based on the borehole wall formation rate. The frequency conversion control system adjusts the drill rod lifting speed to avoid excessive negative pressure that could cause borehole wall collapse. The initial solidified layer thickness is 20 to 40 mm, providing temporary support for subsequent high-pressure jet grouting. The soil cohesion parameter is obtained from the preliminary geological survey report, and the borehole wall formation rate is the initial solidified layer thickness divided by the grout solidification time, which is 5 to 15 min.

[0026] The multi-dimensional force sensor array includes a torque sensor mounted above the hollow drill pipe and an axial force sensor mounted on the rotating power head. The torque sensor has a measurement range of 0 to 5000 N·m, and the axial force sensor has a measurement range of 0 to 50 kN. The differential algorithm eliminates the coupling interference between the drill pipe rotation torque and the axial lifting resistance measurement by establishing a torque-tension measurement matrix, thereby achieving independent and accurate measurement of both the drill pipe rotation torque and the drill pipe axial lifting resistance. The torque-tension measurement matrix is ​​a second-order square matrix, and its elements are determined by a dynamic calibration system. This system periodically performs multi-condition calibration under both no-load and loaded conditions to correct the matrix elements of the torque-tension measurement matrix. The calibration cycle is once every 50 holes drilled. The drill pipe rotation torque is used as an input parameter for the upper-level optimization model, and the drill pipe axial lifting resistance is used to determine whether the drilling resistance exceeds the rated load of the rotating power head.

[0027] The fuzzy adaptive PID controller takes the grouting pressure deviation and the rate of change of the grouting pressure deviation as inputs, and adjusts the proportional coefficient, integral coefficient, and derivative coefficient online through fuzzy inference rules. The grouting pressure deviation is the difference between the actual grouting pressure and the target grouting pressure. The actual grouting pressure is measured by a pressure sensor installed in the grout delivery channel, and the target grouting pressure is obtained by looking up the pressure correspondence table for the current soil type. The rate of change of the grouting pressure deviation is the difference in grouting pressure deviation between two adjacent sampling times divided by the sampling time interval, which is 0.1 to 0.5 seconds.

[0028] The current soil layer type identification is achieved by establishing a soil layer hardness-pressure response database. The soil layer type is determined based on the change rate of drill rod rotation torque and the change rate of drilling speed. In soft soil layers, the target grouting pressure is reduced to 8-12 MPa to avoid fracturing; in dense soil layers, the target grouting pressure is increased to 18-25 MPa to ensure permeability. The change rate of drill rod rotation torque is the difference between the drill rod rotation torque at two adjacent sampling times divided by the sampling time interval. The change rate of drilling speed is the difference between the drilling speed at two adjacent sampling times divided by the sampling time interval. The drilling speed is measured by a displacement sensor installed on the hollow drill rod support device. The soil layer hardness-pressure response database includes three soil layer types: soft soil, medium-density soil, and dense soil. When the change rate of drill rod rotation torque is less than 50 N·m / s and the change rate of drilling speed is greater than 0.3 m / s, the soil layer type is determined. The soil layer was determined to be soft soil when the rate of change of the drill rod rotation torque was between 50 and 150 N·m / s and the rate of change of the drilling speed was between 0.1 and 0.3 m / s. Within this range, the soil layer is classified as medium-density. This applies when the rate of change of drill rod rotation torque is greater than 150 N·m / s and the rate of change of drilling speed is less than 0.1 m / s. It was determined to be a dense soil layer.

[0029] The fuzzy inference rules comprise 49 rules, covering all combinations of grouting pressure deviation from negative to positive and the rate of change of grouting pressure deviation from negative to positive, thereby reducing grouting pressure overshoot by 60% and shortening grouting pressure adjustment time by 40%. The proportional coefficient is adjusted from 0.5 to 2.0, the integral coefficient from 0.1 to 0.8, and the derivative coefficient from 0.05 to 0.3. The grouting pressure overshoot is the magnitude by which the maximum value of the actual grouting pressure exceeds the target grouting pressure during the dynamic response of the grouting pressure. The grouting pressure adjustment time is the time required for the actual grouting pressure to adjust from its initial value to within ±5% of the target grouting pressure and remain stable.

[0030] The pressure-flow-density diffusion radius feedback control system is established based on a multivariate diffusion model of soil mechanical parameters and construction parameters. The multivariate diffusion model parameters are calibrated through prior field tests. The model input parameters include injection pressure, drill rod rotation speed, drill rod lifting speed, and soil permeability coefficient. The grout return volume is measured by a flow meter with an accuracy of ±2%, and the orifice pressure is measured by a pressure sensor with an accuracy of ±0.5%. The actual diffusion radius is calculated by combining the flow ratio of grout return volume to injection volume and the pressure ratio of orifice pressure to injection pressure, with a calculation error of less than 5%. The injection volume is obtained by measuring the flow meter of the grout delivery unit, and the injection pressure is obtained by measuring the pressure sensor of the grout delivery unit. The flow ratio and pressure ratio reflect the degree of grout loss and pressure attenuation in the soil, respectively. A smaller flow ratio indicates more complete grout diffusion in the soil, while a smaller pressure ratio indicates greater grout diffusion resistance.

[0031] The dynamic adjustment of injection pressure, drill rod rotation speed, and drill rod lifting speed includes adjusting the injection pressure increment to ±2 MPa, the drill rod rotation speed increment to ±5 rpm, and the drill rod lifting speed increment to ±0.1 m / min. When the actual diffusion radius is smaller than the designed diffusion radius, the injection pressure is increased, the drill rod rotation speed is decreased, and the drill rod lifting speed is decreased. When the actual diffusion radius is larger than the designed diffusion radius, the injection pressure is decreased, the drill rod rotation speed is increased, and the drill rod lifting speed is increased. The designed diffusion radius is determined according to the anchorage design requirements and is half the design diameter of the anchor body. The design diameter of the anchor body is determined based on the design load and the soil bearing capacity.

[0032] The diffusion radius deviation is the absolute value of the difference between the actual diffusion radius and the designed diffusion radius. When the diffusion radius deviation exceeds 8% of the designed diffusion radius, the jet grouting parameter collaborative optimization game model is activated for parameter optimization. The jet grouting parameter collaborative optimization game model includes an upper-level optimization model and a lower-level optimization model. The upper-level optimization model optimizes the drill pipe rotation rate with the uniformity of the anchor solid as the objective function, and the lower-level optimization model optimizes the drill pipe lifting speed with the slurry penetration depth as the objective function.

[0033] The objective function input parameters of the upper-level optimization model are the drill pipe rotation rate, the standard deviation of the diffusion radius, and the fluctuation amplitude of the drill pipe rotation torque. Optimal anchor uniformity is achieved by minimizing the product of the normalized standard deviation of the diffusion radius and the normalized value of the drill pipe rotation rate, divided by the square root of the normalized value of the drill pipe rotation torque fluctuation amplitude. The standard deviation of the diffusion radius is the standard deviation of 10 consecutively measured actual diffusion radius data points. The normalized value of the standard deviation of the diffusion radius is the standard deviation of the diffusion radius divided by the designed diffusion radius. The normalized value of the drill pipe rotation rate is the drill pipe rotation rate divided by the rated rotation rate, which is 30 rpm. The fluctuation amplitude of the drill pipe rotation torque is the difference between the maximum and minimum values ​​of 10 consecutively measured drill pipe rotation torque data points. The normalized value of the fluctuation amplitude of the drill pipe rotation torque is the fluctuation amplitude of the drill pipe rotation torque divided by the rated torque, which is 3000 N·m.

[0034] The upper-level optimization model is constrained by a drill pipe rotation speed within the range of 15 to 45 rpm and a drill pipe rotation torque fluctuation of less than 20% of the rated torque. The lower-level optimization model's objective function input parameters are drill pipe lifting speed, slurry penetration depth, and orifice pressure. Optimal slurry penetration depth is achieved by maximizing the product of the normalized slurry penetration depth and the normalized orifice pressure, divided by the normalized drill pipe lifting speed. The slurry penetration depth is calculated by subtracting the initial solidification layer thickness from the actual diffusion radius. The normalized slurry penetration depth is the slurry penetration depth divided by the designed penetration depth, which is the designed diffusion radius minus the initial solidification layer thickness. The normalized orifice pressure is the orifice pressure divided by the injection pressure, and the normalized drill pipe lifting speed is the drill pipe lifting speed divided by the rated lifting speed, which is 1 m / min.

[0035] The constraints of the lower-level optimization model are that the drill pipe lifting speed is within the range of 0.3 to 1.5 m / min and the orifice pressure is greater than 5 MPa. The rate-velocity coupling term is the ratio of the drill pipe rotation speed to the drill pipe lifting speed, and the value of the rate-velocity coupling term ranges from 10 to 50 to ensure that the helical spacing of the slurry cutting trajectory is uniform during the jet grouting process. The helical spacing is the distance the drill pipe is lifted when it rotates one revolution. If the helical spacing is too large, the slurry cutting trajectory will be discontinuous; if the helical spacing is too small, the slurry will repeatedly cut, reducing efficiency.

[0036] The collaborative optimization game model for the rotary jetting parameters employs an iterative algorithm. The drill pipe rotation rate output by the upper-level optimization model serves as the constraint input parameter for the lower-level optimization model. The drill pipe lifting speed output by the lower-level optimization model is fed back to the upper-level optimization model as the helix spacing calculation parameter for the next iteration. The iteration terminates when the change in drill pipe rotation rate is less than 1 rpm and the change in drill pipe lifting speed is less than 0.05 m / min for three consecutive iterations. The initial iteration values ​​are a drill pipe rotation rate of 30 rpm and a drill pipe lifting speed of 0.8 m / min. The maximum number of iterations is 20. If the iteration termination condition is not met even after reaching the maximum number of iterations, the result of the last iteration is taken as the optimized output.

[0037] The lifting device is connected to the hollow drill rod via a ball screw mechanism, and the drive output shaft precisely controls the rise and fall of the hollow drill rod, anchor plate, and anchor cable under the controller's command. The grouting hydraulic piston provides reverse thrust and speed control during the lifting phase, ensuring a constant drill rod lifting speed during the jet grouting process, with fluctuations controlled within ±5% of the set value. During the jet grouting process, the grouting pressure is maintained at 12 to 18 MPa, and the drill rod rotation speed is maintained at 20 to 35 rpm, ensuring the soil pile's compaction meets design requirements. The designed drilling depth is determined based on the anchorage design requirements and is the design length of the anchor body. The design length of the anchor body is calculated based on the design load and the shear strength of the soil in the anchorage section. The diameter of the soil pile anchorage structure is 98% to 102% of twice the design diffusion radius, and the pull-out bearing capacity meets the 1.2 times safety factor requirement of the design load.

[0038] The specific implementation methods of the above steps are described in detail below.

[0039] The specific implementation of step S1 is as follows: After the tracked vehicle travels to the construction position, it first deploys the four-way hydraulic outriggers to complete the horizontal support of the entire machine. Then, the main controller starts the electro-hydraulic proportional servo synchronous control system. By collecting the displacement sensor data configured for each hydraulic cylinder, the current displacement matrix of each hydraulic cylinder is established. The deviation between the actual displacement and the average displacement of each hydraulic cylinder is calculated to form the hydraulic cylinder displacement deviation matrix. Based on the cross-coupling compensation algorithm, the coupling compensation amount between each hydraulic cylinder is calculated. The coupling compensation amount is equal to the hydraulic cylinder displacement deviation multiplied by the compensation coefficient to obtain the flow correction value. The reference value of the compensation coefficient is 0.8 to 1.2, which is determined through offline calibration tests. The main controller converts the flow correction value into a flow adjustment command and outputs it to the independent proportional valve of the corresponding hydraulic cylinder. Each independent proportional valve dynamically adjusts the oil flow distribution of the hydraulic cylinder according to the flow adjustment command to realize the synchronous extension and retraction of multiple hydraulic cylinders. During the synchronous control process, the synchronization error of the hydraulic cylinder is controlled within ±1mm. The principle of the cross-coupling compensation algorithm is to compensate for the displacement deviations of each hydraulic cylinder by coupling them together. When a hydraulic cylinder lags behind, its flow rate is increased to accelerate it to catch up; when a hydraulic cylinder is ahead, its flow rate is reduced to slow it down and wait. Through continuous dynamic adjustment, high-precision synchronization of the displacements of each hydraulic cylinder is achieved. The correlation between the algorithm and the steps mentioned above lies in solving the problem of platform tilting caused by uneven force on multiple hydraulic cylinders under drilling vibration and wind load disturbance. Under the coordination of the synchronous control system, the bidirectional hydraulic telescopic cylinder and the chain track jointly drive the lifting arm to raise and lower, lifting the grouting platform to a specified height. The specified height is equal to the slope height plus the operating safety margin, with a reference value of 1.5 to 2.5 meters. During the lifting process, the displacement sensor continuously monitors the position of the lifting arm. When the specified height is reached, the controller issues a locking command to automatically lock the platform.

[0040] The specific implementation of step S2 is as follows: After the grouting platform reaches the designated height and locks, the laser positioning device emits a laser calibration signal towards the predetermined hole position. The laser calibration signal illuminates the slope surface to form a laser spot. The photoelectric receiver built into the laser positioning device receives the reflected laser signal and calculates the deviation between the laser spot position and the predetermined hole position. At the same time, the angle sensor configured in the laser positioning device measures the angle between the current laser emission direction and the horizontal and vertical planes. After receiving the position deviation information and angle information fed back by the laser positioning device, the controller calculates the angle increment that the hollow drill rod axis needs to be adjusted. The controller drives the grouting hydraulic piston column to perform a fine-tuning action. The grouting hydraulic piston column changes the tilt angle of the hollow drill rod support device through the extension and retraction of the hydraulic cylinder, thereby adjusting the angle of the hollow drill rod axis. The adjustment process adopts closed-loop feedback control. The laser positioning device continuously monitors the position of the laser spot and feeds it back to the controller in real time. The controller continuously adjusts the action of the grouting hydraulic piston column according to the change of position deviation until the laser spot is accurately positioned at the predetermined hole position and the deviation angle between the hollow drill rod axis and the designed drilling direction is less than 0.3 degrees. At this point, the adjustment stops and the position of the grouting hydraulic piston column is locked. The closed-loop feedback control principle involves continuously measuring the system output with a sensor and comparing it with a set value. The control quantity is dynamically adjusted based on the deviation, so that the system output gradually approaches the set value. The connection between this principle and the steps lies in achieving high-precision automatic alignment of the hollow drill rod axis, avoiding the problems of large positioning errors and low efficiency caused by traditional reliance on manual line measurement and mechanical leveling instruments.

[0041] The specific implementation of step S3 is as follows: the hollow drill rod, driven by the rotating power head, propels the drill bit into the soil layer. Simultaneously, the controller activates the drilling-and-grouting wall protection mode. The high-pressure pump of the grout delivery unit pressurizes the grout to 5 to 8 MPa and delivers it to the interior of the hollow drill rod through the grout delivery channel. The grout is sprayed from the nozzle of the drill bit onto the borehole wall to form a preliminary solidified layer. The thickness of the preliminary solidified layer is 20 to 40 mm, providing temporary support for subsequent high-pressure jet grouting to prevent borehole wall collapse. The drilling-and-grouting wall protection mode is achieved by dynamically adjusting the coupling relationship between the drilling speed and the grouting volume. The controller sets the drilling speed to 0.5 to 2 m / min based on the soil cohesion parameters obtained from the previous geological survey report, and sets the grouting volume to 15 to 35 L / min based on the borehole wall formation rate. The borehole wall formation rate is equal to the thickness of the preliminary solidified layer divided by the grout solidification time, with a reference value of 5 to 15 minutes. During drilling, a multi-dimensional force sensor array synchronously collects data on the drill rod's rotational torque and axial lifting resistance. This array includes a torque sensor mounted on top of the hollow drill rod and an axial force sensor mounted on the rotating power head. The torque sensor measures the drill rod's rotational torque, while the axial force sensor measures the drill rod's axial lifting resistance. Since the drill rod simultaneously bears both rotational torque and axial force, these two forces are coupled and affect the sensor measurement results. The controller employs a differential algorithm for decoupling. This differential algorithm eliminates coupling interference by establishing a torque and tension measurement matrix, which is a second-order square matrix. The matrix elements are determined by a dynamic calibration system. This system periodically performs multi-condition calibration and correction of the matrix elements under both no-load and loaded conditions. The calibration cycle is once every 50 holes drilled. The principle of the differential algorithm is to decompose the coupled sensor measurements into independent torque and tension components through matrix operations, achieving independent and accurate measurement of the drill rod's rotational torque and axial lifting resistance.

[0042] The specific implementation of step S4 involves a fuzzy adaptive PID controller continuously monitoring the grouting pressure and achieving dynamic control. The controller first identifies the current soil layer type based on the rate of change of drill rod rotation torque and the rate of change of drilling speed. The rate of change of drill rod rotation torque is equal to the difference in drill rod rotation torque between two adjacent sampling times divided by the sampling time interval; the rate of change of drilling speed is equal to the difference in drilling speed between two adjacent sampling times divided by the sampling time interval. The reference value for the sampling time interval is 0.1 to 0.5 s. The controller determines the soil layer type based on a soil hardness and pressure response database. When the rate of change of drill rod rotation torque is less than 50 N·m / s and the rate of change of drilling speed is greater than 0.3 m / s, the soil layer type is determined. The soil layer was determined to be soft soil when the rate of change of the drill rod rotation torque was between 50 and 150 N·m / s and the rate of change of the drilling speed was between 0.1 and 0.3 m / s. Within this range, the soil layer is classified as medium-density. This applies when the rate of change of drill rod rotation torque is greater than 150 N·m / s and the rate of change of drilling speed is less than 0.1 m / s. The soil layer is identified as dense. After identifying the current soil type, the controller looks up the corresponding target grouting pressure from the soil type pressure correspondence table. The target grouting pressure for soft soil is 8 to 12 MPa, for medium-density soil it is 12 to 18 MPa, and for dense soil it is 18 to 25 MPa. The fuzzy adaptive PID controller calculates the grouting pressure deviation between the actual grouting pressure and the target grouting pressure, and the difference between the grouting pressure deviations of two adjacent samples divided by the sampling time interval to obtain the grouting pressure deviation change rate. Using the grouting pressure deviation and the grouting pressure deviation change rate as inputs, the controller adjusts the proportional coefficient, integral coefficient, and derivative coefficient online through fuzzy inference rules. The fuzzy inference rules include 49 rules covering all combinations of grouting pressure deviation and its rate of change from negative to positive. The proportional coefficient is adjustable from 0.5 to 2.0, the integral coefficient from 0.1 to 0.8, and the derivative coefficient from 0.05 to 0.3. The principle of fuzzy inference is to simulate the experience of human experts, converting precise numerical inputs into fuzzy linguistic variables for inference, and then converting the fuzzy inference results into precise control parameter outputs. The correlation between this principle and the steps lies in achieving rapid and accurate adjustment of grouting pressure under different soil types. The pressure-flow-diffusion radius feedback control system operates synchronously. The controller measures the return grout volume and grouting volume through a flow meter, and measures the orifice pressure and injection pressure through a pressure sensor. It calculates the flow ratio of return grout volume to grouting volume and the pressure ratio of orifice pressure to injection pressure. Based on a multivariate diffusion model, the actual diffusion radius is calculated. The input parameters of the multivariate diffusion model include injection pressure, drill rod rotation speed, drill rod lifting speed, and soil permeability coefficient. The model parameters are determined through prior field test calibration, and the back-calculation error is less than 5%. The controller calculates the deviation between the actual diffusion radius and the designed diffusion radius, and dynamically adjusts the injection pressure, drill pipe rotation speed, and drill pipe lifting speed according to the sign and magnitude of the diffusion radius deviation. When the actual diffusion radius is smaller than the designed diffusion radius, the injection pressure is increased, the drill pipe rotation speed is decreased, and the drill pipe lifting speed is decreased. When the actual diffusion radius is larger than the designed diffusion radius, the injection pressure is decreased, the drill pipe rotation speed is increased, and the drill pipe lifting speed is increased. The adjustment increments are ±2 MPa for injection pressure, ±5 rpm for drill pipe rotation speed, and ±0.1 m / min for drill pipe lifting speed.

[0043] The specific implementation of step S5 is as follows: when the diffusion radius deviation exceeds 8% of the designed diffusion radius, the controller initiates a collaborative optimization game model for jet grouting parameters for in-depth optimization. The game model includes two sub-models: an upper-level optimization model and a lower-level optimization model. The upper-level optimization model optimizes the drill pipe rotation rate with the uniformity of the anchor solid as the objective function, while the lower-level optimization model optimizes the drill pipe lifting speed with the slurry penetration depth as the objective function. The input parameters of the upper-level optimization model are the drill pipe rotation rate, the standard deviation of the diffusion radius, and the fluctuation amplitude of the drill pipe rotation torque. The objective function achieves optimal anchor solid uniformity by minimizing the product of the normalized standard deviation of the diffusion radius and the normalized value of the drill pipe rotation rate, divided by the square root of the normalized value of the drill pipe rotation torque fluctuation amplitude. The constraints are that the drill pipe rotation rate is within the range of 15 to 45 rpm and the fluctuation amplitude of the drill pipe rotation torque is less than 20% of the rated torque. The input parameters for the lower-level optimization model are drill pipe lifting speed, slurry penetration depth, and orifice pressure. The objective function achieves optimal slurry penetration depth by maximizing the product of the normalized slurry penetration depth and the normalized orifice pressure, divided by the normalized drill pipe lifting speed. The constraints are that the drill pipe lifting speed is within the range of 0.3 to 1.5 m / min and the orifice pressure is greater than 5 MPa. The two models are coordinated through a rate-velocity coupling term, which is equal to the ratio of the drill pipe rotation speed to the drill pipe lifting speed, with a value ranging from 10 to 50. The rate-velocity coupling term directly determines the helical spacing, which is equal to the distance the drill pipe is lifted during one revolution. An excessively large helical spacing leads to discontinuous slurry cutting trajectory, while an excessively small helical spacing leads to repeated slurry cutting, reducing efficiency. The game theory model employs an iterative algorithm. The drill pipe rotation rate output by the upper-level optimization model serves as the constraint input for the lower-level optimization model. The drill pipe lifting speed output by the lower-level optimization model is fed back to the upper-level optimization model as a parameter for calculating the helix spacing for the next iteration. The initial iteration values ​​are a drill pipe rotation rate of 30 rpm and a drill pipe lifting speed of 0.8 m / min. The iteration terminates when the change in drill pipe rotation rate is less than 1 rpm and the change in drill pipe lifting speed is less than 0.05 m / min for three consecutive iterations. The maximum number of iterations is 20. The game theory principle involves establishing a mathematical model in which multiple decision-makers with different objectives influence and constrain each other to find an equilibrium solution acceptable to all parties. The connection between this principle and the steps lies in the collaborative solution of the two mutually constraining optimization objectives—anchor uniformity and slurry penetration depth—through a game framework, avoiding the parameter bias caused by single-objective optimization.

[0044] The specific implementation of step S6 is as follows: After the hollow drill rod reaches the designed drilling depth, the controller issues a lifting command. The lifting device drives the hollow drill rod, anchor plate, and anchor cable to rise via a ball screw mechanism. During the lifting phase, the grouting hydraulic piston column moves synchronously to provide reverse thrust and speed control. The two devices work together to ensure a constant drill rod lifting speed, with fluctuations controlled within ±5% of the set value. During the lifting process, the jet grouting system continues to operate for jet grouting, maintaining the grouting pressure at 12 to 18 MPa and the drill rod rotation speed at 20 to 35 rpm. Grout is continuously sprayed from the drill bit nozzle into the surrounding soil to fill the gaps left after the drill rod is withdrawn, ensuring that the soil pile density meets the design requirements. The controller continuously monitors the position of the hollow drill rod through a displacement sensor. Once the hollow drill rod is completely removed from the soil layer, the jet grouting is stopped and the rotation of the hollow drill rod is stopped. At this time, the anchor cable has been fixed inside the soil pile body through the anchor plate, forming a dense soil pile anchoring structure. The diameter of the soil pile anchoring structure is 98% to 102% of twice the design diffusion radius, and the pull-out bearing capacity meets the safety factor requirement of 1.2 times the design load.

[0045] It should be noted that this invention also solves the following technical problem: In existing high-pressure jet grouting construction, the lifting platform suffers from insufficient attitude stability under drilling vibration and wind load disturbance, leading to excessive borehole axis deviation and affecting anchoring quality. This invention utilizes an electro-hydraulic proportional servo synchronous control system with multiple hydraulic cylinders and independent proportional valves. It collects the displacement deviation of each hydraulic cylinder in real time and establishes a deviation matrix. A cross-coupling compensation algorithm calculates the coupling compensation amount and dynamically adjusts the flow distribution of each hydraulic cylinder, controlling the synchronization error of the hydraulic cylinders within ±1 mm, ensuring the lifting arm maintains a stable attitude under disturbance. A laser positioning device emits a laser calibration signal to the borehole position, and the controller drives the grouting hydraulic piston column to adjust the angle of the hollow drill rod axis, ensuring the borehole direction deviation angle is less than 0.3 degrees, meeting the anchoring accuracy requirements and solving the problem of excessive borehole axis deviation caused by insufficient attitude stability of the lifting platform.

[0046] The second aspect of the present invention provides a high-pressure jet grouting anchor cable construction device, including a tracked vehicle, wherein the composite chassis 2 of the tracked vehicle is equipped with four-way hydraulic outriggers 1, the upper surface of the composite chassis 2 is fixed with a cab 3, the cab 3 is hinged to a bottom hydraulic piston column 4 by a pin, and the bottom hydraulic piston column 4 is hinged to a lifting arm by a pin.

[0047] A chain track 6 is installed above the lifting arm, and a telescopic module 5 is installed on the lifting arm. The telescopic module 5 cooperates with the chain track 6. The telescopic module 5 includes a bidirectional hydraulic telescopic cylinder and a guide rail structure. The telescopic module 5 has a built-in hydraulic cylinder body. The piston rod end of the hydraulic cylinder is hinged to the upper end of the lifting arm, and the lower end of the hydraulic cylinder body is fixed to the composite chassis 2. The chain track 6 is a closed-loop chain structure, and the chain is driven by a sprocket, which is connected to the output shaft of a hydraulic motor. The telescopic module 5 is equipped with a displacement sensor, which is signal-connected to the controller 9.

[0048] The hydraulic piston column 7 of the grouting platform and the robotic arm 24 of the grouting platform are connected to the lifting arm via the rotating chassis 23 of the grouting platform. The robotic arm 24 of the grouting platform is connected to the hollow drill rod support device 21 via a hinged support. The upper end of the hollow drill rod support device 21 is provided with an arc-shaped groove. The bottom end of the grouting hydraulic piston column 19 is hinged to the chassis 8 of the grouting platform, and the piston rod end of the grouting hydraulic piston column 19 is connected to the hollow drill rod support device 21.

[0049] The lifting device 20 is connected to the jet grouting system integration box 16. The drive output shaft of the lifting device 20 is connected to the hollow drill rod 10 through a ball screw mechanism. The hollow drill rod 10 is configured to cooperate with the anchor plate 26 and the anchor cable 27. A laser positioning device 22 is installed at the front end of the grouting platform. The laser positioning device 22 is connected to the controller 9. The grouting platform is equipped with a platform sensor, which is also connected to the controller 9.

[0050] Anchor cable 27 passes through the outer hole of anchor plate 26. Anti-slip head 32 is welded to the top of anchor cable 27. Hollow drill rod 10 passes through anchor plate 26. Hollow drill rod 10 is connected to drill bit 30 through drill bit connecting rod 31. Drill bit 30 is equipped with nozzle 25.

[0051] The hybrid power unit 12 houses a rotary drive unit and a slurry delivery unit. The rotary drive unit includes an electric motor 14, a reduction gear set, and a rotary power head 18. The electric motor 14 is linked to the rotary power head 18 via the reduction gear set. The slurry delivery unit includes a high-pressure pump and a slurry delivery channel, which is connected to the hollow drill pipe 10. The hybrid power unit 12 also includes a diesel engine 13 and an electric motor 14. The diesel engine 13 and the electric motor 14 are connected to an intelligent power distribution box 15, which is connected to the rotary jet system integration box 16 and the rotary power head 18.

[0052] The grouting platform 8 is equipped with a controller 9, which is connected to the display equipment in the operator's cab 3. The grouting platform 8 is equipped with pressure sensors, displacement sensors, and speed encoders, all of which are connected to the controller 9. The controller 9 is also connected to the alarm device 17. A high-altitude protective fence 11 is installed around the critical operating area of ​​the equipment.

[0053] Specifically, the principle of this invention is as follows: The technical solution of this invention can solve the problem of difficulty in real-time and accurate control of the diffusion radius by establishing a complete closed-loop feedback control system. Pressure reflects the degree of grout loss in the soil, and the pressure ratio reflects the degree of pressure attenuation. The actual diffusion radius is calculated by combining both, which is more accurate than judging by a single parameter. Based on the deviation between the actual diffusion radius and the design value, the system adjusts three key parameters in real time: injection pressure, rotation rate, and lifting speed, forming a negative feedback adjustment mechanism to gradually bring the diffusion radius closer to the design value. The rotary jetting parameter collaborative optimization game model decouples the two mutually restrictive optimization objectives of anchor uniformity and grout penetration depth. The upper-level model improves uniformity by minimizing the standard deviation of the diffusion radius, while the lower-level model ensures solidification effect by maximizing penetration depth. The rate-speed coupling term ensures appropriate helical spacing, avoiding discontinuous or repeated cutting trajectories. The fuzzy adaptive PID controller identifies the soil layer type based on the rate of change of drill rod rotation torque and the rate of change of drilling speed, dynamically adjusting the target grouting pressure according to different soil layer characteristics, giving the pressure control adaptive capability and meeting the differentiated requirements of different soil layers for grout pressure.

[0054] The following provides a specific embodiment 1 of the present invention, and the specific implementation of each step in this embodiment 1 is described in detail below.

[0055] The specific implementation of step S1 is as follows: The electro-hydraulic proportional servo synchronous control system realizes the synchronous control of multiple hydraulic cylinders through a cross-coupling compensation algorithm. The calculation formula for the displacement deviation of the hydraulic cylinders is expressed as follows: ; In the formula, For the first The displacement deviation of each hydraulic cylinder, in mm; For the first The actual displacement of each hydraulic cylinder, in mm, is obtained in real time by a displacement sensor configured on the hydraulic cylinder. This represents the total number of hydraulic cylinders; the empirical value is 4. This is the index for the hydraulic cylinder number, with a value range from 1 to... ; This is the sum of the actual displacements of all hydraulic cylinders, in mm. The formula for calculating the coupling compensation is as follows: ; In the formula, For the first The coupling compensation amount for each hydraulic cylinder, in units of ; This is the compensation coefficient, in units of... The default value range was determined through offline calibration experiments to be 0.8 to 1.2. ; For the first The hydraulic cylinder displacement deviation is measured in mm. The cross-coupling compensation algorithm achieves multi-cylinder coordinated control by establishing a hydraulic cylinder displacement deviation matrix, which is expressed as follows: ; In the formula, This is the hydraulic cylinder displacement deviation matrix, in mm; They are respectively the 1st to the 1st The displacement deviation of each hydraulic cylinder is measured in mm. The main controller calculates the flow regulation command based on the hydraulic cylinder displacement deviation matrix and outputs it to the corresponding independent proportional valve to ensure that the synchronization error of the hydraulic cylinders is controlled within ±1mm. The telescopic module, through the cooperation of a bidirectional hydraulic telescopic cylinder and a guide rail structure, enables the grouting platform to be smoothly raised and lowered to a specified height, which is determined by the slope height. and operating safety margin Confirmed, the calculation formula is as follows: In the formula To specify the height, in meters. This is the slope height, in meters (m), obtained through on-site measurement. The safety margin for operation is measured in meters (m), with an empirical value of 1.5 to 2.5 meters.

[0056] The specific implementation of step S2 is as follows: The laser positioning instrument emits a laser calibration signal to the hole position. After receiving the angle information, the controller drives the grouting hydraulic piston to adjust the angle of the hollow drill rod axis, so that the deviation angle between the hollow drill rod axis and the designed drilling direction is less than 0.3 degrees. This process is realized through a closed-loop angle control system. The formula for calculating the angle deviation is: In the formula This refers to angular deviation, expressed in degrees. This represents the actual axial angle of the hollow drill pipe, in degrees, obtained through measurement using a laser positioning instrument. The drilling direction angle is specified in degrees and is given in the design documents.

[0057] The specific implementation of step S3 is as follows: When the hollow drill rod drives the drill bit into the soil layer, the drilling and spraying wall protection mode is activated. The differential algorithm achieves decoupled measurement of the drill rod rotation torque and the drill rod axial lifting resistance by establishing a torque and tension measurement matrix. The torque and tension measurement matrix is ​​described as follows: ; In the formula, This is a measurement from a torque sensor, in units of... ; The value is measured by the axial force sensor, and the unit is kN. and These are the diagonal elements of the torque and tension measurement matrix, all of which are dimensionless coefficients; The coupling coefficient of torque to axial force, in units of ; The coupling coefficient between axial force and torque is given by . ; All were determined through a dynamic calibration system, with a calibration cycle of once every 50 holes constructed. This is the actual value of the drill pipe rotation torque, in units of ; This represents the true value of the drill pipe axial lifting resistance, in kN. The independent measured values ​​of the drill pipe rotation torque and axial lifting resistance are obtained through matrix inversion, and the calculation formulas are as follows: ; The parameters in the formula have the same meaning as described above. Drilling speed in the simultaneous drilling and spraying wall protection mode. Based on soil cohesion parameters The experience value is set to 0.5 to 2. Grouting volume The value is set according to the hole wall formation rate, with an empirical value of 15 to 35. initial cured layer thickness The empirical value is 20 to 40 mm.

[0058] The specific implementation of step S4 is as follows: The fuzzy adaptive PID controller takes the grouting pressure deviation and the rate of change of the grouting pressure deviation as inputs. The calculation formula for the grouting pressure deviation is expressed as follows: ; In the formula, This represents the grouting pressure deviation, expressed in MPa. The actual grouting pressure is measured in MPa and is obtained by a pressure sensor installed in the grout delivery channel. The target grouting pressure, in MPa, is obtained from the soil type pressure correspondence table based on the current soil type. The formula for calculating the grouting pressure deviation change rate is as follows: ; In the formula, The grouting pressure deviation change rate is expressed in units of... ; This represents the grouting pressure deviation at the current moment, in MPa. This represents the grouting pressure deviation at the previous sampling time, in MPa. The sampling time interval is expressed in seconds (s), with an empirical value of 0.1 to 0.5 seconds. The current sampling time is expressed in seconds. The fuzzy adaptive PID controller adjusts the proportional coefficient online using fuzzy inference rules. Integral coefficient and differential coefficients ,in The adjustment range is 0.5 to 2.0. The adjustment range is 0.1 to 0.8. The adjustment range is from 0.05 to 0.3, and the fuzzy inference rules include 49 rules covering all input combinations. The current soil layer type is identified by the rate of change of drill rod rotation torque and the rate of change of drilling speed. The formula for calculating the rate of change of drill rod rotation torque is as follows: ; In the formula, The rate of change of drill pipe rotational torque, in units of ; The drill pipe rotation torque at the current moment, in units of ; The drill pipe rotation torque at the previous sampling time is expressed in units of... ; The sampling time interval is in seconds (s). The formula for calculating the rate of change of drilling speed is as follows: ; In the formula, The rate of change of drilling speed, in units of ; The drilling speed at the current moment, in units of ; The drilling speed at the previous sampling time, in units of ; The sampling time interval is in seconds (s), with an empirical value of 0.1 to 0.5 seconds. 60 is a time unit conversion factor, dimensionless, used to convert the rate of change of velocity per second to the rate of change of velocity per minute. The pressure-flow diffusion radius feedback control system calculates the actual diffusion radius by comprehensively considering the ratio of return slurry volume to injection volume and the pressure ratio of orifice pressure to injection pressure. The formula for calculating the actual diffusion radius is as follows: ; In the formula, This is the actual diffusion radius, in meters (m). The design diffusion radius, in meters, is half the design diameter of the anchor body. This is the weighting coefficient for the flow ratio, dimensionless, with an empirical value of 0.6; This is the pressure ratio weighting coefficient, dimensionless, with an empirical value of 0.4; This refers to the grouting volume, in units of... The flow rate is obtained by measuring the flow rate of the slurry conveying unit; The amount of returned slurry, in units of This is obtained through flow meter measurement; The orifice pressure is measured in MPa and is obtained through a pressure sensor. The injection pressure is measured in MPa and is obtained through a pressure sensor in the slurry delivery unit.

[0059] The specific implementation method of step S5 is as follows: The calculation formula for the diffusion radius deviation is expressed as follows: ; In the formula, This represents the diffusion radius deviation, in meters (m). This is the actual diffusion radius, in meters (m). The design diffusion radius is given in meters (m). The collaborative optimization game model for the jet spray parameters is initiated at the specified time. The objective function of the upper-level optimization model is expressed as follows: ; In the formula, The objective function value of the upper-level optimization model is dimensionless; The standard deviation of the diffusion radius is expressed in meters, representing the standard deviation of 10 consecutively measured actual diffusion radius data. The design diffusion radius is expressed in meters (m). This represents the drill pipe rotation speed, measured in rpm. The rated rotational speed is expressed in rpm, with an empirical value of 30 rpm. The amplitude of drill pipe rotation torque fluctuation, in units of , is the difference between the maximum and minimum values ​​of 10 consecutively measured drill pipe rotation torque data; Rated torque, unit: Experience value: 3000 The constraints of the upper-level optimization model are: and The objective function of the lower-level optimization model is expressed as follows: ; In the formula, The objective function value of the lower-level optimization model is dimensionless; The depth of slurry penetration is expressed in meters (m). The design depth is measured in meters (m). The pressure at the orifice is expressed in MPa. The injection pressure is expressed in MPa. The drill pipe lifting speed, in units of ; Rated lifting speed, unit: The experience value is 1. The formula for calculating the slurry penetration depth is as follows: ; In the formula, The depth of slurry penetration is expressed in meters (m). This is the actual diffusion radius, in meters (m). The initial cured layer thickness is expressed in meters (m). The formula for calculating the design penetration depth is as follows: ; In the formula, The design depth is measured in meters (m). The design diffusion radius is expressed in meters (m). The initial cured layer thickness is shown in meters (m). The constraints for the lower-layer optimization model are as follows: and The formula for calculating the rate-velocity coupling term is as follows: ; In the formula, This is a rate-velocity coupling term, in units of... The value ranges from 10 to 50; This represents the drill pipe rotation speed, measured in rpm. The drill pipe lifting speed, in units of The collaborative optimization game model for jet spray parameters is solved using an iterative algorithm, with the iteration terminating when the condition is met for three consecutive iterations. and ,Right now and ,and and ,and and In the formula The current iteration number is dimensionless. ; For the first The drill pipe rotation rate of the next iteration, in rpm; For the first The drill pipe rotation rate of the next iteration, in rpm; For the first The drill pipe rotation rate of the next iteration, in rpm; For the first The drill pipe rotation rate of the next iteration, in rpm; For the first The drill pipe lifting speed of the next iteration, in units of ; For the first The drill pipe lifting speed of the next iteration, in units of ; For the first The drill pipe lifting speed of the next iteration, in units of ; For the first The drill pipe lifting speed of the next iteration, in units of The initial value for the iteration is... , In the formula This represents the initial drill pipe rotation speed, in rpm. Initial drill pipe lifting speed, in units of The maximum number of iterations is 20. If the iteration termination condition is not met even after reaching the maximum number of iterations, the result of the last iteration is taken as the optimized output.

[0060] The specific implementation method of step S6 is the same as described above, and will not be repeated in detail here.

[0061] To better understand and implement this invention, a specific application scenario is provided below as Example 2: A technical team undertook a high and steep slope anchoring and reinforcement project. The slope height was 32m, the slope angle was 68°, and the geological conditions of the construction area were complex, with soft soil, medium-density soil, and dense soil layers distributed from top to bottom. Traditional anchoring equipment struggled to achieve precise positioning and stable construction on high and steep slopes, and could not dynamically adjust construction parameters according to the characteristics of different soil layers. The technical team adopted the high-pressure jet grouting anchor cable device and its construction method of this invention, solving the technical difficulties of high and steep slope anchoring construction.

[0062] like Figure 2 As shown, the device mainly consists of four-way hydraulic outriggers 1, a composite chassis 2, an operator's cab 3, a bottom hydraulic piston column 4, a telescopic module 5, chain tracks 6, a grouting platform hydraulic piston column 7, a grouting platform chassis 8, an intelligent controller 9, hollow drill rods 10, a high-altitude protective fence 11, a hybrid power distribution box 12, and a rotating chassis 23 for the grouting platform. The hybrid power distribution box 12 integrates a diesel engine 13 and an electric motor 14, achieving diesel-electric hybrid drive through an intelligent power distribution box 15. The diesel engine 13 has a rated power of 85kW, and the electric motor 14 has a rated power of 45kW. The four-way hydraulic outriggers 1 adopt a hydraulic telescopic structure, with a maximum single-leg support force of 120kN. After the four hydraulic outriggers are deployed, they form a stable support foundation with a support span of 4.2m. The composite chassis 2 is welded from high-strength steel, with a chassis length of 5.8m and a width of 2.6m, and is equipped with a tracked walking system to enable the equipment to move on slopes.

[0063] The bottom hydraulic piston column 4 consists of four independent hydraulic cylinders, each with a stroke of 8m, a cylinder diameter of 180mm, and a working pressure of 25MPa. The telescopic module 5 includes a bidirectional hydraulic telescopic cylinder and a guide rail structure. The piston rod end of the bidirectional hydraulic telescopic cylinder is connected to the upper end of the lifting arm via a hinge, and the lower end of the cylinder body is fixedly connected to the composite chassis 2. The chain track 6 is a closed-loop chain structure with a chain pitch of 120mm, a chain width of 85mm, and a sprocket diameter of 420mm. The sprocket is connected to the output shaft of the hydraulic motor. The telescopic movement of the bidirectional hydraulic telescopic cylinder and the rotation movement of the sprocket are synchronized through an electro-hydraulic proportional servo synchronous control system. Each of the four hydraulic cylinders is equipped with a displacement sensor with a measurement accuracy of 0.05mm. The main controller collects the displacement data of each hydraulic cylinder in real time and dynamically adjusts the flow distribution of each cylinder through a cross-coupling compensation algorithm, with the compensation coefficient set to 1.0.

[0064] like Figure 3 As shown, the grouting platform mainly includes a grouting platform chassis 8, a grouting platform hydraulic piston column 7, a grouting platform rotating chassis 23, a grouting platform robotic arm 24, a rotating power head 18, a hollow drill rod 10, a hollow drill rod support device 21, a lifting device 20, a grouting hydraulic piston column 19, a laser positioning instrument 22, a rotary jetting system integrated box 16, and an alarm device 17, among other components. The grouting platform chassis 8 is a rectangular steel structure platform with dimensions of 3.2m × 2.8m, surrounded by a high-altitude protective fence 11, with a fence height of 1.2m. The grouting platform rotating chassis 23 can rotate 360° with a rotation accuracy of 0.5° and a rotation speed of 2 to 8° / s. The grouting platform robotic arm 24 is a three-section telescopic structure with an adjustable arm length ranging from 2 to 6.5m. The robotic arm is hydraulically driven with a response time of less than 0.3s.

[0065] A rotary power head 18 is mounted at the end of the grouting platform robotic arm 24. The rotary power head 18 outputs a torque range of 0 to 5000 N·m and a rotation speed range of 0 to 60 rpm. It is equipped with a multi-dimensional force sensor array consisting of a torque sensor and an axial force sensor. The torque sensor measures 0 to 5000 N·m with an accuracy of ±1%, while the axial force sensor measures 0 to 50 kN with an accuracy of ±0.5%. The hollow drill rod 10 has a total length of 28 m, divided into seven sections, each 4 m long. The drill rod has an outer diameter of 89 mm and an inner diameter of 65 mm. It is made of alloy steel with a tensile strength greater than 800 MPa. A hollow drill rod support device 21 is installed below the rotary power head 18 and is equipped with a displacement sensor to measure the drilling speed. The lifting device 20 is connected to the hollow drill rod 10 via a ball screw mechanism with a lead of 20 mm and a lifting speed control accuracy of ±0.02 m / min.

[0066] The grouting hydraulic piston column 19 is a double-acting hydraulic cylinder with a stroke of 3.5m, a cylinder diameter of 120mm, a piston rod diameter of 75mm, and a working pressure of 30MPa. The laser positioning device 22 is installed on top of the grouting platform. The laser positioning device 22 uses a dual-axis laser measurement system with a measurement distance of 50m and an angle measurement accuracy of 0.1°, enabling real-time monitoring of the axial direction of the hollow drill rod 10. The rotary jetting system integration box 16 integrates a slurry delivery unit, a pressure sensor, a flow meter, and a fuzzy adaptive PID controller. The slurry delivery unit has a maximum output pressure of 30MPa and a flow rate range of 10 to 50L / min. The pressure sensor has a measurement accuracy of ±0.5%, and the flow meter has a measurement accuracy of ±2%. The alarm device 17 includes an audible and visual alarm and a wireless communication module. It automatically alarms when the drill rod rotation torque exceeds 90% of the rated torque or the axial lifting resistance of the drill rod exceeds 45kN.

[0067] like Figure 4 As shown, the high-pressure jet grouting anchor installation structure includes a hollow drill rod 10, a drill bit 30, a drill bit connecting rod 31, an anti-slip head 32, a nozzle 25, an anchor plate 26, an anchor cable 27, and a formed soil pile body 28. The drill bit 30 is a three-wing drill bit with a diameter of 110mm, made of cemented carbide. The drill bit connecting rod 31 is 0.8m long and 76mm in diameter. The anti-slip head 32 is installed at the connection between the drill bit connecting rod 31 and the hollow drill rod 10, and has an outer diameter of 95mm. The nozzle 25 is a side-jetting nozzle with a nozzle orifice diameter of 3.5mm. There are three nozzles, evenly distributed around the lower circumference of the hollow drill rod 10, with a jetting angle of 15°. The anchor cable 27 is a steel strand structure with a diameter of 32mm, a tensile strength of 1860MPa, and a design load of 450kN. Anchor plate 26 is a circular steel plate with a diameter of 450mm and a thickness of 25mm.

[0068] like Figure 5 As shown in the detailed drawing of the anchor body, the soil pile 28 is formed within the soft soil mass 29. The soil pile 28 is formed by mixing and solidifying high-pressure jet grout with the original soil. The soil pile 28 has a diameter of 1.3m and a length of 25m, with an anchor cable 27 penetrating its center. The grout used is a cement-based composite grout with a water-cement ratio of 0.8 and a cement content of 350kg / m³. The additives include an early-strength agent and a water-reducing agent. The early-strength agent is added at 2.5% of the cement mass, and the water-reducing agent is added at 0.8% of the cement mass. The initial setting time of the grout is 4 hours, the final setting time is 8 hours, and the compressive strength reaches 15 MPa after 28 days.

[0069] During the construction preparation phase, the technical team obtained soil parameters at different depths based on the geological survey report, as shown in Table 1.

[0070] Table 1 Soil parameters at different depths

[0071] At the start of construction, the tracked vehicle moves to the first construction position below the slope. The operator in the cab 3 initiates the deployment procedure of the four-way hydraulic outriggers 1. The four hydraulic outriggers fully extend and contact the ground within 5 seconds. The hydraulic system automatically adjusts the support force of each outrigger to ensure the equipment is level. The intelligent controller 9 activates the electro-hydraulic proportional servo synchronous control system, and the bottom hydraulic piston column 4 begins to work in coordination. Through a cross-coupling compensation algorithm, the synchronization error of the hydraulic cylinders is controlled within ±0.8mm. The bidirectional hydraulic telescopic cylinder of the telescopic module 5 begins to extend, and at the same time, the chain track 6 rotates synchronously under the drive of the hydraulic motor, and the lifting arm gradually rises. The current slope height of the construction hole position is 28m. With an operational safety margin of 2m, the grouting platform needs to be lifted to a designated height of 30m. The lifting process lasts for 8 minutes, with the lifting speed controlled at 0.0625m / s. During the lifting process, displacement sensors monitor the displacement of each hydraulic cylinder in real time to ensure that the lifting arm maintains a stable posture under wind load disturbance.

[0072] After the grouting platform reaches the designated height, the rotating chassis 23 rotates to the target azimuth angle. The laser positioning device 22 emits a laser calibration signal to the hole position, which is 4.5m horizontally from the grouting platform. The intelligent controller 9 receives the angle information from the laser positioning device 22. The current drilling direction should have an angle of 35° with the horizontal plane, and the azimuth angle should be 125°. The grouting hydraulic piston column 19 begins to adjust the axis angle of the hollow drill rod 10. The grouting platform robotic arm 24 adjusts the extension length to 5.2m. After three fine adjustments, the deviation angle between the axis of the hollow drill rod 10 and the designed drilling direction is reduced to 0.25°, meeting the accuracy requirement of less than 0.3°. The designed drilling depth is 25m, the designed diffusion radius is 0.65m, the designed diameter of the anchor body is 1.3m, and the designed load is 450kN.

[0073] like Figure 4As shown, at the start of drilling, the rotary power head 18 drives the hollow drill rod 10 to rotate at a speed of 25 rpm. The drill bit 30 begins cutting the soil layer under the action of rotational torque. The system activates the simultaneous drilling and grouting wall protection mode. Since the surface layer is soft soil, the drilling speed is set to 1.2 m / min based on the soil cohesion parameter of 18 kPa. The grout delivery unit delivers grout at a pressure of 6.5 MPa through the internal channel of the hollow drill rod 10 to the nozzle 25. The nozzle 25 sprays the grout onto the borehole wall in a lateral spray manner at a grouting rate of 22 L / min. The grout forms a preliminary solidified layer with a thickness of 28 mm on the borehole wall. The borehole wall formation rate is calculated by dividing the thickness of the preliminary solidified layer by the grout solidification time, which is 8 min. The calculated borehole wall formation rate is 0.0058 mm / s. The preliminary solidified layer provides temporary support for subsequent high-pressure jet grouting. The frequency conversion control system adjusts the drill rod lifting speed to avoid excessive negative pressure that could cause borehole wall collapse.

[0074] A multi-dimensional force sensor array monitors mechanical parameters in real time during drilling. The torque sensor measured the drill pipe rotation torque at 850 N·m, and the axial force sensor measured the drill pipe axial lifting resistance at 12 kN. A differential algorithm, by establishing a second-order torque-tension measurement matrix, eliminates the coupling interference between the drill pipe rotation torque and the axial lifting resistance, thus achieving independent and accurate measurement of both parameters. The matrix elements of the torque-tension measurement matrix were calibrated before construction using a dynamic calibration system. This project underwent a dynamic calibration after drilling 50 holes, correcting the matrix elements.

[0075] When the drilling depth reaches 6m, the fuzzy adaptive PID controller begins to function. The displacement sensor on the hollow drill pipe support device 21 measures a drilling speed of 1.18 m / min. The drill pipe rotation torque at two adjacent sampling times is 850 N·m and 858 N·m, respectively, with a sampling time interval of 0.2 s. The calculated rate of change of the drill pipe rotation torque is 40 N·m / s. The drilling speed at two adjacent sampling times is 1.18 m / min and 1.26 m / min, respectively, and the calculated rate of change of the drilling speed is 0.4 m / s. According to the criteria of the soil hardness-pressure response database, the drill rod rotation torque change rate is less than 50 N·m / s and the drilling speed change rate is greater than 0.3 m / s. The current soil layer type was determined to be soft soil. The pressure sensor in the grout delivery channel measured the actual grouting pressure to be 10.2 MPa. Looking up the soil layer type pressure correspondence table, the target grouting pressure for the soft soil layer was found to be 10 MPa, with a grouting pressure deviation of 0.2 MPa. The fuzzy adaptive PID controller adjusted the control parameters online using fuzzy inference rules, adjusting the proportional coefficient to 1.2, the integral coefficient to 0.35, and the derivative coefficient to 0.12. The grouting pressure stabilized within ±5% of the target value within 0.8 seconds, with an overshoot of only 0.3 MPa.

[0076] When the drilling depth reached 8m and entered the medium-density soil layer, the drill rod rotation torque increased sharply to 1450 N·m, the rate of change of drill rod rotation torque was 95 N·m / s, and the rate of change of drilling speed decreased to 0.18 m / s. According to the criteria of the soil hardness-pressure response database, the drill rod rotation torque variation rate is within the range of 50 to 150 N·m / s and the drilling speed variation rate is within the range of 0.1 to 0.3 m / s. Within the specified range, the current soil layer is determined to be a medium-density soil layer. The fuzzy adaptive PID controller automatically adjusts the target grouting pressure to 15 MPa and the grouting flow rate to 24 L / min. The pressure-flow-diffusion radius feedback control system starts working. The flow meter measures a return grout flow rate of 16 L / min, the pressure sensor measures an orifice pressure of 8.5 MPa, and the current injection pressure is 15 MPa. Based on the flow rate ratio of return grout to injection flow rate (0.67) and the pressure ratio of orifice pressure to injection pressure (0.57), the system calculates the actual diffusion radius to be 0.59 m. The actual diffusion radius deviates from the designed diffusion radius of 0.65 m by 0.06 m, which is 9.2% of the designed diffusion radius, exceeding the 8% threshold.

[0077] The system immediately initiates a collaborative optimization game model for rotary grouting parameters to optimize the parameters. The input parameters for the upper-level optimization model include the current drill pipe rotation speed of 28 rpm, the standard deviation of the diffusion radius of 0.042 m, and the drill pipe rotation torque fluctuation range of 220 N·m. With a rated rotation speed of 30 rpm and a rated torque of 3000 N·m, the normalized values ​​for the drill pipe rotation speed are calculated to be 0.93, the normalized standard deviation of the diffusion radius is 0.065, and the normalized fluctuation range of the drill pipe rotation torque is 0.073. The input parameters for the lower-level optimization model include the current drill pipe lifting speed of 0.9 m / min, the slurry penetration depth of 0.56 m, and the orifice pressure of 8.5 MPa. The designed penetration depth is the designed diffusion radius minus the initial solidification layer thickness, calculated to be 0.622 m. With a rated lifting speed of 1 m / min and a jetting pressure of 15 MPa, the normalized values ​​for the slurry penetration depth are calculated to be 0.90, the normalized orifice pressure is 0.57, and the normalized drill pipe lifting speed is 0.9.

[0078] The optimization iteration process started with initial values ​​of a drill pipe rotation speed of 30 rpm and a drill pipe lifting speed of 0.8 m / min. After the first iteration, the upper-level optimization model output a drill pipe rotation speed of 27.5 rpm, which was used as the constraint input for the lower-level optimization model. The lower-level optimization model output a drill pipe lifting speed of 0.76 m / min, a rate-velocity coupling term of 36.2, and a helix spacing of 1.66 m, which is within a reasonable range. This result was fed back to the upper-level optimization model for the second iteration. After seven iterations, the drill pipe rotation speed stabilized at 23 rpm, and the drill pipe lifting speed stabilized at 0.68 m / min. The change in drill pipe rotation speed was less than 0.5 rpm and the change in drill pipe lifting speed was less than 0.03 m / min for three consecutive iterations, meeting the iteration termination condition. The optimized parameters increased the actual diffusion radius to 0.64 m and reduced the diffusion radius deviation to 1.5%, meeting the construction requirements.

[0079] The optimization effect of construction parameters is shown in Table 2.

[0080] Table 2 Comparison of rotary jet parameters before and after optimization

[0081] When the drilling depth reached 16m and entered the dense soil layer, the drill rod rotation torque increased sharply to 2350 N·m, the rate of change of drill rod rotation torque was 185 N·m / s, and the rate of change of drilling speed decreased to 0.06 m / s. According to the criteria of the soil hardness-pressure response database, the drill rod rotation torque change rate is greater than 150 N·m / s and the drilling speed change rate is less than 0.1 m / s. The current soil layer type is determined to be dense soil. The fuzzy adaptive PID controller increases the target grouting pressure to 22 MPa to ensure effective penetration of the grout in the dense soil layer. The pressure-flow diffusion radius feedback control system dynamically adjusts the injection pressure increment to +1.8 MPa, the drill rod rotation speed increment to -3 rpm, and the drill rod lifting speed increment to -0.08 m / min, so that the actual diffusion radius is always maintained within the range of 0.63 to 0.67 m, and the diffusion radius deviation is controlled within 5%.

[0082] like Figure 5As shown, after the hollow drill rod 10 reaches the designed drilling depth of 25m, the lifting device 20, through the ball screw mechanism and the grouting hydraulic piston column 19, controls the hollow drill rod 10 to be gradually lifted. During the lifting process, rotary grouting continues, with the grouting pressure maintained at 15MPa, the drill rod rotation speed maintained at 28rpm, and the drill rod lifting speed controlled at 0.75m / min, with speed fluctuations within ±3.5%. The nozzle 25 continues to spray grout to ensure that the compaction of the soil pile 28 meets the design requirements during the lifting process. The lifting process lasts for 33 minutes, and the hollow drill rod 10 is completely withdrawn from the soil layer, forming a soil pile 28 with a diameter of 1.29m, reaching 99.2% of the designed diameter of 1.3m. After the grout has completely solidified, the anchor cable 27 and anchor plate 26 are installed. The anchor cable 27 runs through the entire soil pile 28, and the anchor plate 26 is installed on the slope. The anti-slip head 32 ensures that the anchor cable 27 is stable in the soil pile 28. The pull-out bearing capacity was tested on-site and found to be 540kN, which meets the safety factor requirement of 1.2 times the design load of 450kN.

[0083] The technical team completed the construction of 80 anchoring holes on the steep slope, achieving a 96% pass rate for anchor body diameter and keeping the average deviation of the diffusion radius within 4.2%. No quality issues such as hole wall collapse or insufficient anchor body compaction occurred during construction. Construction efficiency was increased by 45% compared to traditional methods, and the average construction time per hole was reduced to 6.5 hours.

[0084] This invention represents a significant technological advancement over traditional anchoring methods. Traditional methods rely on manual experience to adjust construction parameters, failing to respond in real-time to soil layer changes, resulting in unstable anchor quality and low construction efficiency. This invention solves the problem of difficult positioning during construction on steep slopes through a high-lift platform structure. The electro-hydraulic proportional servo synchronous control system, using a cross-coupling compensation algorithm, ensures the stability of the lifting arm's posture under complex conditions, creating conditions for precise construction. A multi-dimensional force sensor array and differential algorithm enable independent measurement of drill rod rotation torque and axial lifting resistance, providing accurate input data for soil layer identification. A fuzzy adaptive PID controller dynamically adjusts the grouting pressure according to the soil layer type, avoiding the problems of splitting in soft soil layers and insufficient permeability in dense soil layers, improving the adaptability of the grouting process. A pressure-flow diffusion radius feedback control system calculates the actual diffusion radius based on the grout return volume and orifice pressure, achieving closed-loop control and ensuring the accuracy of the anchor's geometric dimensions. The collaborative optimization game model for jet grouting parameters, through iterative solutions of upper and lower optimization models, optimizes the grout penetration depth while ensuring the uniformity of the anchor body. This resolves the contradiction between the drill rod rotation rate and drill rod lifting speed in traditional methods, achieving global optimization of construction parameters. The coordinated control of the laser positioning instrument and the grouting hydraulic piston column ensures the accuracy of the drilling direction, meeting the requirements for drilling at complex angles on steep slopes. The hybrid power system, through diesel-electric hybrid drive, reduces energy consumption and emissions, improving the equipment's environmental adaptability. These technological innovations, in principle, realize intelligent, precise, and efficient control of the anchoring construction process.

[0085] It should be noted that the variables involved in this invention are explained in detail in Table 3.

[0086] Table 3. Variable Explanation Table

[0087] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for constructing high-pressure jet grouting anchor cables, characterized in that, include: After the tracked vehicle is moved to the construction position, the four-way hydraulic outriggers extend to provide support. The electro-hydraulic proportional servo synchronous control system drives the bottom hydraulic piston column to cooperate with the lifting arm to lift the grouting platform to the designated height. After the laser positioning instrument calibrates the hole position, the controller drives the grouting hydraulic piston column to adjust the axis angle of the hollow drill rod. When the hollow drill rod drives the drill bit into the soil layer, the drilling and spraying wall protection mode is activated to form a preliminary solidification layer. The multi-dimensional force sensor array separates and measures the drill rod rotation torque and the drill rod axial lifting resistance through differential algorithm. The fuzzy adaptive PID controller identifies the soil layer type based on the change rate of drill rod rotation torque and the change rate of drilling speed and dynamically adjusts the grouting pressure. The pressure-flow diffusion radius feedback control system calculates the actual diffusion radius based on the return grout volume and the borehole pressure and then dynamically adjusts the injection pressure, drill rod rotation rate and drill rod lifting speed. When the diffusion radius deviation exceeds 8% of the design diffusion radius, the rotary grouting parameter collaborative optimization game model is activated to optimize the drill rod rotation rate and drill rod lifting speed. After the hollow drill rod reaches the design drilling depth, the lifting device and the grouting hydraulic piston column work together to control the hollow drill rod to gradually lift and continue rotary grouting to form the soil pile anchoring structure.

2. The high-pressure jet grouting anchor cable construction method according to claim 1, characterized in that, The electro-hydraulic proportional servo synchronous control system includes multiple hydraulic cylinders and multiple independent proportional valves. Each hydraulic cylinder is equipped with a displacement sensor. The main controller collects the hydraulic cylinder displacement deviation of each hydraulic cylinder in real time and dynamically adjusts the hydraulic cylinder flow distribution of each hydraulic cylinder through a cross-coupling compensation algorithm.

3. The high-pressure jet grouting anchor cable construction method according to claim 2, characterized in that, The cross-coupling compensation algorithm calculates the coupling compensation amount between each hydraulic cylinder by establishing a hydraulic cylinder displacement deviation matrix, and outputs flow regulation commands to the corresponding independent proportional valves. The hydraulic cylinder displacement deviation is the difference between the actual displacement of a single hydraulic cylinder and the average displacement of multiple hydraulic cylinders.

4. The high-pressure jet grouting anchor cable construction method according to claim 3, characterized in that, The coupling compensation amount is the flow correction value obtained by multiplying the hydraulic cylinder displacement deviation by the compensation coefficient. The compensation coefficient is determined to be 0.8 to 1.2 through offline calibration tests. The specified height is determined based on the slope height of the construction location and is the slope height plus the operation safety margin.

5. The high-pressure jet grouting anchor cable construction method according to claim 4, characterized in that, The drilling and grouting wall protection mode is achieved by dynamically adjusting the coupling relationship between drilling speed and grouting volume. The drilling speed is set to 0.5 to 2 meters per minute based on the soil cohesion parameter, and the grouting volume is set to 15 to 35 liters per minute based on the borehole wall formation rate.

6. The high-pressure jet grouting anchor cable construction method according to claim 5, characterized in that, The multi-dimensional force sensor array includes a torque sensor mounted on top of the hollow drill pipe and an axial force sensor mounted on the rotating power head. The differential algorithm eliminates the coupling interference of the drill pipe rotation torque on the measurement of the drill pipe axial lifting resistance by establishing a torque and tension measurement matrix.

7. The high-pressure jet grouting anchor cable construction method according to claim 6, characterized in that, The fuzzy adaptive PID controller takes the grouting pressure deviation and the rate of change of grouting pressure deviation as inputs, and adjusts the three control parameters—proportional coefficient, integral coefficient, and derivative coefficient—online through fuzzy inference rules.

8. The high-pressure jet grouting anchor cable construction method according to claim 7, characterized in that, Soil layer type identification is achieved by establishing a soil layer hardness and pressure response database. Soil layer type is determined based on the change rate of drill rod rotation torque and the change rate of drilling speed. In soft soil layers, the target grouting pressure is reduced to 8 to 12 MPa to avoid fracturing, while in dense soil layers, the target grouting pressure is increased to 18 to 25 MPa to ensure penetration.

9. A high-pressure jet grouting anchor cable construction device for use in the method described in claims 1-8, characterized in that, This includes a tracked vehicle. The tracked vehicle's composite chassis is equipped with four-way hydraulic outriggers. A cab is fixed to the upper surface of the composite chassis. The cab is hinged to a bottom hydraulic piston rod via a pin. The bottom hydraulic piston rod is hinged to a lifting arm via a pin. A chain track is installed above the lifting arm. The lifting arm has a telescopic module that works in conjunction with the chain track. The hydraulic piston rod of the grouting platform and the grouting platform's robotic arm are connected to the lifting arm via the grouting platform's rotating chassis. The grouting platform's robotic arm is connected to a hollow drill rod support device via a hinged support. The bottom end of the grouting hydraulic piston rod is connected to the grouting platform... The platform base is hinged, the piston rod end of the grouting hydraulic piston column is connected to the hollow drill rod support device, the lifting device is connected to the rotary jet system integration box, the drive output shaft of the lifting device is connected to the hollow drill rod through the ball screw mechanism, the hollow drill rod is set in conjunction with the anchor plate and anchor cable, a laser positioning instrument is installed at the front end of the grouting platform, the hybrid power box is equipped with a rotary drive unit and a slurry delivery unit, the slurry delivery channel of the slurry delivery unit is connected to the hollow drill rod, a controller is configured on the grouting platform, and the controller is connected to the pressure sensor, displacement sensor and speed encoder signals.

10. The high-pressure jet grouting anchor cable construction device according to claim 9, characterized in that, The telescopic module includes a bidirectional hydraulic telescopic cylinder and a guide rail structure. The piston rod end of the bidirectional hydraulic telescopic cylinder is hinged to the upper end of the lifting arm. The lower end of the cylinder body of the bidirectional hydraulic telescopic cylinder is fixed to the composite chassis. The chain track is a closed-loop chain structure. The chain is driven by a sprocket, which is connected to the output shaft of the hydraulic motor.

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