Self-adaptive grouting system and method for deep surrounding rock stability control

Abstract

The invention relates to the technical field of underground engineering surrounding rock stability control, and discloses a self-adaptive grouting system and method for deep surrounding rock stability control, the self-adaptive grouting system comprises a grouting execution module, the grouting execution module comprises a grouting pipe, a grouting pump and a grouting parameter acquisition assembly, the grouting pipe is used for going deep into a preset position of a deep surrounding rock, and the grouting pump is used for collecting grouting parameters of the deep surrounding rock; the grouting pump provides power for slurry conveying, and the grouting parameter collecting assembly collects pressure data and flow data in the grouting process in real time; the multi-parameter monitoring module comprises a stress monitoring assembly, a displacement monitoring assembly and a crack monitoring assembly, and the stress monitoring assembly is used for collecting stress values at different depths of the surrounding rock. Stress, displacement and crack data of surrounding rock are collected in real time through the multi-parameter monitoring module, the stability level is determined by combining analysis and operation of the data processing module, grouting parameters are dynamically generated and adjusted through the control module, and accurate matching of grouting operation and the state of the surrounding rock is achieved.

Description

Technical Field

[0001] This invention relates to the field of underground engineering surrounding rock stability control technology, specifically to an adaptive grouting system and method for deep surrounding rock stability control. Background Technology

[0002] In underground mining, tunnel construction, and deep underground space development, deep surrounding rock often suffers from problems such as fissure development, stress concentration, and displacement deformation due to high confining pressure, complex geological conditions, and susceptibility to excavation disturbances. If effective control measures are not taken in time, it can easily lead to safety accidents such as rock instability and collapse. Therefore, the stability control of deep surrounding rock has become a core link in ensuring the safe progress of the project. Grouting technology, as a key means of injecting grout into the fissures or pores of the surrounding rock to fill voids, cement the rock mass, and improve the overall strength and integrity of the surrounding rock, is widely used in deep surrounding rock stability control operations. At present, most existing deep surrounding rock grouting systems are mainly based on traditional manual control or semi-automatic control. The manual control method relies entirely on the operator's experience to set parameters such as grouting pressure, flow rate, and grout ratio. It cannot perceive the stress changes, displacement trends, and fissure development status of the surrounding rock in real time during the grouting process. It is easy to cause insufficient grouting due to parameter setting deviations, making it difficult to effectively control the instability of the surrounding rock, or excessive grouting, resulting in grout waste and increased costs. With technological advancements, while some semi-automated grouting systems integrate single-parameter monitoring functions, such as monitoring only grouting pressure or surrounding rock surface displacement, they lack the synchronous acquisition and fusion analysis of multi-dimensional key data, including internal stress distribution and crack propagation rate. This makes it difficult to comprehensively and accurately determine the actual stability state of the surrounding rock, resulting in a lack of scientific basis for adjusting grouting parameters and insufficient adaptability. Furthermore, current grouting effects largely rely on post-operative visual observation, making it impossible to quantitatively assess the stability improvement by comparing changes in multiple surrounding rock parameters before and after grouting. This can easily lead to repeated grouting or incomplete grouting. Moreover, most systems lack comprehensive safety mechanisms designed for deep working environments. For example, the lack of reliable backup power during main power outages can disrupt monitoring and grouting operations. The absence of anti-clogging structures in grouting pipes can easily affect grouting continuity due to surrounding rock debris or groundwater backflow. In extreme cases, the lack of tiered early warning and emergency control measures further increases the safety risks and uncertainties of deep surrounding rock grouting operations.

[0003] In summary, existing deep rock grouting technologies still have significant shortcomings in terms of control precision, environmental adaptability, operational safety, and controllability of results, making it difficult to meet the stability control requirements of complex and ever-changing deep rock masses. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an adaptive grouting system and method for controlling the stability of deep surrounding rock, thus solving the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: an adaptive grouting system for deep surrounding rock stability control, comprising: a grouting execution module, which includes a grouting pipe, a grouting pump, and a grouting parameter acquisition component; the grouting pipe is used to penetrate into a preset position in the deep surrounding rock; the grouting pump provides power for grout delivery; and the grouting parameter acquisition component collects pressure data and flow data in real time during the grouting process. The multi-parameter monitoring module includes a stress monitoring component, a displacement monitoring component, and a crack monitoring component. The stress monitoring component is used to collect stress values ​​at different depths of the surrounding rock, the displacement monitoring component is used to collect the displacement of the surrounding rock surface and interior, and the crack monitoring component is used to detect the development degree and distribution range of cracks inside the surrounding rock. The data processing module is connected to the multi-parameter monitoring module via wired or wireless means. It contains a data storage unit and a data processing and analysis unit. The data storage unit is used to store historical and real-time data collected by the monitoring module, and the data processing and analysis unit is used to process the monitoring data and determine the current stability level of the surrounding rock by combining it with the preset surrounding rock stability evaluation criteria. The control module is connected to the data processing module, the grouting execution module, and the subsequent grout preparation module. It contains a grouting strategy generation unit and a feedback adjustment unit. The grouting strategy generation unit generates corresponding grouting pressure, flow rate, grout ratio, and grouting pipe insertion depth parameters based on the stability level output by the data processing module. The feedback adjustment unit receives real-time monitoring data during the grouting process and adjusts the grouting parameters after comparing them with preset thresholds. The grout preparation module includes a raw material storage tank, a metering and conveying unit, and a mixing and stirring unit. The raw material storage tank stores grouting raw materials such as cement, water glass, and additives. The metering and conveying unit accurately conveys the corresponding amount of raw materials to the mixing and stirring unit according to the grout ratio parameters output by the control module. The mixing and stirring unit mixes the raw materials evenly to form grouting grout. The positioning and calibration module works in conjunction with the grouting execution module to determine the actual depth and spatial position of the grouting pipe inserted into the surrounding rock. It uses laser or ultrasonic positioning to calibrate the deviation between the grouting pipe and the preset grouting point to ensure accurate grouting position. The ground-penetrating radar (GPR) surrounding rock stability early warning and detection module uses GPR equipment as the core detection carrier and connects to the data processing module. The GPR emits high-frequency electromagnetic waves into the surrounding rock, receives and analyzes the reflected wave signals, and combines this with stress, displacement, and fracture correlation data collected by the multi-parameter monitoring module. The data processing module then simultaneously determines the stability level of the surrounding rock. When the stability level reaches a preset early warning threshold, the module activates an audible and visual alert function and simultaneously sends an early warning signal to an external terminal, achieving real-time early warning of surrounding rock stability based on GPR detection. The parameter interaction module connects to the control module and allows operators to input basic information such as surrounding rock geological parameters and preset stability standards. At the same time, it displays the monitoring results output by the data processing module and the grouting parameters output by the control module in real time, which is convenient for manual viewing and recording. The power supply module provides stable power support for all the above modules. It has an internal backup power unit that automatically switches when the main power is interrupted, ensuring that the core functions of the system are not interrupted.

[0006] Preferably, the stress monitoring component, displacement monitoring component and crack monitoring component in the multi-parameter monitoring module are arranged in layers along the depth direction of the surrounding rock, with no less than 3 monitoring components arranged in each layer, and the monitoring components in the same layer are evenly distributed in a circular or linear pattern.

[0007] Preferably, the grouting pipe in the grouting execution module has multiple grouting holes on its sidewall, and each grouting hole is provided with a one-way conduction structure. This structure only allows grout to flow out from the inside of the grouting pipe toward the surrounding rock, preventing surrounding rock debris or groundwater from entering the inside of the grouting pipe.

[0008] Preferably, the data processing module employs a fusion algorithm in its data processing unit. This algorithm combines three indicators—stress change rate, cumulative displacement, and crack propagation rate—to establish a surrounding rock stability evaluation model. The stability level is determined by the model calculation results, and the stability level is divided into a stable level, a critically stable level, and an instability risk level.

[0009] Preferably, the feedback adjustment unit in the control module is set with an adjustment cycle, which is dynamically set according to the stability level of the surrounding rock. The adjustment cycle for the stable level is 10 to 15 minutes, the adjustment cycle for the critical stability level is 5 to 8 minutes, and the adjustment cycle for the instability risk level is 1 to 3 minutes.

[0010] Preferably, the metering and conveying unit in the slurry preparation module adopts a metering pump driven by a servo motor, and the conveying accuracy error of the metering pump does not exceed 0.5%. The mixing and stirring unit is equipped with a stirring blade with adjustable speed, and the speed of the stirring blade can be adjusted within the range of 50-300 r / min according to the viscosity requirements of the slurry.

[0011] Preferably, the positioning calibration module includes a position detection unit and a deviation correction unit. The position detection unit acquires real-time position data of the grouting pipe and compares it with preset position data. The deviation correction unit generates an adjustment command based on the comparison result, controls the mechanical structure of the grouting execution module to adjust the position of the grouting pipe, so that the position deviation is controlled within a preset range.

[0012] Preferably, the stability early warning module is equipped with a multi-level early warning mechanism, which outputs different levels of early warning signals corresponding to different stability levels of the surrounding rock. The stable level has no early warning signal, the critical stability level outputs a yellow early warning signal, and the instability risk level outputs a red early warning signal. When the red early warning signal is triggered, the parameter adjustment permission of the grouting execution module is locked at the same time, allowing only the operation of increasing the grouting intensity.

[0013] Preferably, the system further includes a grouting effect verification module, which is connected to a multi-parameter monitoring module. When the grouting operation is paused or completed, the module calculates the improvement in the stability of the surrounding rock by comparing the stress, displacement and crack data of the surrounding rock before and after grouting, generates a grouting effect evaluation report, and feeds the evaluation report back to the control module as the basis for determining whether to continue grouting.

[0014] An adaptive grouting method for stability control of deep surrounding rock includes the following steps: Step 1: Based on the geological survey data of the deep surrounding rock, determine the layout location and quantity of the multi-parameter monitoring modules, install the stress monitoring components, displacement monitoring components and crack monitoring components to the preset monitoring points, complete the module debugging and start real-time monitoring; Step 2: The data processing module receives the initial monitoring data transmitted by the multi-parameter monitoring module, calculates the current stress distribution, displacement trend and fracture development status of the surrounding rock through the data calculation and analysis unit, and determines the initial stability level in combination with the preset stability evaluation criteria. Step 3: The grouting strategy generation unit of the control module calls the preset grouting parameter database according to the initial stability level to generate an initial grouting plan. The initial grouting plan includes the grouting pressure range, flow rate, proportion of each raw material in the grout, and insertion depth of the grouting pipe. Step 4: The grout preparation module extracts the corresponding amount of cement, water glass and additives from the raw material storage tank through the metering and conveying unit according to the proportioning parameters in the initial grouting plan, and conveys them to the mixing and stirring unit for stirring to form a grouting slurry that meets the viscosity requirements. Step 5: The positioning calibration module calibrates the position of the grouting pipe of the grouting execution module, adjusts the depth and angle of the grouting pipe inserted into the surrounding rock to make it consistent with the preset position in the initial grouting plan, and then the grouting pump is started to deliver grout into the surrounding rock according to the pressure and flow parameters in the initial grouting plan; Step Six: During the grouting process, the multi-parameter monitoring module continuously collects data on the stress, displacement, and cracks of the surrounding rock, as well as the grouting pressure and flow rate. The data is transmitted to the data processing module at preset intervals. The data processing module compares and analyzes the changes in the surrounding rock state before and after grouting and evaluates the current grouting effect. Step 7: If the data processing module determines that the grouting effect has not reached the preset stable standard, the feedback adjustment unit of the control module adjusts the grouting parameters according to the data difference. The adjustment includes increasing or decreasing the grouting pressure, changing the flow rate, or optimizing the grout ratio. Then, return to step 4 and continue grouting according to the adjusted parameters. Step 8: If the data processing module determines that the surrounding rock condition has reached the preset stability standard, the control module issues a stop grouting command, the grouting execution module stops operation, and the multi-parameter monitoring module continues to monitor for a preset time. If the surrounding rock condition remains stable during this period, the grouting is completed; if the stability decreases, the process returns to step 3 to regenerate the grouting plan.

[0015] This invention provides an adaptive grouting system and method for stability control of deep surrounding rock. It has the following beneficial effects: 1. This invention uses a multi-parameter monitoring module to collect real-time data on surrounding rock stress, displacement, and cracks. Combined with the analysis and calculation of the data processing module, the stability level is determined. Then, the control module dynamically generates and adjusts the grouting parameters to achieve precise matching between grouting operations and surrounding rock conditions. This effectively avoids resource waste caused by over-grouting or surrounding rock instability caused by insufficient grouting, and significantly improves the accuracy and adaptability of deep surrounding rock stability control.

[0016] 2. This invention issues corresponding early warning signals in a timely manner based on the stability level of the surrounding rock, and locks the parameter adjustment authority and guides the enhanced grouting operation in extreme cases; at the same time, the power supply module is equipped with a backup power unit to ensure that the core functions are not interrupted, and the grouting pipe is set with a one-way conduction structure to prevent foreign objects from blocking it. The multiple protection designs significantly reduce the safety risks in the grouting process, improve the reliability of system operation and the safety of operation, and provide safety guarantee for grouting construction under deep and complex geological conditions.

[0017] 3. This invention evaluates the stability improvement by comparing multi-dimensional monitoring data of the surrounding rock before and after grouting, and feeds the results back to the control module to decide whether to continue grouting. This avoids blind grouting operations and ensures that each round of grouting can specifically solve the stability problem of the surrounding rock. It not only improves the effect of a single grouting, but also accumulates data support for subsequent grouting operations under similar geological conditions, and helps to optimize the long-term stability control effect of deep surrounding rock. Attached Figure Description

[0018] Figure 1 This is the overall flowchart of the present invention; Figure 2 This is a flowchart of the multi-level early warning and access control process for surrounding rock stability according to the present invention. Detailed Implementation

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see the appendix Figure 1 - Appendix Figure 2 This invention provides an adaptive grouting system for deep surrounding rock stability control, comprising: a grouting execution module, which includes a grouting pipe, a grouting pump, and a grouting parameter acquisition component. The grouting pipe is used to penetrate into a preset position in the deep surrounding rock, the grouting pump provides power for grout delivery, and the grouting parameter acquisition component collects pressure data and flow data in real time during the grouting process. The multi-parameter monitoring module includes a stress monitoring component, a displacement monitoring component, and a crack monitoring component. The stress monitoring component is used to collect stress values ​​at different depths of the surrounding rock, the displacement monitoring component is used to collect the displacement of the surrounding rock surface and interior, and the crack monitoring component is used to detect the development degree and distribution range of cracks inside the surrounding rock. The stress monitoring component, displacement monitoring component, and crack monitoring component in the multi-parameter monitoring module are arranged in layers along the depth direction of the surrounding rock, with no less than 3 monitoring components arranged in each layer, and the monitoring components in the same layer are evenly distributed in a circular or linear pattern.

[0021] Specifically, the design principle of the multi-parameter monitoring module revolves around the core influencing factors of deep surrounding rock stability. By integrating stress monitoring, displacement monitoring, and crack monitoring components, it achieves simultaneous monitoring of three key dimensions: the stress state of the surrounding rock, the spatial deformation trend, and the integrity of its internal structure. The stress monitoring component focuses on collecting stress values ​​at different depths, capturing the differences in stress distribution from shallow to deep within the surrounding rock, avoiding the limitation of single-depth monitoring failing to reflect areas of stress concentration. The displacement monitoring component covers both surface and internal displacement, accurately identifying the risk of incoordination between surface and deep deformation in the surrounding rock, compensating for the deficiency of only measuring surface displacement, which may easily overlook potential internal instability. The crack monitoring component detects the degree of crack development and distribution range, enabling timely identification of the core areas that need to be filled with grout, providing a basis for targeted grouting. Based on this, the three types of components are arranged in layers along the depth direction of the surrounding rock. This is because there are significant differences in the mechanical properties and deformation patterns of deep surrounding rock at different depths. A three-dimensional data network is constructed through layered monitoring, rather than relying solely on single-plane data. Each layer has no fewer than three components arranged in a uniform circular or linear distribution. This is to eliminate the random errors of single-point monitoring through multi-point uniform sampling, ensuring that the monitoring data at each location within the same depth layer is representative. Whether the circular distribution is suitable for annular spaces such as circular tunnels, or the linear distribution is suitable for linear spaces such as rectangular cross-sections, it can fully cover the monitoring section. Finally, through multi-dimensional, three-dimensional, and high-precision monitoring data collection, a real and comprehensive basis is provided for the subsequent data processing module to analyze the stability level of the surrounding rock and for the control module to formulate grouting strategies. This avoids grouting decision deviations caused by incomplete monitoring dimensions or insufficient data representativeness.

[0022] The grouting execution module has multiple grouting holes on the side wall of the grouting pipe. Each grouting hole is equipped with a one-way conduction structure, which only allows grout to flow out from the inside of the grouting pipe toward the surrounding rock, preventing surrounding rock debris or groundwater from entering the grouting pipe.

[0023] The data processing module connects to the multi-parameter monitoring module via wired or wireless means. Internally, it includes a data storage unit and a data processing and analysis unit. The data storage unit stores historical and real-time data collected by the monitoring module, while the data processing and analysis unit processes the monitoring data and, in conjunction with preset surrounding rock stability assessment criteria, determines the current stability level of the surrounding rock. The data processing and analysis unit employs a fusion algorithm that combines three indicators—stress change rate, cumulative displacement, and fracture propagation rate—to establish a surrounding rock stability evaluation model. The model's calculation results determine the stability level, which is categorized into stable, critically stable, and instability risk levels.

[0024] Specifically, the design principle of the data processing module revolves around the efficient utilization and accurate analysis of deep surrounding rock monitoring data. Through wired or wireless connection to multi-parameter monitoring modules, it can adapt to scenarios where wiring is convenient in some areas of underground engineering, as well as situations where it is inconvenient to lay cables in complex terrain, ensuring real-time and complete transmission of monitoring data. The internal data storage unit simultaneously saves historical and real-time data. On the one hand, it can serve as a benchmark for comparing the state of surrounding rock before and after grouting, clearly showing the effect of grouting on stability improvement. On the other hand, it can gradually accumulate monitoring samples under different geological conditions, providing data support for subsequent optimization of surrounding rock stability evaluation criteria. The core data operation and analysis unit adopts a fusion algorithm rather than relying on a single monitoring indicator because the stability of deep surrounding rock is affected by mechanical state, deformation trend, and structural integrity. Focusing solely on the rate of stress change cannot predict the risk of instability caused by long-term displacement; tracking only the cumulative displacement is insufficient to correlate the weakening of rock mass strength by crack propagation; and monitoring only the crack propagation rate cannot reflect whether the stress is approaching a critical value. Therefore, a fusion algorithm is used to correlate the three key indicators of stress change rate, cumulative displacement, and crack propagation rate to construct a surrounding rock stability evaluation model. This model can comprehensively capture the coupling effect among the three indicators and ultimately transform multi-dimensional data into three distinct levels: stability level, critical stability level, and instability risk level. This avoids the one-sidedness of judging by a single indicator and provides a clear and feasible basis for the control module to formulate targeted grouting strategies, ensuring that grouting decisions are consistent with the actual stability state of the surrounding rock.

[0025] The control module is connected to the data processing module, grouting execution module, and subsequent grout preparation module. Internally, it includes a grouting strategy generation unit and a feedback adjustment unit. The grouting strategy generation unit generates corresponding grouting pressure, flow rate, grout mix ratio, and grouting pipe insertion depth parameters based on the stability level output by the data processing module. The feedback adjustment unit receives real-time monitoring data during the grouting process and adjusts the grouting parameters after comparing them with preset thresholds. The feedback adjustment unit in the control module sets an adjustment cycle, which is dynamically set according to the surrounding rock stability level. The adjustment cycle for a stable level is 10–15 minutes, for a critically stable level it is 5–8 minutes, and for an instability risk level it is 1–3 minutes.

[0026] The grout preparation module includes a raw material storage tank, a metering and conveying unit, and a mixing and stirring unit. The raw material storage tank stores grouting materials such as cement, water glass, and additives. The metering and conveying unit accurately delivers the corresponding amount of raw materials to the mixing and stirring unit according to the grout ratio parameters output by the control module. The mixing and stirring unit mixes the raw materials evenly to form the grouting slurry. The metering and conveying unit in the grout preparation module uses a servo motor-driven metering pump with a delivery accuracy error of no more than 0.5%. The mixing and stirring unit is equipped with adjustable stirring blades, and the speed of the stirring blades can be adjusted within the range of 50-300 r / min according to the viscosity requirements of the grout.

[0027] The positioning and calibration module works in conjunction with the grouting execution module to determine the actual depth and spatial position of the grouting pipe inserted into the surrounding rock. It uses laser or ultrasonic positioning to calibrate the deviation between the grouting pipe and the preset grouting point, ensuring accurate grouting position. The positioning and calibration module includes a position detection unit and a deviation correction unit. The position detection unit acquires real-time position data of the grouting pipe and compares it with preset position data. The deviation correction unit generates adjustment commands based on the comparison results, controlling the mechanical structure of the grouting execution module to adjust the position of the grouting pipe, so that the position deviation is controlled within the preset range.

[0028] Specifically, considering the potential impacts of dust and humidity variations in underground engineering environments, the module employs laser or ultrasonic positioning. These two methods can reliably capture the actual depth and spatial position of the grouting pipe, avoiding the accuracy deviations of traditional positioning methods in complex environments. The internal position detection unit first acquires the real-time position data of the grouting pipe and then compares it with the pre-planned grouting point position data to quickly identify the deviation between the two. The deviation correction unit then generates specific adjustment instructions based on the deviation value obtained from the comparison, directly controlling the mechanical structure of the grouting execution module to correct the position. Ultimately, the positional deviation between the grouting pipe and the preset grouting point is controlled within a preset range, ensuring that the grout can be accurately injected into the surrounding rock area that needs reinforcement. This avoids grouting blind spots or grout waste due to positional deviation, thereby ensuring the targeted and effective control of the surrounding rock stability by grouting.

[0029] The ground-penetrating radar (GPR) surrounding rock stability early warning and detection module uses GPR equipment as the core detection carrier, connected to a data processing module. The GPR emits high-frequency electromagnetic waves into the surrounding rock, receives and analyzes reflected wave signals, and combines this with stress, displacement, and fracture correlation data collected by a multi-parameter monitoring module. The data processing module then simultaneously determines the surrounding rock stability level. When the stability level reaches a preset early warning threshold, the module activates an audible and visual alert function and simultaneously sends an early warning signal to an external terminal, achieving real-time early warning of surrounding rock stability based on GPR detection. The stability early warning module has a multi-level early warning mechanism, outputting different levels of early warning signals corresponding to different stability levels of the surrounding rock. The stable level has no early warning signal, the critically stable level outputs a yellow early warning signal, and the instability risk level outputs a red early warning signal. When a red early warning signal is triggered, the parameter adjustment permissions of the grouting execution module are simultaneously locked, allowing only operations that increase the grouting intensity.

[0030] Specifically, the core logic of the stability early warning module is to connect with the surrounding rock stability judgment results of the data processing module, to detect and respond to potential instability risks in advance. It is directly connected to the data processing module and can obtain the surrounding rock stability level in real time. When the level reaches the preset warning threshold, it will use the sound and light prompt function to let the on-site personnel know the risk status intuitively. At the same time, it will send a signal to the external terminal to ensure that the remote monitoring terminal keeps abreast of the situation and avoid information transmission delays. The reason for setting up a multi-level early warning mechanism is that the risk level corresponding to different stability levels is significantly different. Under the stable level, the surrounding rock condition is good and no additional warning is needed to interfere with the operation. The critical stability level means that the surrounding rock has shown slight signs of instability. The yellow warning signal can remind the personnel to pay close attention and make adjustments. The instability risk level is a high-risk state, and the red warning signal must be used to strengthen the warning effect. At the same time, the parameter adjustment permissions of the grouting execution module are locked, and only the grouting intensity is allowed to be increased. This is to prevent the accidental operation of reducing the grouting effect in an emergency and to ensure that the trend of surrounding rock instability can be quickly curbed by increasing the grouting intensity. A closed loop is formed from early warning reminder to operation control to minimize the safety hazards under high-risk conditions.

[0031] Specifically, the core logic of the stability early warning module is to connect with the surrounding rock stability judgment results of the data processing module, to detect and respond to potential instability risks in advance. It connects directly to the data processing module, enabling real-time acquisition of the surrounding rock stability level. When the level reaches a preset warning threshold, it uses audible and visual alerts to inform on-site personnel of the risk status, while simultaneously sending signals to external terminals to ensure remote monitoring is synchronized and avoids information delays. The reason for setting up a multi-level early warning mechanism is that the risk levels corresponding to different stability levels vary significantly. At the stable level, the surrounding rock condition is good, requiring no additional warnings to interfere with operations. The critical stability level indicates slight instability; a yellow warning signal reminds personnel to pay close attention and prepare for adjustments. The instability risk level is a high-risk state, requiring a red warning signal to enhance the warning effect. Simultaneously, the parameter adjustment permissions of the grouting execution module are locked, allowing only an increase in grouting intensity. This prevents accidental reduction of grouting effectiveness in emergencies, ensuring that the trend of surrounding rock instability can be quickly contained by increasing grouting intensity. This forms a closed loop from early warning to operational control, minimizing safety hazards in high-risk states.

[0032] The parameter interaction module connects to the control module and allows operators to input basic information such as surrounding rock geological parameters and preset stability standards. At the same time, it displays the monitoring results output by the data processing module and the grouting parameters output by the control module in real time, which is convenient for manual viewing and recording. The power supply module provides stable power support for all the above modules. It has an internal backup power unit that automatically switches when the main power is interrupted, ensuring that the core functions of the system are not interrupted.

[0033] Specifically, the parameter interaction module is designed to build a collaborative bridge between humans and the system. Connected to the control module, it allows operators to input geological parameters and preset stability standards based on the specific geological conditions of the surrounding rock in the project. This enables the system to formulate grouting strategies based on actual working conditions, avoiding control deviations caused by inconsistencies between default parameters and the site conditions. It also displays the surrounding rock monitoring results output by the data processing module and the grouting parameters generated by the control module in real time, allowing operators to intuitively grasp the system's operating status and changes in the surrounding rock. This facilitates manual verification, recording, and intervention adjustments in special circumstances. The core function of the power supply module is to provide continuous and stable power support for all modules of the adaptive grouting system. Considering the possibility of unexpected power outages in deep underground engineering environments, it has a dedicated backup power unit. In the event of a main power failure, the backup power automatically switches on, ensuring uninterrupted core functions such as data monitoring, parameter calculation, and grouting control. This prevents system shutdowns due to power problems from missing critical opportunities for surrounding rock stability control, ensuring the continuity and safety of grouting operations.

[0034] The system also includes a grouting effect verification module, which is connected to the multi-parameter monitoring module. When the grouting operation is paused or completed, the system calculates the improvement in the stability of the surrounding rock by comparing the stress, displacement and crack data of the surrounding rock before and after grouting, generates a grouting effect evaluation report, and feeds the evaluation report back to the control module as the basis for determining whether to continue grouting.

[0035] Specifically, the design logic of the grouting effect verification module is to evaluate the actual improvement effect of grouting on the stability of the surrounding rock through data quantification, avoiding the judgment of whether the grouting is in place based solely on experience. It is connected to the multi-parameter monitoring module and can directly obtain the initial state data of the surrounding rock before grouting and the current state data after grouting is paused or ended. By comparing the two, the stability improvement is calculated, and these quantitative results are compiled into a grouting effect evaluation report. After this report is fed back to the control module, it can provide a clear basis for subsequent decision-making.

[0036] An adaptive grouting method for stability control of deep surrounding rock includes the following steps: Step 1: Based on the geological survey data of the deep surrounding rock, determine the layout location and quantity of the multi-parameter monitoring modules, install the stress monitoring components, displacement monitoring components and crack monitoring components to the preset monitoring points, complete the module debugging and start real-time monitoring; Step 2: The data processing module receives the initial monitoring data transmitted by the multi-parameter monitoring module, calculates the current stress distribution, displacement trend and fracture development status of the surrounding rock through the data calculation and analysis unit, and determines the initial stability level in combination with the preset stability evaluation criteria. Step 3: The grouting strategy generation unit of the control module calls the preset grouting parameter database according to the initial stability level to generate an initial grouting plan. The initial grouting plan includes the grouting pressure range, flow rate, proportion of each raw material in the grout, and insertion depth of the grouting pipe. Step 4: The grout preparation module extracts the corresponding amount of cement, water glass and additives from the raw material storage tank through the metering and conveying unit according to the proportioning parameters in the initial grouting plan, and conveys them to the mixing and stirring unit for stirring to form a grouting slurry that meets the viscosity requirements. Step 5: The positioning calibration module calibrates the position of the grouting pipe of the grouting execution module, adjusts the depth and angle of the grouting pipe inserted into the surrounding rock to make it consistent with the preset position in the initial grouting plan, and then the grouting pump is started to deliver grout into the surrounding rock according to the pressure and flow parameters in the initial grouting plan; Step Six: During the grouting process, the multi-parameter monitoring module continuously collects data on the stress, displacement, and cracks of the surrounding rock, as well as the grouting pressure and flow rate. The data is transmitted to the data processing module at preset intervals. The data processing module compares and analyzes the changes in the surrounding rock state before and after grouting and evaluates the current grouting effect. Step 7: If the data processing module determines that the grouting effect has not reached the preset stable standard, the feedback adjustment unit of the control module adjusts the grouting parameters according to the data difference. The adjustment includes increasing or decreasing the grouting pressure, changing the flow rate, or optimizing the grout ratio. Then, return to step 4 and continue grouting according to the adjusted parameters. Step 8: If the data processing module determines that the surrounding rock condition has reached the preset stability standard, the control module issues a stop grouting command, the grouting execution module stops operation, and the multi-parameter monitoring module continues to monitor for a preset time. If the surrounding rock condition remains stable during this period, the grouting is completed; if the stability decreases, the process returns to step 3 to regenerate the grouting plan.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive grouting system for deep surrounding rock stability control, characterized in that, include: The grouting execution module includes a grouting pipe, a grouting pump, and a grouting parameter acquisition component. The grouting pipe is used to penetrate deep into the surrounding rock at a preset location. The grouting pump provides power for grout delivery. The grouting parameter acquisition component collects pressure and flow data in real time during the grouting process. The multi-parameter monitoring module includes a stress monitoring component, a displacement monitoring component, and a crack monitoring component. The stress monitoring component is used to collect stress values ​​at different depths of the surrounding rock, the displacement monitoring component is used to collect the displacement of the surrounding rock surface and interior, and the crack monitoring component is used to detect the development degree and distribution range of cracks inside the surrounding rock. The data processing module is connected to the multi-parameter monitoring module via wired or wireless means. It contains a data storage unit and a data processing and analysis unit. The data storage unit is used to store historical and real-time data collected by the monitoring module, and the data processing and analysis unit is used to process the monitoring data and determine the current stability level of the surrounding rock by combining it with the preset surrounding rock stability evaluation criteria. The control module is connected to the data processing module, the grouting execution module, and the subsequent grout preparation module. It contains a grouting strategy generation unit and a feedback adjustment unit. The grouting strategy generation unit generates corresponding grouting pressure, flow rate, grout ratio, and grouting pipe insertion depth parameters based on the stability level output by the data processing module. The feedback adjustment unit receives real-time monitoring data during the grouting process and adjusts the grouting parameters after comparing them with preset thresholds. The grout preparation module includes a raw material storage tank, a metering and conveying unit, and a mixing and stirring unit. The raw material storage tank stores grouting raw materials such as cement, water glass, and additives. The metering and conveying unit accurately conveys the corresponding amount of raw materials to the mixing and stirring unit according to the grout ratio parameters output by the control module. The mixing and stirring unit mixes the raw materials evenly to form grouting grout. The positioning and calibration module works in conjunction with the grouting execution module to determine the actual depth and spatial position of the grouting pipe inserted into the surrounding rock. It uses laser or ultrasonic positioning to calibrate the deviation between the grouting pipe and the preset grouting point to ensure accurate grouting position. The ground-penetrating radar (GPR) surrounding rock stability early warning and detection module uses GPR equipment as the core detection carrier and connects to the data processing module. The GPR emits high-frequency electromagnetic waves into the surrounding rock, receives and analyzes the reflected wave signals, and combines this with stress, displacement, and fracture correlation data collected by the multi-parameter monitoring module. The data processing module then simultaneously determines the stability level of the surrounding rock. When the stability level reaches a preset early warning threshold, the module activates an audible and visual alert function and simultaneously sends an early warning signal to an external terminal, achieving real-time early warning of surrounding rock stability based on GPR detection. The parameter interaction module connects to the control module and allows operators to input basic information such as surrounding rock geological parameters and preset stability standards. At the same time, it displays the monitoring results output by the data processing module and the grouting parameters output by the control module in real time, which is convenient for manual viewing and recording. The power supply module provides stable power support for all the above modules. It has an internal backup power unit that automatically switches when the main power is interrupted, ensuring that the core functions of the system are not interrupted.

2. The adaptive grouting system for deep surrounding rock stability control according to claim 1, characterized in that, The stress monitoring component, displacement monitoring component, and crack monitoring component in the multi-parameter monitoring module are arranged in layers along the depth direction of the surrounding rock. Each layer has no less than 3 monitoring components, and the monitoring components in the same layer are evenly distributed in a circular or linear pattern.

3. The adaptive grouting system for deep surrounding rock stability control according to claim 1, characterized in that, The grouting execution module has multiple grouting holes on the side wall of the grouting pipe. Each grouting hole is equipped with a one-way conduction structure, which only allows grout to flow out from the inside of the grouting pipe toward the surrounding rock, preventing surrounding rock debris or groundwater from entering the grouting pipe.

4. The adaptive grouting system for deep surrounding rock stability control according to claim 1, characterized in that, The data processing module employs a fusion algorithm in its data operation and analysis unit. This algorithm combines three indicators—stress change rate, cumulative displacement, and crack propagation rate—to establish a surrounding rock stability evaluation model. The stability level is determined based on the model calculation results, and the stability level is divided into stable level, critically stable level, and instability risk level.

5. An adaptive grouting system for deep surrounding rock stability control according to claim 1, characterized in that, The feedback adjustment unit in the control module is set with an adjustment cycle, which is dynamically set according to the stability level of the surrounding rock. The adjustment cycle for the stable level is 10 to 15 minutes, the adjustment cycle for the critical stability level is 5 to 8 minutes, and the adjustment cycle for the instability risk level is 1 to 3 minutes.

6. The adaptive grouting system for deep surrounding rock stability control according to claim 1, characterized in that, The metering and conveying unit in the slurry preparation module uses a servo motor-driven metering pump with a conveying accuracy error of no more than 0.5%. The mixing and stirring unit is equipped with adjustable stirring blades, and the speed of the stirring blades can be adjusted within the range of 50-300 r / min according to the viscosity requirements of the slurry.

7. An adaptive grouting system for deep surrounding rock stability control according to claim 1, characterized in that, The positioning calibration module includes a position detection unit and a deviation correction unit. The position detection unit acquires real-time position data of the grouting pipe and compares it with preset position data. The deviation correction unit generates an adjustment command based on the comparison result, controls the mechanical structure of the grouting execution module to adjust the position of the grouting pipe, so that the position deviation is controlled within the preset range.

8. An adaptive grouting system for deep surrounding rock stability control according to claim 1, characterized in that, The stability early warning module is equipped with a multi-level early warning mechanism, which outputs different levels of early warning signals corresponding to different stability levels of the surrounding rock. There is no early warning signal at the stable level, a yellow early warning signal at the critical stability level, and a red early warning signal at the instability risk level. When the red early warning signal is triggered, the parameter adjustment permissions of the grouting execution module are locked, allowing only the operation of increasing the grouting intensity.

9. An adaptive grouting system for deep surrounding rock stability control according to claim 1, characterized in that, The system also includes a grouting effect verification module, which is connected to a multi-parameter monitoring module. When the grouting operation is paused or completed, the system calculates the improvement in the stability of the surrounding rock by comparing the stress, displacement and crack data of the surrounding rock before and after grouting, generates a grouting effect evaluation report, and feeds the evaluation report back to the control module as the basis for determining whether to continue grouting.

10. An adaptive grouting method for deep surrounding rock stability control, used in the adaptive grouting system for deep surrounding rock stability control as described in any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Based on the geological survey data of the deep surrounding rock, determine the layout location and quantity of the multi-parameter monitoring modules, install the stress monitoring components, displacement monitoring components and crack monitoring components to the preset monitoring points, complete the module debugging and start real-time monitoring; Step 2: The data processing module receives the initial monitoring data transmitted by the multi-parameter monitoring module, calculates the current stress distribution, displacement trend and fracture development status of the surrounding rock through the data calculation and analysis unit, and determines the initial stability level in combination with the preset stability evaluation criteria. Step 3: The grouting strategy generation unit of the control module calls the preset grouting parameter database according to the initial stability level to generate an initial grouting plan. The initial grouting plan includes the grouting pressure range, flow rate, proportion of each raw material in the grout, and insertion depth of the grouting pipe. Step 4: The grout preparation module extracts the corresponding amount of cement, water glass and additives from the raw material storage tank through the metering and conveying unit according to the proportioning parameters in the initial grouting plan, and conveys them to the mixing and stirring unit for stirring to form a grouting slurry that meets the viscosity requirements. Step 5: The positioning calibration module calibrates the position of the grouting pipe of the grouting execution module, adjusts the depth and angle of the grouting pipe inserted into the surrounding rock to make it consistent with the preset position in the initial grouting plan, and then the grouting pump is started to deliver grout into the surrounding rock according to the pressure and flow parameters in the initial grouting plan; Step Six: During the grouting process, the multi-parameter monitoring module continuously collects data on the stress, displacement, and cracks of the surrounding rock, as well as the grouting pressure and flow rate. The data is transmitted to the data processing module at preset intervals. The data processing module compares and analyzes the changes in the surrounding rock state before and after grouting and evaluates the current grouting effect. Step 7: If the data processing module determines that the grouting effect has not reached the preset stable standard, the feedback adjustment unit of the control module adjusts the grouting parameters according to the data difference. The adjustment includes increasing or decreasing the grouting pressure, changing the flow rate, or optimizing the grout ratio. Then, return to step 4 and continue grouting according to the adjusted parameters. Step 8: If the data processing module determines that the surrounding rock condition has reached the preset stability standard, the control module issues a stop grouting command, the grouting execution module stops operation, and the multi-parameter monitoring module continues to monitor for a preset time. If the surrounding rock condition remains stable during this period, the grouting is completed; if the stability decreases, the process returns to step 3 to regenerate the grouting plan.

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