Open caisson 3D printing automatic construction method based on annular track

Abstract

The invention relates to the technical field of open caissons, and discloses an open caisson 3D printing automatic construction method based on an annular track, and the method comprises the following steps: firstly collecting geological and design parameters, determining key parameters such as excavation and reinforcement cage bundling, and completing geosyncline excavation, top cover pouring and concentric annular track installation; then, a vertical reinforcing structure is installed, the adaptability of double printing heads and a track is debugged, the inner-layer well wall, the interlayer and the outer-layer well wall are printed synchronously, connecting ribs are arranged, and the printing height is monitored in real time; cement and heat preservation filler are poured into the inner side space and the outer side space correspondingly, earthwork is excavated and transported synchronously to enable the open caisson to sink, and the operation is circulated to the specified depth; and finally, bottom sealing waterproofing and joint treatment are completed, and open caisson construction is completed. Through parameterized design, synchronous operation of the double printing heads and cooperative propulsion of sinking of the open caisson, in combination with arrangement of connecting ribs and application of targeted filling materials, the construction efficiency and the structural stability are greatly improved, and the open caisson has excellent anti-seepage and heat-preservation performance and is high in construction precision and high in adaptability.

Description

Technical Field

[0001] This invention relates to the field of caisson technology, and more specifically, to an automated construction method for caisson 3D printing based on a circular track. Background Technology

[0002] Caisson construction technology is a deep foundation process that involves prefabricating a caisson structure and sinking it to the design elevation by its own weight or with the aid of auxiliary measures. It has advantages such as high structural rigidity, high bearing capacity, and minimal impact on the surrounding environment, and is widely used in engineering fields such as urban underground complexes and bridge pier foundations.

[0003] The efficiency and structural quality of caisson construction are core factors affecting the engineering application effect. However, traditional caisson construction methods (such as CN107100183B) rely heavily on manual and semi-mechanized operations, with segmented casting and sinking processes disconnected, resulting in long construction cycles and high labor intensity. Process parameters largely depend on manual experience for adjustment, leading to insufficient precision in controlling the uniformity of caisson wall thickness and verticality, easily causing problems such as tilting and sudden sinking, and making integrated construction of complex structures difficult. While the reverse slipform guided controlled settlement construction method (CN111254936B) from Pushi Technology Co., Ltd. improves construction speed and reduces process conflicts by using a reverse slipform method, it still relies on template forming, has insufficient automation integration, cannot achieve simultaneous construction of complex structures such as interlayers and connecting bars, and lacks a real-time monitoring and feedback mechanism, making it difficult to dynamically adjust construction parameters according to geological changes. In particular, it cannot cope with the stress imbalance problem when the cutting edge encounters uneven geological conditions, easily leading to caisson attitude deviation, and the overall structural integrity and seepage prevention performance need to be improved.

[0004] Therefore, it is necessary to design an automated construction method for caisson 3D printing based on a circular track to solve the problems of low automation, poor construction accuracy, insufficient adaptability to complex structures, lack of real-time feedback and control, easy sinking and deviation of the cutting edge when encountering uneven geology, and the influence of excessive excavation speed on posture in traditional caisson construction methods and existing reverse slip form construction technology. Summary of the Invention

[0005] In view of this, the present invention proposes an automated construction method for caisson 3D printing based on a circular track, which aims to solve the problems of low automation, poor construction accuracy, insufficient adaptability to complex structure construction, and lack of real-time feedback and control in traditional caisson construction methods and existing reverse slip form construction technology.

[0006] In one aspect, this invention proposes an automated construction method for caisson 3D printing based on a circular track, comprising: Collect geological data and caisson design parameters of the construction area. Based on the data, determine the trench excavation parameters, rebar cage binding parameters, circular track installation parameters, printing head synchronous operation parameters, caisson sinking control parameters, cutting edge pressure monitoring threshold, and geological adaptation tension gradient parameters. Excavate the trench and bind the rebar cage according to the determined parameters. Pre-embed track fixing components and construction safety lifting rings. Reserve vertical reinforcement structure installation holes, a central construction opening, and inner and outer material pouring openings. After pouring the caisson top cover and curing it to the required standard, fix two concentric circular tracks as the printing frame on the lower surface of the top cover. Evenly distribute wire rope cranes above the caisson top cover and directly above the caisson wall. Secure the steel wire rope through the pre-embedded reinforcing parts or construction safety rings in the top cover; pass the steel wire rope through the pre-set holes in the top cover and firmly anchor the lower end to the pre-set tensile connection node at the bottom of the caisson wall; test the lifting, braking and synchronous action performance of all cranes, verify the tension adjustment accuracy of the cranes through no-load test runs, and ensure that the connection between the cranes and the caisson is reliable and the multi-machine coordinated response is consistent; evenly distribute pressure sensors around the caisson cutting edge, embedding the sensors in the pre-set grooves on the force-bearing surface of the cutting edge, with a sealing protection level greater than or equal to IP68, communicate with the construction control system in real time, calibrate the pressure detection accuracy of the sensors, and ensure that the ground pressure data of each part of the cutting edge can be collected in real time.

[0007] Install the precast pile vertical reinforcement structure, complete the horizontal steel bar binding through the horizontal steel bar automatic binding device, configure the seepage-proof concrete and deliver it to two side-by-side printing heads, and adjust the compatibility between the printing heads and the track so that the printing heads move synchronously with the sinking of the caisson. The dual printheads operate synchronously. The first printhead is equipped with a rotation module, which drives the print nozzle to rotate radially perpendicular to the tangent of the circular track. The first printhead prints the inner well wall first, then the partition layer, forming the inner space enclosed by the inner well wall and the partition layer. The second printhead prints the outer well wall simultaneously, forming the outer space enclosed by the partition layer and the outer well wall. During the interval between printing the corresponding section of the inner well wall and the partition layer, the rotation module drives the print nozzle to adjust the printing angle of the connecting ribs and lays the connecting ribs between the inner and outer well walls and the partition layer. The relative height between the printhead and the printed structure is monitored and maintained in real time by radar ranging. After each printing revolution, the printhead moves up one layer to print continuously, wherein the radial width of the outer space is smaller than the radial width of the inner space. After printing to the preset height, cement is poured into the inner space through the inner pouring port and thermal insulation filler is poured into the outer space through the outer pouring port, while the filling density of the two spaces is monitored simultaneously. The excavation and transportation of earthwork at the working face are carried out continuously, while the sinking speed and timing of the caisson are controlled in coordination with the wire rope crane: based on the actual sinking speed data of the caisson, the braking tension of the crane is dynamically adjusted. When the actual sinking speed is greater than or equal to the preset sinking speed threshold, the crane is activated with staged braking to slow down the sinking rate by increasing the tension and prevent sudden drop; based on the real-time collected sinking verticality data, the tension of each crane is allocated differently to correct the sinking deviation trend.

[0008] Real-time acquisition of cutting edge pressure sensor data: When the pressure difference between any two adjacent sensors exceeds a preset pressure difference threshold, it is determined that the cutting edge has encountered uneven geological conditions. A triple adaptation action is immediately executed: increasing the crane tension on the side with lower pressure to balance the force on the cutting edge; sending a zoned control excavation signal to the excavating equipment to reduce the excavation depth and frequency on the side with higher pressure, thus reducing stress imbalance at the source; continuously monitoring pressure data and providing feedback on the adjustment effect every 500ms until the pressure difference is less than or equal to the threshold; simultaneously, combining pre-construction geological survey data, automatically adapting to a preset geological adaptation tension gradient in uneven geological areas, adjusting the tension distribution at a preset distance before the cutting edge enters the area to avoid posture fluctuations.

[0009] The crane's movements are synchronized with the earthwork excavation and transportation rhythm. When the excavation and transportation intensity increases, the crane tension is reduced synchronously, and when excavation and transportation are paused, the foundation tension is maintained to prevent the caisson from rebounding. The synchronous printing of the inner and outer well walls and partitions, the placement of connecting bars, the pouring of materials, and the earthwork excavation and transportation are carried out in a cyclical manner until the caisson reaches the specified depth. Complete the sealing and waterproofing of the caisson according to the preset standards, handle the connection nodes between the upper end of the caisson and the surrounding structure, and complete the construction of the caisson.

[0010] Furthermore, based on the geological data of the construction area and the design parameters of the caisson, relevant construction parameters are determined, including: The geological data, caisson diameter, and design depth are determined as the basic parameter feature group; the well wall structure dimensions and interlayer thickness are determined as the structural parameter feature group; and the vertical reinforcement structure layout is determined as the installation parameter feature group. Extract complete historical construction cases containing basic parameter feature groups, structural parameter feature groups, and installation parameter feature groups from the historical construction parameter database, and calculate the similarity coefficients between the basic parameter feature groups, structural parameter feature groups, and installation parameter feature groups and the corresponding historical parameter feature groups in the historical construction parameter database. Complete historical construction cases with similarity coefficients greater than the preset similarity coefficient threshold for all basic parameter feature groups, structural parameter feature groups, and installation parameter feature groups are selected to form a qualified case library; Historical basic parameter feature groups, historical structural parameter feature groups, and historical installation parameter feature groups were extracted from the qualified case library to determine the corresponding parameters for trench excavation, rebar cage binding, circular track installation, print head synchronous operation, and caisson sinking control.

[0011] Furthermore, relevant construction parameters are determined based on the aforementioned basic parameter characteristic group, structural parameter characteristic group, and installation parameter characteristic group, including: Extract all historical basic parameter feature groups, historical structural parameter feature groups, and historical installation parameter feature groups from the qualified case library; If there is only a single complete historical case in the qualified case library, then the corresponding historical basic parameter feature group corresponding to the trench excavation parameters and caisson sinking control parameters, the historical structural parameter feature group corresponding to the rebar cage binding parameters and print head synchronous operation parameters, and the historical installation parameter feature group corresponding to the circular track installation parameters will be used as the trench excavation parameters, rebar cage binding parameters, circular track installation parameters, print head synchronous operation parameters, and caisson sinking control parameters, respectively. If there are multiple complete historical cases in the qualified case library, the similarity coefficients of the basic parameter feature group, structural parameter feature group, and installation parameter feature group of each case are weighted and summed according to a preset ratio to obtain a comprehensive similarity coefficient. Based on this coefficient, the weights are determined, and the weighted average values ​​of the parameters corresponding to the multiple historical basic parameter feature groups, the multiple historical structural parameter feature groups, and the multiple historical installation parameter feature groups are calculated respectively. These are used as parameters for trench excavation, caisson sinking control, rebar cage binding, print head synchronous operation, and circular track installation, respectively. The weight is equal to the comprehensive similarity coefficient of a single case divided by the sum of the comprehensive similarity coefficients of all cases.

[0012] Furthermore, when the dual printing heads move synchronously with the sinking of the caisson, it includes: Displacement sensors are installed on the dual print heads and the top cover of the caisson to collect data on the caisson's sinking displacement and the independent position data of the two print heads in real time, and to determine the relative displacement values ​​of the two print heads and the caisson, so that the dual print heads can sink synchronously with the caisson. The relative displacement threshold range and distance threshold are preset, and the sinking speed of the caisson is calculated based on the sinking displacement data. When the relative displacement value is within the preset relative displacement threshold range, the current moving speed of the print head is maintained; When the relative displacement value is greater than the maximum value of the preset relative displacement threshold range or less than the minimum value of the preset relative displacement threshold range, the print head moving speed is dynamically adjusted, and at the same time, the distance data between the print head and the printed structure is collected by the radar ranging sensor. If the distance data is greater than the preset distance threshold, the height and horizontal position of the print head are adjusted synchronously until the relative displacement value and distance data both meet the preset requirements.

[0013] Furthermore, the simultaneous operation of the dual printheads includes: The system presets a printhead synchronization error threshold, a print trajectory deviation threshold, a print speed parameter, a material output parameter, and a timing threshold for the alternating operation of the inner well wall and the partition layer of the first printhead. The synchronization error threshold and the timing threshold for the alternating operation of the inner well wall and the partition layer of the first printhead are used as the standard for judging the consistency of the printing progress. The system presets trajectory data, print trajectory deviation thresholds, abnormal output values, and thickness deviation threshold ranges, and collects the motion trajectory data and output uniformity data of the two print heads in real time. The motion trajectory data is compared with preset trajectory data to calculate the trajectory deviation value; When the trajectory deviation value is greater than the preset printing trajectory deviation threshold, the driving parameters of the corresponding print head are automatically adjusted to correct the motion trajectory. When the discharge uniformity data is greater than the abnormal discharge amount, the conveying speed at the feed end is adjusted to control the thickness deviation of the inner and outer well walls and the partition within the preset thickness deviation threshold range. If the trajectory deviation value is less than or equal to the preset printing trajectory deviation threshold, the output uniformity data is less than or equal to the abnormal output value, the alternating operation sequence meets the threshold, and the dual printhead synchronization error is less than or equal to the synchronization error threshold, then the current printing parameters are maintained and the operation continues.

[0014] Furthermore, when the first printhead lays the connecting ribs via the rotating module, it includes: The layout spacing parameters of the connecting ribs, the radial rotation angle threshold of the rotating module, the printing path parameters, the operation interval duration threshold, and the synchronization timing threshold are preset, and the layout spacing parameters and rotation angle threshold are used as control standards for the forming quality of the connecting ribs. When the first print head revolves along the circular track, the rotating module drives the print nozzle to rotate in a direction perpendicular to the track tangent according to a preset synchronization timing threshold, so that the printing direction of the connecting rib always points to the connection area between the inner and outer well walls and the partition layer. Print connecting bars continuously at the set spacing. After printing a section of connecting bar, collect the layout position data, height data, and fit data with the inner and outer well walls and partitions of that section of connecting bar, and compare them with the preset parameters. If the comparison results meet the requirements, continue to follow the orbital revolution and module rotation to complete the subsequent connection bar layout; If the comparison results do not meet the requirements, adjust the synchronization relationship between the rotation angle of the rotating module and the orbital speed, and re-install the connecting ribs in that section. After all connecting bars are installed, the firmness test data and penetration validity data of the connecting bars are collected. When the firmness test data reaches the preset firmness threshold and the penetration validity data meets the design requirements, the connecting bar installation is deemed qualified; if it does not meet the standards, the unqualified connecting bars are reprinted.

[0015] Furthermore, the vertical reinforcement structure for installing precast piles includes: The drilling position is located according to the preset position parameters of the vertical reinforcement structure mounting hole, the hole is drilled to the preset depth, the impurity content data in the hole is collected, and the impurity threshold is preset. When the impurity content is greater than or equal to the preset impurity threshold, clean the impurities in the hole until the impurity content is less than the preset impurity threshold. The precast pile is slowly hoisted and inserted into the borehole. The bottom and sidewalls of the precast pile are fixed by grouting. The verticality data of the precast pile is collected in real time, and the verticality threshold is preset. When the deviation value of the verticality data is less than or equal to the preset verticality threshold, the grouting parameters are maintained and the operation continues. When the deviation value of the verticality data is greater than the preset verticality threshold, the position of the precast pile is adjusted and grouting is repeated. After the grouting material has solidified, the bearing capacity test data of the precast piles are collected. When the overall bearing capacity test data of the precast piles and the grouting body is greater than or equal to the preset bearing capacity requirement of the caisson foundation determined based on the caisson design parameters, the precast piles are deemed to be installed qualified. When the overall bearing capacity test data of the precast piles and the grouting body is less than the preset bearing capacity requirement of the caisson foundation determined based on the caisson design parameters, reinforcement measures are taken or the precast piles are replaced.

[0016] Furthermore, the step of synchronously moving up one layer for continuous printing after each complete printing cycle includes: The preset printing layer thickness threshold, printing layer height threshold, and dual print head up-up synchronization error threshold are used. After both print heads have completed one round of printing, the actual thickness data of the inner and outer well walls and the partition layer are collected by the thickness sensor. The actual thickness data is compared with the preset printing layer thickness threshold. When the actual thickness data of all structures is greater than or equal to the preset printing layer thickness threshold, the dual print heads are controlled to move synchronously to the next printing position according to the requirement that the upward movement time difference is less than or equal to the dual print head upward movement synchronization error threshold. The upward movement distance is equal to the preset printing layer height threshold, and the horizontal position of the two print heads is calibrated respectively. When the actual thickness data is less than the preset printing layer thickness threshold, adjust the output parameters of the print head, locally thicken and reprint along the original printing trajectory until the actual thickness data of all structures is greater than or equal to the preset printing layer thickness threshold, and then perform the upward movement and calibration operation. Repeat the steps to ensure that the thickness of each well wall and partition is uniform.

[0017] Furthermore, the process of injecting material into the inner and outer spaces and monitoring the filling density includes: The preset pouring sequence is: first the inner cement, then the outer insulation filler. The pouring volume parameters, filling density threshold, preset maximum pouring volume, and pouring speed adapted to the inner and outer spaces are set. The material is slowly poured through the inner pouring port and the outer pouring port according to the preset parameters. During the filling process, a density monitoring device is used to collect the filling density data of the inner and outer spaces in real time. When the filling density data is greater than or equal to the preset filling density threshold, the filling operation of the corresponding space is stopped. When the filling density data is less than the preset filling density threshold and the injection volume is less than the preset maximum injection volume, the injection operation of the corresponding space continues; if the injection volume is equal to the preset maximum injection volume and the filling density data still does not meet the standard, the injection is stopped and the space defects are investigated. After the cement is poured and initially set, a filling uniformity threshold is preset, and the thermal insulation filler is poured using a high-pressure jetting method. The filling uniformity data of the thermal insulation filler is collected. When the uniformity data is greater than or equal to the filling uniformity threshold, the jetting operation in the corresponding space is stopped. When the uniformity data is less than the filling uniformity threshold, adjust the injection parameters of the corresponding space and re-collect the uniformity data; if the standard is still not met after multiple adjustments, add more insulation filler until the data meets the requirements.

[0018] Furthermore, the cyclical execution of the operation until the caisson reaches the specified depth includes: The preset thresholds for single sinking height, sinking speed, and printing-grouting-sinking matching cycle of the caisson are used. When the synchronous printing of the caisson wall and the partition layer, the laying of connecting bars, and the material grouting of one layer are completed and the preset printing-grouting-sinking matching cycle is met, the earthwork excavation and transportation equipment is started to excavate and transport the earthwork in the working face. The actual sinking speed data and sinking verticality data of the caisson are collected in real time, and the actual sinking speed data is compared with a preset sinking speed threshold. When the actual sinking speed matches the printing progress and the sinking verticality data meets the requirements, continue the operation while maintaining the excavation and transportation parameters. When the actual sinking speed is greater than or equal to the sinking speed threshold, adjust the excavation and transportation equipment parameters to reduce the sinking speed. When the caisson sinks to the single sinking height threshold, the excavation and transportation operations are stopped, and the synchronous printing of the well wall and partition, the laying of connecting bars and the pouring of materials are continued. Repeat the above cycle of excavation, transportation, printing, and grouting, and collect the actual depth data of the caisson and the integrity data of the formed structure in real time. Stop the cycle when the actual depth data equals the preset completion depth and the structural integrity matches the design requirements.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The degree of automation integration is significantly improved. Through the collaborative operation mode of the circular track and dual printing heads, the tedious process of scaffolding construction and repeated disassembly and assembly of templates in the traditional caisson construction method is eliminated. It avoids the problem of insufficient automation adaptation of Pushi Technology's reverse slip form method, greatly reduces the intensity of manual labor and construction area, and reduces construction safety risks.

[0020] 2. Construction efficiency is greatly improved, enabling simultaneous printing of inner and outer well walls, partitions and connecting bars, and the sinking of the caisson and the construction of the structure are carried out in parallel. This solves the pain points of long construction period of traditional segmented construction methods and interference between reverse slip mold well wall manufacturing and earthwork excavation, and significantly shortens the construction cycle.

[0021] 3. Enhanced construction accuracy and quality controllability: Based on geological data and design parameters, each construction parameter is accurately determined. In conjunction with radar ranging for real-time monitoring of the printed height, and combined with real-time monitoring of the cutting edge pressure of the steel pipe pile guide action, as well as the crane-excavation and transportation linkage control and the wire rope crane coordinated control of sinking, the problems of uneven well wall thickness and easy tilting caused by the reliance on manual experience in traditional construction methods, and the lack of dynamic feedback control of the reverse slip mold are effectively solved, ensuring the verticality of the caisson and the accuracy of structural forming.

[0022] 4. Optimization of adaptability to complex structures: The printing angle of the connecting ribs can be flexibly adjusted by the rotating module of the first printing head, and the integrated construction of multi-layer structures can be completed simultaneously. Cement and insulation filler are specifically filled into the inner and outer spaces, which solves the defects of traditional construction methods and reverse slip molds that make it difficult to achieve synchronous molding of complex structures, and improves the integrity, seepage prevention and insulation performance of the caisson structure.

[0023] 5. Cost control is more advantageous. Automated operation reduces labor input and eliminates the cost of formwork and scaffolding materials. At the same time, precise material batching and filling monitoring avoid material waste. Compared with traditional construction methods and reverse slip form construction, it further reduces construction costs. Moreover, construction is less affected by weather, adapts to complex geological conditions, and has a wider range of applications. Attached Figure Description

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1A flowchart of an automated construction method for caisson 3D printing based on a circular track, provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the automated construction of a caisson based on a circular track, provided in an embodiment of the present invention.

[0025] In the diagram, 100 is the top cover; 110 is the central construction opening; 120 is the precast pile; 130 is the circular track; 200 is the inner well wall; 210 is the outer well wall; 220 is the partition; and 230 is the connecting bar. Detailed Implementation

[0026] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] Reference Figure 1 and Figure 2 In some embodiments of this application, the present invention proposes an automated construction method for caisson 3D printing based on a ring track 130, comprising the following steps: Step S100: Collect geological data and caisson design parameters for the construction area. Based on the data, determine the trench excavation parameters, rebar cage binding parameters, circular track installation parameters, printing head synchronous operation parameters, and caisson sinking control parameters. Excavate the trench and bind the rebar cage according to the determined parameters. Pre-embed track fixing components and construction safety lifting rings. Reserve vertical reinforcement structure installation holes, central construction opening 110, and inner and outer material pouring openings. After pouring the caisson top cover 100 and curing it to the required standard, fix two concentric circular tracks 130 on the lower surface of the top cover 100 as the printing frame. Evenly distribute 3-5 wire rope cranes above the caisson top cover 100 and directly above the caisson wall. Secure the crane to the pre-embedded reinforcing parts or construction safety lifting rings 100mm above the top cover (ensuring the load-bearing capacity of the crane installation point is ≥ 1.5 times the maximum downward pull force on one side of the caisson); pass the wire rope through the pre-set holes 100mm above the top cover (the hole positions correspond one-to-one with the cutting edge connection nodes, and the hole diameter is 10-20mm larger than the wire rope diameter), and firmly anchor the lower end to the pre-set tensile connection nodes at the bottom of the cutting edge of the caisson wall (using double buckles + welding reinforcement to ensure the pull-out strength meets the standard); test the lifting, braking, and synchronous action performance of all cranes, and verify the crane tension adjustment accuracy (error ≤ 5%) through no-load test runs to ensure reliable connection between the crane and the caisson and consistent multi-machine coordinated response.

[0028] Step S200: Install the precast pile 120 vertical reinforcement structure, complete the horizontal reinforcement binding through the horizontal reinforcement automatic binding device, configure the seepage-proof concrete and transport it to two side-by-side printing heads, and adjust the compatibility between the printing heads and the track so that the printing heads move synchronously with the sinking of the caisson. Step S300: Start the dual printhead synchronous operation. The first printhead is equipped with a rotation module, which drives the print nozzle to rotate in the radial direction perpendicular to the tangent of the annular track 130. The first printhead operates in sequence, printing the inner well wall 200 first and then the partition layer 220, forming the inner space enclosed by the inner well wall 200 and the partition layer 220. The second printhead synchronously prints the outer well wall 210, forming the outer space enclosed by the partition layer 220 and the outer well wall 210. During the work interval after completing the printing of the corresponding section of the inner well wall 200 and the partition layer 220, the rotation module synchronously drives the print nozzle to adjust the printing angle of the connecting rib 230 and arranges the connecting rib 230 between the inner and outer well walls 210 and the partition layer 220. The relative height between the printhead and the printed structure is monitored in real time by radar ranging and maintained. After each round of printing, the printhead moves up one layer synchronously for continuous printing, wherein the radial width of the outer space is smaller than the radial width of the inner space. Step S400: After printing to the preset height, pour cement into the inner space through the inner pouring port and pour insulation filler into the outer space through the outer pouring port, while simultaneously monitoring the filling density of the two spaces. Step S500: Continue excavating and transporting earth from the working face, while simultaneously controlling the caisson's sinking speed and timing using 3-5 wire rope cranes: Based on the actual sinking speed data of the caisson, dynamically adjust the crane's braking tension. When the actual sinking speed is ≥ 80% of the preset sinking speed threshold, activate the crane's staged braking to increase tension and slow down the sinking rate, preventing sudden drops; based on real-time collected sinking verticality data, differentiate the tension of each crane to correct sinking deviation trends and ensure that the caisson's verticality deviation is ≤ 0.5%. Real-time acquisition of cutting edge pressure sensor data: When the pressure difference between any two adjacent sensors exceeds a preset pressure difference threshold, it is determined that the cutting edge has encountered uneven geological conditions. A triple adaptation action is immediately executed: increasing the crane tension on the side with lower pressure by 15%-20% compared to the opposite side to balance the force on the cutting edge; sending a zoned control excavation signal to the excavation equipment to reduce the excavation depth on the side with higher pressure by 50% and lower the excavation frequency, reducing stress imbalance from the source; continuously monitoring pressure data and providing feedback on the adjustment effect every 500ms until the pressure difference is ≤80% of the threshold; simultaneously, combining pre-construction geological survey data, automatically adapting to a preset geological adaptation tension gradient in uneven geological areas, completing tension distribution adjustment 1m before the cutting edge enters the area to avoid posture fluctuations. The crane operation is linked to the earthwork excavation rhythm; when the excavation intensity increases, the crane tension is reduced synchronously; when excavation is paused, the foundation tension is maintained to prevent the caisson from rebounding. The process of synchronous printing of the inner and outer well walls-interlayer 220, laying of connecting bars 230, material pouring, and earthwork excavation is performed cyclically until the caisson reaches the specified depth. Step S600: Complete the sealing and waterproofing of the caisson according to the preset standards, handle the connection nodes between the upper end of the caisson and the surrounding structure, and complete the construction of the caisson.

[0029] The above embodiments significantly improve automation integration. Through a circular track and dual-printer-head collaborative operation mode, the cumbersome procedures of scaffolding construction and repeated disassembly and reassembly of formwork in traditional caisson construction methods are eliminated. This avoids the problem of insufficient automation adaptation in Pushi Technology's reverse slipform method, greatly reducing labor intensity and construction land occupation, and lowering construction safety risks. Construction efficiency is significantly improved, achieving simultaneous printing of inner and outer caisson walls, partitions, and connecting reinforcements. Furthermore, caisson sinking and structural construction are carried out in parallel, solving the pain points of long construction periods in traditional segmented construction methods and interference between reverse slipform caisson wall manufacturing and earthwork excavation, significantly shortening the construction cycle. Construction accuracy and quality controllability are enhanced. Based on geological data and design parameters, various construction parameters are accurately determined. Radar ranging is used to monitor the printing height in real time. Combined with real-time monitoring of the cutting edge pressure of the steel pipe pile guide action and crane-excavation linkage control and wire rope crane coordinated control of sinking, this effectively solves the problems of uneven caisson wall thickness and easy tilting caused by reliance on manual experience in traditional methods, as well as the lack of dynamic feedback control in reverse slipform, ensuring the verticality of the caisson and the accuracy of structural forming. The system features optimized adaptability to complex structures. The printing angle of the connecting ribs can be flexibly adjusted via the rotating module of the first print head, enabling simultaneous construction of multi-layered structures. Furthermore, the inner and outer spaces are specifically filled with cement and insulation fillers, overcoming the limitations of traditional methods and reverse slipform construction in achieving simultaneous molding of complex structures. This enhances the overall integrity, impermeability, and insulation performance of the caisson structure. Cost control is also significantly improved. Automated operations reduce labor input and eliminate the cost of formwork and scaffolding materials. Precise material batching and filling monitoring prevent material waste. Compared to traditional methods and reverse slipform construction, this further reduces construction costs. Moreover, construction is less affected by weather conditions, adapts to complex geological conditions, and has a wider range of applications.

[0030] Specifically, relevant construction parameters are determined based on geological data of the construction area and caisson design parameters, including: Geological data, caisson diameter, and design depth are determined as the basic parameter characteristic group; well wall structure dimensions and 220mm interlayer thickness are determined as the structural parameter characteristic group; and the vertical reinforcement structure layout is determined as the installation parameter characteristic group. Extract complete historical construction cases containing foundation parameter feature groups, structural parameter feature groups, and installation parameter feature groups from the historical construction parameter database, and calculate the similarity coefficients between the foundation parameter feature groups, structural parameter feature groups, and installation parameter feature groups and the corresponding historical parameter feature groups in the historical construction parameter database. Complete historical construction cases with similarity coefficients greater than the preset similarity coefficient threshold for all basic parameter feature groups, structural parameter feature groups, and installation parameter feature groups are selected to form a qualified case library; Historical basic parameter feature groups, historical structural parameter feature groups, and historical installation parameter feature groups were extracted from the qualified case library to determine the corresponding parameters for trench excavation, rebar cage binding, circular track installation, print head synchronous operation, and caisson sinking control.

[0031] Specifically, relevant construction parameters are determined based on the basic parameter characteristic group, structural parameter characteristic group, and installation parameter characteristic group, including: Extract all historical basic parameter feature groups, historical structural parameter feature groups, and historical installation parameter feature groups from the qualified case library; If there is only a single complete historical case in the qualified case library, then the corresponding historical basic parameter feature group corresponding to the trench excavation parameters and caisson sinking control parameters, the historical structural parameter feature group corresponding to the rebar cage binding parameters and print head synchronous operation parameters, and the historical installation parameter feature group corresponding to the circular track installation parameters will be used as the trench excavation parameters, rebar cage binding parameters, circular track installation parameters, print head synchronous operation parameters, and caisson sinking control parameters, respectively. If there are multiple complete historical cases in the qualified case library, the similarity coefficients of the basic parameter feature group, structural parameter feature group, and installation parameter feature group of each case are weighted and summed according to a preset ratio to obtain a comprehensive similarity coefficient. Based on this coefficient, the weights are determined, and the weighted average values ​​of the parameters corresponding to the multiple historical basic parameter feature groups, the multiple historical structural parameter feature groups, and the multiple historical installation parameter feature groups are calculated respectively. These are used as parameters for trench excavation, caisson sinking control, rebar cage binding, print head synchronous operation, and circular track installation, respectively. The weight is equal to the comprehensive similarity coefficient of a single case divided by the sum of the comprehensive similarity coefficients of all cases.

[0032] Specifically, when determining relevant construction parameters based on geological data of the construction area and caisson design parameters, three sets of parameter characteristics are first defined: the foundation parameter characteristic set includes soil type, foundation bearing capacity fak (80-300kPa), soil moisture content ω (15%-35%), groundwater level depth h (2-15m), caisson diameter D (3-20m), and design depth H (10-50m); the structural parameter characteristic set covers the inner well wall thickness d1 (3... 00-800mm), outer well wall 210 thickness d2 (200-500mm), interlayer 220 thickness d3 (100-300mm); the installation parameter characteristic group is the arrangement position of the vertical reinforcement structure (precast pile 120), that is, the distance L (1.5-10m) between the pile center and the center of the caisson and the pile spacing s (2-5m) evenly distributed along the circumference of the caisson. Then, cases containing the above three characteristic groups are extracted from the construction parameter database of no less than 500 complete historical cases, and the formula is used. (in The weighting is assigned according to the importance of the parameters, such as geological bearing capacity (0.3) and caisson diameter (0.2). For the target parameter value, Calculate the similarity coefficients between the three feature groups and the corresponding historical case groups (using historical parameter values). Select cases with all three coefficients ≥ 0.8 to form a qualified case library. If the qualified case library contains only a single case, directly use its corresponding parameters (excavation diameter D_excavation = D + 2 × (0.5-1.0) m, excavation depth h_excavation = 1.5-3.0 m, slope i = 1:0.3-1:1.0, main reinforcement diameter Φ = 16-25 mm, stirrup spacing s_stirrup = 150-250 mm, protective layer thickness c = 50-80 mm, inner radius r1 of the circular track r1 = D / 2 - d1 - d3 - 0.1 m, outer radius r2 = D / 2 - 0.1 m, printing speed v = 0.3-0.8 m / s, layer thickness t = 50-100 mm, caisson sinking speed v_sinking = 0.5-1.5 m / d, etc.). If there are multiple cases, use the formula... ( , , Calculate the comprehensive similarity coefficient (using the similarity coefficients of the three sets of parameters respectively), and then... (n is the number of qualified cases) Assign weights and calculate the final construction parameters by weighted average (e.g., when the comprehensive similarity coefficients of two qualified cases are 0.92 and 0.88 respectively, the weights are 0.51 and 0.49 respectively, and the trench excavation depth = 2.0 × 0.51 + 2.2 × 0.49 ≈ 2.1m). The parameter results retain the corresponding accuracy, and after determination, a trial construction should be carried out within 1-2m of the top of the caisson to monitor indicators such as the caisson wall thickness error ≤ ±10mm and the track movement smoothness fluctuation ≤ 0.1mm / s. At the same time, use an ultrasonic testing instrument to ensure that the inner cement grouting density is ≥95% and the outer insulation filling is ≥90%. If the standards are not met, the parameters should be corrected in time.

[0033] The above embodiments determine construction parameters by classifying and constructing three parameter feature groups: foundation, structure, and installation. Qualified historical cases are selected based on similarity coefficients. For single cases, the parameters are directly used; for multiple cases, a comprehensive similarity coefficient is calculated using preset weights, and the weighted average of the parameters is obtained by allocating weights. This effectively avoids the parameter deviation problems caused by reliance on manual experience in traditional caisson construction methods. It also compensates for the deficiencies in parameter adaptability and scientific rigor in Pushi Technology's reverse slipform construction method. This ensures that key construction parameters such as trench excavation, rebar cage binding, and printing head operation are precisely matched with on-site geological conditions and caisson design requirements, significantly improving the efficiency and accuracy of parameter determination. This provides reliable data support for subsequent automated construction, thereby ensuring the caisson structure's forming accuracy, verticality, and overall stability, reducing the frequency of parameter adjustments and material waste during construction, and lowering construction costs and safety risks.

[0034] Specifically, when the dual printing heads move synchronously with the sinking of the caisson, it includes: Displacement sensors are installed on the dual print heads and the caisson top cover 100 respectively to collect real-time data on the caisson sinking displacement and the independent position data of the two print heads, and to determine the relative displacement values ​​of the two print heads and the caisson respectively, so that the dual print heads can sink synchronously with the caisson. Preset relative displacement threshold range and distance threshold, and calculate the sinking speed of the caisson based on the sinking displacement data; When the relative displacement value is within the preset relative displacement threshold range, the current printhead moving speed is maintained; When the relative displacement value is greater than the maximum value of the preset relative displacement threshold range or less than the minimum value of the preset relative displacement threshold range, the print head moving speed is dynamically adjusted, and at the same time, the distance data between the print head and the printed structure is collected by the radar ranging sensor. If the distance data is greater than the preset distance threshold, the height and horizontal position of the print head will be adjusted synchronously until the relative displacement value and distance data both meet the preset requirements.

[0035] Specifically, when the dual printheads move synchronously with the caisson during its descent, displacement sensors are symmetrically arranged at the top of the printhead supports. At least three displacement sensors are evenly installed along the tangent of the 130° circular track at the 100° edge of the caisson top cover (ensuring data redundancy verification). The sampling frequency of all sensors is no less than 10Hz and they communicate with the construction control system in real time. Simultaneously, a radar ranging sensor is installed 50-100mm above the printhead outlet (ensuring the ranging direction is perpendicular to the printed structure surface to avoid signal obstruction by concrete slurry). Real-time data on the caisson's descent displacement and the independent position data of the two printheads are collected to determine the relative displacement values ​​between the two printheads and the caisson for synchronous following. The preset relative displacement threshold range is determined based on the caisson's design diameter, the print layer thickness, and the initial setting time of the concrete. Typically, the value is ±(10%-15% of the print layer thickness), with a maximum threshold not exceeding 20mm. The distance threshold is divided into an upper limit for safe operating distance (1.5-2 times the print layer thickness) and a lower limit for collision warning (1.2 times the printhead's operating radius). The threshold needs to be considered in conjunction with the setting time of the impermeable concrete. After parameter calibration, the caisson sinking speed is calculated based on the sinking displacement data. When the relative displacement value is within the preset threshold range, the current printhead moving speed is maintained. When it exceeds the threshold range, the speed is adjusted according to "deviation ratio adjustment + PID feedback correction"—if the relative displacement value > the maximum threshold value (printhead lag), the printhead moving speed = caisson sinking speed × (1 + relative displacement deviation rate) and does not exceed 1.2 times the rated maximum speed; if the relative displacement value < the minimum threshold value (printhead ahead), the printhead moving speed = caisson sinking speed × (1 - relative displacement deviation rate) and does not fall below the minimum operating speed. At the same time, distance data is collected through a radar ranging sensor. Distance data adjustment is performed in two dimensions with higher priority for collision warning: if the distance data > the preset threshold (too far deviation), the horizontal position is first finely adjusted radially along the 130° circular track, and then the height is calibrated in ±5mm / step increments to maintain the speed ratio; if the distance data < the preset threshold (collision risk), the printhead speed is immediately reduced to 80% of the caisson sinking speed, and the height is adjusted upward (the adjustment amount is 1 / 3 of the distance deviation value).(2 times), after returning to a safe range, return to the relative displacement adjustment logic; when adjusting a single printhead, collect data from the other printhead in real time to ensure that the relative displacement difference between the two does not exceed 50% of the relative displacement threshold range. If one triggers an emergency adjustment, the other will simultaneously perform a proportional speed adjustment; after each adjustment, a feedback result is generated every 500ms. If the adjustment fails to meet the standard for three consecutive times or the distance data is less than 80% of the distance threshold (collision warning), printing is immediately paused and the track compatibility is rechecked (checking for loose fasteners, worn rollers, etc.). After troubleshooting, the initial position of the printhead is recalibrated before resuming operation; during construction, after every three layers of well wall printing are completed, the relative displacement threshold range and distance threshold are dynamically calibrated based on the verticality of the printed structure and the uniformity of the caisson sinking. If the caisson sinking deviation exceeds the standard, the relative displacement threshold of the corresponding side printhead is reduced according to the deviation direction to ensure that the printed structure is compatible with the caisson sinking trajectory until the relative displacement value and distance data meet the preset requirements.

[0036] Specifically, simultaneous operation of dual printheads includes: The system presets the printhead synchronization error threshold, print trajectory deviation threshold, print speed parameter, output quantity parameter, and the timing threshold for alternating operation of the inner layer well wall 200 and the partition layer 220 of the first printhead. The synchronization error threshold and the timing threshold for alternating operation of the inner layer well wall 200 and the partition layer 220 of the first printhead are used as the standard for judging the consistency of the printing progress. The system presets trajectory data, print trajectory deviation thresholds, abnormal output values, and thickness deviation threshold ranges, and collects the motion trajectory data and output uniformity data of the two print heads in real time. The motion trajectory data is compared with the preset trajectory data, and the trajectory deviation value is calculated. When the trajectory deviation value is greater than the preset printing trajectory deviation threshold, the drive parameters of the corresponding print head are automatically adjusted to correct the motion trajectory. When the discharge uniformity data is greater than the abnormal discharge amount, adjust the conveying speed at the feeding end to control the thickness deviation of the inner and outer well walls 210 and the partition 220 within the preset thickness deviation threshold range. If the trajectory deviation value is less than or equal to the preset printing trajectory deviation threshold, the output uniformity data is less than or equal to the abnormal output value, the alternating operation sequence meets the threshold, and the dual printhead synchronization error is less than or equal to the synchronization error threshold, then the current printing parameters are maintained and the operation continues.

[0037] Specifically, preset thresholds for printhead synchronization error, print trajectory deviation, print speed, output, and alternating operation timing between the inner well wall 200 and the partition layer 220 of the first printhead are defined. The synchronization error threshold is set based on the circumference of the circular track 130, the print layer thickness, and the rated synchronization accuracy of the dual printheads, and is set to 5%-8% of the print layer thickness, not exceeding 10mm. The print trajectory deviation threshold is determined by combining the well design radius and 3D printing positioning accuracy (radial deviation ≤ 5mm, circumferential deviation ≤ 3mm). The print speed parameter must match the smoothness of the impermeable concrete output (typically 50-100mm / s, and positively correlated with the output parameter). The output parameter is based on the print cross-sectional area (well wall thickness × print layer thickness, partition layer thickness). The alternating operation timing threshold is calculated based on the initial setting time of concrete (the interval between the completion of the inner well wall 200 printing and the start of the 220 layer printing is no less than 20-30 minutes and does not exceed 70% of the initial setting time). The synchronization error threshold and the alternating operation timing threshold are used as the core standards for judging the consistency of printing progress. The preset trajectory data is a circular three-dimensional coordinate trajectory (including details such as radial offset and circumferential step distance) generated based on the caisson design drawings. The printing trajectory deviation threshold, abnormal output value (exceeding the preset output by ±15%), and thickness deviation threshold range (well wall thickness is allowed ±3mm, 220 layer thickness is allowed ±2mm) are simultaneously determined through the encoder built into the print head. The track vision positioning module collects real-time motion trajectory data of the two printheads (sampling frequency ≥15Hz), and uses an electromagnetic flow sensor on the feed pipe to collect output uniformity data (instantaneous flow rate recorded every 100ms). The real-time collected motion trajectory data is compared point-by-point with preset trajectory data, and a coordinate difference algorithm is used to calculate the comprehensive trajectory deviation values ​​in the radial, circumferential, and axial directions. When the trajectory deviation value exceeds the preset printing trajectory deviation threshold, the drive parameters of the corresponding printhead (including stepper motor pulse frequency, track roller speed, and steering correction) are automatically adjusted, and a PID feedback control algorithm is used to dynamically correct the motion trajectory, ensuring that subsequent printing paths return to the preset trajectory. When the output uniformity data exceeds the abnormal output value, the feed is adjusted... The speed of the concrete delivery pump or the opening of the frequency converter valve are adjusted in real time to match the printing speed and the output. At the same time, the thickness data of the printed structure is monitored in real time with the help of a laser thickness gauge to strictly control the thickness deviation of the inner and outer well walls 210 and the partition 220 within the preset thickness deviation threshold range. If the trajectory deviation value is less than or equal to the preset printing trajectory deviation threshold, the output uniformity data is less than or equal to the abnormal output value, the alternating operation sequence of the inner well wall 200 and the partition 220 of the first print head meets the threshold, and the synchronization error of the two print heads (calculated by weighting the displacement difference and time difference between the two) is less than or equal to the synchronization error threshold, then the current printing parameters are maintained and the operation continues. If any condition is not met, the above adjustment process is repeated until all parameters meet the preset requirements.

[0038] Specifically, when the first printhead arranges the connecting ribs 230 via the rotating module, it includes: The layout spacing parameters, radial rotation angle threshold of the rotating module, printing path parameters, operation interval duration threshold, and synchronization timing threshold of the pre-set connecting rib 230 are used as the control standards for the forming quality of the connecting rib 230. When the first print head revolves along the annular track 130, the rotating module drives the print nozzle to rotate in a direction perpendicular to the track tangent according to the preset synchronization timing threshold, so that the printing direction of the connecting rib 230 always points to the connection area between the inner and outer well walls 210 and the partition layer 220. Print the connecting ribs 230 continuously at the set spacing. After printing a section of connecting rib 230, collect the layout position data, height data, and fit data of the connecting rib 230 with the inner and outer well walls 210 and the partition 220, and compare them with the preset parameters. If the comparison results meet the requirements, continue to follow the orbital revolution and module rotation to complete the subsequent installation of connecting ribs 230; If the comparison results do not meet the requirements, adjust the synchronization relationship between the rotation angle of the rotating module and the orbital speed, and re-install the connecting rib 230 in that section; After all connecting bars 230 are installed, the firmness test data and penetration validity data of the connecting bars 230 are collected. When the firmness test data reaches the preset firmness threshold and the penetration validity data meets the design requirements, the installation of connecting bars 230 is deemed qualified; if it does not meet the standards, the unqualified connecting bars 230 are reprinted.

[0039] Specifically, when the first print head lays out the connecting ribs 230 via the rotating module, preset parameters for the spacing of the connecting ribs 230, the radial rotation angle threshold of the rotating module, the printing path parameters, the operation interval duration threshold, and the synchronization timing threshold are defined. The spacing parameter is determined based on the design diameter of the caisson, the thickness of the well wall and the partition layer 220, and the tensile strength grade of the concrete, and is set to 150-250mm (approximately 3-5 times the diameter of the connecting rib 230). The radial rotation angle threshold of the rotating module, combined with the spacing between the inner and outer well walls 210, is set to 30°-60° (ensuring that both ends of the connecting rib 230 are embedded in the inner and outer well walls 210 by at least 50mm). The printing path parameters are segmented three-dimensional coordinates generated along the revolution trajectory of the circular track 130 (including the starting / ending point coordinates of each segment of the connecting rib 230). The threshold for the interval between operations is set to 15-20 minutes based on the initial setting time of concrete (to avoid conflict with the printing operations of the well wall / interlayer 220). The synchronization timing threshold is calibrated according to the revolution speed of the first print head to trigger the rotation module once every 500mm revolution (sampling frequency ≥12Hz). The layout spacing parameter and the rotation angle threshold are used as the core control standards for the forming quality of the connecting rib 230. When the first print head revolves at a constant speed along the circular track 130 (the revolution speed is consistent with the synchronous operation speed of the dual print heads, which is 50-80mm / s), the rotation module drives the printing nozzle to rotate precisely in a direction perpendicular to the tangent of the track according to the preset synchronization timing threshold through the stepper motor. At the same time, the rotation angle is fed back in real time by the angle sensor built into the module (error ≤0).5°), dynamically correct the nozzle direction to ensure that the printing direction of the connecting rib 230 is always perpendicular to the connection area between the inner and outer well walls 210 and the partition layer 220 (deviation not exceeding ±2mm); continuously print the connecting rib 230 according to the set layout spacing (the diameter of the connecting rib 230 is selected according to the design requirements, and the concrete slump is controlled at 120-140mm during printing to ensure fluidity). After completing the printing of a section of connecting rib 230 (the length of a single section is the spacing between the inner and outer well walls 210 + 10mm, ensuring that both ends are tightly fitted), collect the layout position data through the laser positioning sensor, the height data through the infrared rangefinder, and the fit data with the inner and outer well walls 210 and the partition layer 220 through the ultrasonic flaw detector (fitting degree must be ≥90%), and compare it point by point with the preset parameters; if the comparison result meets the requirements (position deviation ≤3mm, height deviation ≤2mm, fitting degree ≥90%), continue to follow the orbital revolution and module rotation, and complete the subsequent layout of the connecting rib 230 according to the synchronous timing threshold; if the comparison result meets the requirements (position deviation ≤3mm, height deviation ≤2mm, fitting degree ≥90%), continue to follow the orbital revolution and module rotation, and complete the subsequent layout of the connecting rib 230 according to the synchronous timing threshold; if the comparison result meets the requirements (position deviation ≤3mm, height deviation ≤2mm, fitting degree ≥90%), continue to follow the orbital revolution and module rotation, and complete the subsequent layout of the connecting rib 230 according to the synchronous timing threshold. If any result fails to meet the requirements (any indicator exceeds the allowable range), the orbital operation is immediately suspended. The rotation angle of the rotating module is adjusted using a PID feedback algorithm (fine-tuning range ±1°-3°) and the synchronization relationship of the orbital speed is adjusted (speed fine-tuning range ±5%-10%). After cleaning the surface laitance of the substandard connecting rib 230, the substandard section of connecting rib 230 is re-installed. After all connecting ribs 230 are installed, a pull-out test is conducted to collect the firmness data of the connecting ribs 230 (preset firmness threshold ≥3MPa). Penetration effectiveness data is collected using a radar detector (ensuring that the connecting rib 230 completely penetrates the interlayer 220 and is embedded to the inner and outer well walls 210 to the required depth). When the firmness test data reaches the preset firmness threshold and the penetration effectiveness data meets the design requirements, the connecting rib 230 installation is deemed qualified. If it does not meet the requirements, the substandard section is partially removed, the rotating module parameters are recalibrated, and the substandard section of connecting rib 230 is re-printed until all indicators meet the preset requirements.

[0040] Specifically, the installation of 120 precast piles with vertical reinforcement structures includes: The drilling position is located according to the preset position parameters of the vertical reinforcement structure mounting hole, the hole is drilled to the preset depth, the impurity content data in the hole is collected, and the impurity threshold is preset. When the impurity content is greater than or equal to the preset impurity threshold, clean the impurities in the hole until the impurity content is less than the preset impurity threshold. The precast pile 120 is slowly hoisted and inserted into the borehole. The bottom and sidewalls of the precast pile 120 are fixed by grouting. The verticality data of the precast pile 120 is collected in real time, and the verticality threshold is preset. When the deviation value of the verticality data is less than or equal to the preset verticality threshold, the grouting parameters are maintained and the operation continues. When the deviation value of the verticality data is greater than the preset verticality threshold, the precast pile 120 position is adjusted and grouting is repeated. After the grouting material solidifies, the bearing capacity test data of the precast pile 120 is collected. When the overall bearing capacity test data of the precast pile 120 and the grouting body is greater than or equal to the preset bearing capacity requirement of the caisson foundation determined based on the caisson design parameters, the precast pile 120 is deemed to be installed qualified. When the overall bearing capacity test data of the precast pile 120 and the grouting body is less than the preset bearing capacity requirement of the caisson foundation determined based on the caisson design parameters, reinforcement measures are taken or the precast pile 120 is replaced.

[0041] Specifically, when installing the precast pile 120 vertical reinforcement structure, first determine the preset position parameters of the installation holes for the vertical reinforcement structure based on the bearing capacity distribution in the caisson design drawings and geological survey report (positioning accuracy ≤ ±50mm). Combined with the diameter of the precast pile 120 (usually 300-600mm), select a suitable auger drill or impact drill (auger drill for soft soil, impact drill for hard soil / rock). After positioning the drilling position, drill to the preset depth (drilling depth 300-500mm greater than the designed burial depth of the precast pile 120 to allow space for sediment removal). The drilling diameter should be 50-100mm larger than the diameter of the precast pile 120 to ensure grout compaction. Simultaneously, use a sediment thickness detector to collect real-time data on the impurity content in the hole. The preset impurity threshold is ≤50mm (compliant with the "Construction Quality Acceptance Standard for Building Foundation Engineering"). When the impurity content is greater than or equal to the preset impurity threshold... At the threshold, impurities inside the hole are cleaned by flushing the hole wall with a high-pressure water gun (pressure 0.8-1.2MPa) and suctioning with a mud suction machine until the sediment thickness is less than the preset impurity threshold. After drilling, the hole position, diameter, and depth must be inspected and confirmed to meet the preset requirements. Then, a four-point lifting device is used to slowly lower the precast pile 120 at a speed of 0.5-1m / min. The precast pile 120 is inserted into the hole with the help of a positioning steel sleeve (ensuring the initial verticality deviation is ≤0.3%). High-strength non-shrink grout with a strength grade ≥C40 is used. The bottom and side walls of the precast pile 120 are fixed by pressure grouting from the bottom of the hole upward (grouting pressure 0.3-0.5MPa). The grouting parameters are set at a water-cement ratio of 0.38-0.45 and a grouting speed of 5-10L / min. At the same time, a dual theodolite is used to collect the verticality data of the precast pile 120 in real time in two mutually perpendicular directions. The preset verticality threshold is ≤0.5% (as required by the caisson construction specification); when the deviation of the verticality data is less than or equal to the preset verticality threshold, continue grouting with the current grouting parameters. Monitor the grout level in the hole in real time during grouting to avoid grout interruption; when the deviation of the verticality data is greater than the preset verticality threshold, stop grouting immediately, fine-tune the position of the precast pile 120 using a hydraulic correction device (single adjustment amount ≤ 5mm), clean the uncured old grout in the hole, and then grout again according to the preset parameters; after the grouting material has been cured for ≥ 7 days at an ambient temperature ≥ 5℃ (or the strength reaches 70% of the design strength), collect the bearing capacity test data of the precast pile 120 using a static load test or high strain dynamic testing method. The preset bearing capacity requirement for the caisson foundation is determined based on the design value of the total bearing capacity of the caisson (the vertical bearing capacity of the precast pile group of 120 piles must reach 30%-50% of the total bearing capacity of the caisson). When the test data of the overall bearing capacity of the precast piles 120 and the grouting body is greater than or equal to the preset bearing capacity requirement, the installation of the precast piles 120 is deemed qualified. When the test data is less than the preset bearing capacity requirement, if the difference is ≤20%, reinforcement measures such as supplementing with high-strength grouting material and adding micropiles with a diameter of 150-200mm around the precast piles 120 are taken. If the difference is >20%, the precast piles 120 are directly replaced. After replacement, the hoisting, grouting, and testing process must be repeated until the bearing capacity data meets the design requirements.

[0042] Specifically, after each round of printing is completed, a new layer is simultaneously moved up for continuous printing, including: The preset printing layer thickness threshold, printing layer height threshold, and dual print head up-up synchronization error threshold are used. After both print heads have completed one round of printing, the actual thickness data of the inner and outer well walls 210 and the partition layer 220 are collected by the thickness sensor respectively. The actual thickness data is compared with the preset printing layer thickness threshold. When the actual thickness data of all structures is greater than or equal to the preset printing layer thickness threshold, the dual print heads are controlled to move synchronously to the next printing position according to the requirement that the upward movement time difference is less than or equal to the dual print head upward movement synchronization error threshold. The upward movement distance is equal to the preset printing layer height threshold, and the horizontal position of the two print heads is calibrated respectively. When the actual thickness data is less than the preset printing layer thickness threshold, adjust the output parameters of the print head, locally thicken and reprint along the original printing trajectory until the actual thickness data of all structures is greater than or equal to the preset printing layer thickness threshold, and then perform the upward movement and calibration operation. Repeat the above steps to ensure that the thickness of each well wall and partition 220 is uniform.

[0043] Specifically, after each complete cycle of printing, when the printing head moves up one layer for continuous printing, preset thresholds for printing layer thickness, printing layer height, and synchronous error threshold for the upward movement of the dual printing heads are established. The printing layer thickness threshold is determined based on the design requirements of the caisson structure and the shrinkage rate of the anti-seepage concrete, and is set to 80-120mm (to match the spacing of the connecting ribs 230). The printing layer height threshold is consistent with the thickness threshold (to ensure tight adhesion between layers). The synchronous error threshold for the upward movement of the dual printing heads is set to ≤300ms according to the printing positioning accuracy (to avoid misalignment of the inner and outer well walls 210 during printing). After both printing heads have completed one cycle of printing along the circular track 130, laser thickness sensors (sampling frequency ≥10Hz, measurement accuracy ±0.5mm) are symmetrically installed on both sides of the printing head outlet to collect the actual thickness data of the inner and outer well walls 210 and the partition layer 220, respectively. The collection points are arranged every 30° along the circular trajectory to ensure full cross-section coverage. The actual thickness data collected in real time is compared point by point with the preset printing layer thickness threshold. If the actual thickness data of all structures is greater than or equal to the preset printing layer thickness threshold and the thickness difference is less than or equal to 5 mm, the dual print heads are controlled to move upward at a uniform speed of 5-8 mm / s through the synchronous drive system. The time difference between the upward movement of the two print heads is strictly guaranteed to be less than or equal to the synchronization error threshold, and the upward movement distance is precisely equal to the preset printing layer height threshold. After the upward movement is completed, the horizontal position of the two print heads is calibrated with the help of the laser positioning module on the track and the horizontal gyroscope built into the print head (radial deviation ≤ 2 mm, circumferential deviation ≤ 1 mm) to ensure that the printing trajectory of the next layer is precisely aligned with the previous layer. If the actual thickness of any structure is less than the preset printing layer thickness threshold, immediately initiate the re-printing procedure: adjust the discharge rate of the concrete pump using frequency conversion control (adjustment range calibrated to 1.2 times the thickness difference), control the print head to locally thicken along the original printing trajectory at a low speed of 30-50mm / s, covering only the insufficient thickness area (avoiding overall rework), and re-measure the thickness data in real time during the re-printing process; once the actual thickness of all structures is greater than or equal to the preset printing layer thickness threshold, and there are no obvious seams between layers, then perform the upward movement and horizontal calibration operation. Repeat the above steps of "complete printing - thickness detection - comparison and adjustment - synchronous upward movement - horizontal calibration". After every 3 layers of printing, additionally re-inspect the thickness of the entire cross-section using an ultrasonic thickness gauge to ensure that the thickness of each well wall and 220mm partition layer is uniform and consistent, with the overall thickness deviation controlled within ±3mm, meeting the load-bearing and seepage prevention design requirements of the caisson structure. Specifically, this involves injecting material into the inner and outer spaces and monitoring the filling density, including: The preset pouring sequence is: first the inner cement, then the outer insulation filler. The pouring volume parameters, filling density threshold, preset maximum pouring volume, and pouring speed adapted to the inner and outer spaces are set. The material is slowly poured through the inner pouring port and the outer pouring port according to the preset parameters. During the grouting process, a density monitoring device is used to collect the filling density data of the inner and outer spaces in real time. When the filling density data is greater than or equal to the preset filling density threshold, the grouting operation of the corresponding space is stopped. When the filling density data is less than the preset filling density threshold and the injection volume is less than the preset maximum injection volume, the injection operation of the corresponding space continues; if the injection volume is equal to the preset maximum injection volume and the filling density data still does not meet the standard, the injection is stopped and the space defects are investigated. After the cement is poured and initially set, a filling uniformity threshold is preset, and the thermal insulation filler is poured using a high-pressure jetting method. The filling uniformity data of the thermal insulation filler is collected. When the uniformity data is greater than or equal to the filling uniformity threshold, the jetting operation in the corresponding space is stopped. When the uniformity data is less than the filling uniformity threshold, adjust the injection parameters of the corresponding space and re-collect the uniformity data; if the standard is still not met after multiple adjustments, add more insulation filler until the data meets the requirements.

[0044] Specifically, when injecting materials into the inner and outer spaces and monitoring the filling density, the preset injection sequence is: inner cement first, then outer insulation filler (to avoid insufficient pressure on the inner side leading to voids and ensure structural stability). Injection volume parameters are defined as follows: (calculated as 1.1 times the inner and outer space volumes; inner space volume = distance between the inner well wall 200mm and the partition 220mm × caisson perimeter × injection height; the same applies to the outer side). Filling density threshold is set at ≥95% (referring to the "Code for Acceptance of Construction Quality of Concrete Structures"). The preset maximum injection volume is 1.2 times the space volume to prevent excessive grout overflow. An appropriate injection speed is also defined for the inner and outer spaces—P.O42.5 ordinary Portland cement is used for the inner cement, and the injection speed is controlled at 0.5-1m. 3 / h, the outer side uses rigid polyurethane foam insulation filler, and the fitting speed is 1.5-2m. 3 / h, grouting is slowly injected through variable frequency pumps at the inner and outer pouring ports according to preset parameters; during the injection process, an ultrasonic compaction tester is used on the inner side and a radar detector is used on the outer side to collect filling compaction data in real time (sampling frequency once every 30 seconds, measurement accuracy ±1%). When the compaction data is ≥ the preset threshold, the injection of the corresponding space is stopped immediately; if the compaction is < the threshold and the injection volume has not reached the maximum limit, injection continues to replenish; if the injection volume reaches the maximum and still does not meet the standard, injection is stopped and the space voids and connection defects are investigated by drilling, and the operation is resumed after treatment. After cement pouring, the cement is cured at an ambient temperature of 20℃ for ≥4 hours until initial setting. Then, a pre-set filling uniformity threshold of ≥90% is established. Insulation filler is poured using a high-pressure jetting device with a pressure of 0.8-1.2MPa and a nozzle diameter of 15-20mm. Uniformity data is collected using an infrared thermal imager. If uniformity is <threshold, the jetting pressure (fine-tuning range ±0.2MPa), nozzle angle (±5°), and moving speed (±0.1m / min) are adjusted, and data is collected again. If the standard is still not met after three adjustments, localized supplementary spraying is used to add insulation filler until the uniformity data meets the pre-set requirements, ensuring that the inner and outer spaces are filled densely and uniformly, balancing structural load-bearing capacity and insulation performance. Specifically, the operation is repeated until the caisson reaches the specified depth, including: The preset thresholds for single sinking height, sinking speed, and printing-grouting-sinking matching cycle of the caisson are used. When the caisson wall-interlayer 220 is printed synchronously, the connecting ribs 230 are laid out, and the material is grouted for one layer and the preset printing-grouting-sinking matching cycle is met, the earthwork excavation and transportation equipment is started to excavate and transport the earthwork in the working face. The actual sinking speed and verticality data of the caisson are collected in real time, and the actual sinking speed data is compared with the preset sinking speed threshold. When the actual sinking speed matches the printing progress and the sinking verticality data meets the requirements, continue the operation while maintaining the excavation and transportation parameters. When the actual sinking speed is greater than or equal to the sinking speed threshold, adjust the excavation and transportation equipment parameters to reduce the sinking speed. When the caisson sinks to the single sinking height threshold, the excavation and transportation operations are stopped, and the synchronous printing of the well wall-interlayer 220, the laying of the connecting ribs 230 and the material pouring operations are continued. Repeat the above cycle of excavation, transportation, printing, and grouting, and collect the actual depth data of the caisson and the integrity data of the formed structure in real time. Stop the cycle when the actual depth data equals the preset completion depth and the structural integrity matches the design requirements.

[0045] Specifically, the operation is repeated until the caisson reaches the specified depth. Preset thresholds are set for the single sinking height of the caisson (80-120mm, consistent with the printing layer height, to match the well wall forming rhythm), sinking speed (set according to geological conditions: 0.5-0.8m / h for soft soil and 1.0-1.2m / h for hard soil to avoid excessive sinking leading to structural instability), and a matching cycle for printing-grouting-sinking (4-6 hours, covering the initial setting time of concrete to ensure the bearing capacity of the printed structure). Once the well wall and partition layer 220 are printed synchronously, the connecting reinforcement 230 is laid, and one layer of material is poured, and the curing time meets the matching cycle requirements, earthmoving equipment suitable for the geology is started (grab bucket excavator for soft soil, spiral excavator for hard soil). Earthwork is gradually excavated and transported within the working face according to the preset bucket capacity (0.5-1m³) and excavation radius. The excavation sequence proceeds symmetrically from the center outwards to avoid uneven stress on one side. The actual sinking speed data is collected in real time by the displacement sensor (sampling frequency 10Hz, accuracy ±0.1mm / s) on the caisson top cover 100, and the sinking verticality data is collected by a dual theodolite (vertical accuracy ±0.3%). The actual sinking speed is compared with a preset threshold. If the actual speed matches the printing progress (sinking speed = printing layer height / matching cycle) and the verticality deviation is ≤0.5%, the excavation and transportation parameters are maintained and the operation continues. If the actual speed is ≥threshold, the excavation and transportation equipment parameters are adjusted by reducing the bucket excavation depth and reducing the operation frequency to slowly reduce the sinking speed. When the caisson sinks to the single sinking height threshold (error ±10mm), the excavation and transportation are stopped immediately, and the printing of the well wall-interlayer 220, the laying of the connecting ribs 230, and the material pouring are carried out according to the procedure. Repeat the above cyclic process, during which the actual depth data (accuracy ±10mm) is collected in real time using a measuring rope and a level. The density of the formed structure is tested with an ultrasonic flaw detector and the dimensional deviation is checked with a laser rangefinder. When the actual depth data reaches the preset completion depth (allowable deviation ±50mm) and the structural integrity meets the design requirements (no through cracks, dimensional deviation ≤ ±5mm, and the 230 connecting ribs meet the firmness standards), the cyclic operation is stopped to ensure that the caisson forming quality and depth accuracy meet the engineering standards.

[0046] The above embodiments, through the innovative mode of collaborative operation of the 130-ring track and dual printing heads, not only eliminate the cumbersome procedures of scaffolding construction and repeated disassembly and assembly of formwork in traditional caisson construction methods, and avoid the problem of insufficient automation in the reverse slipform method, significantly reducing labor intensity, construction land area, and safety risks, but also achieve simultaneous printing of inner and outer well walls, partition 220, and connecting ribs 230. Furthermore, the caisson sinking and structural construction are carried out in parallel, effectively solving the pain points of long construction periods in traditional segmented construction methods and interference between reverse slipform well wall manufacturing and earthwork excavation, significantly shortening the construction cycle. Based on geological data and design parameters, feature groups are classified and constructed. Historical cases are screened using similarity coefficients to accurately determine construction parameters. Combined with real-time monitoring such as radar ranging and displacement sensing, and PID feedback control, this effectively compensates for the reliance on manual experience in traditional construction methods. This method overcomes the defects of uneven well wall thickness, easy tilting, and lack of dynamic feedback in reverse slip molding, ensuring the verticality and structural forming accuracy of the caisson. The rotating module of the first print head allows for flexible adjustment of the 230° printing angle of the connecting ribs, simultaneously completing the integrated construction of multi-layer structures. Furthermore, targeted cement and insulation filler are injected into the inner and outer spaces, solving the shortcomings of traditional methods and reverse slip molding in achieving simultaneous forming of complex structures. This significantly improves the overall integrity, impermeability, and insulation performance of the caisson structure. Simultaneously, automated operation reduces manual labor, eliminates the cost of formwork and scaffolding materials, and precise material batching and filling monitoring prevent material waste. Compared to traditional methods and reverse slip molding, this further reduces construction costs. Moreover, construction is less affected by weather, adapts to complex geological conditions, and has a wider range of applications, providing an efficient, precise, safe, and economical automated solution for caisson construction.

[0047] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0048] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0049] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0050] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An automated construction method for caissons based on circular tracks using 3D printing, characterized in that, include: Collect geological data and caisson design parameters of the construction area, and determine the trench excavation parameters, rebar cage binding parameters, circular track installation parameters, printing head synchronous operation parameters, and caisson sinking control parameters based on the data; excavate the trench and bind the rebar cage according to the determined parameters, pre-embed track fixing parts and construction safety lifting rings, reserve vertical reinforcement structure installation holes, central construction opening and inner and outer material pouring openings, pour the caisson top cover and cure it to meet the standards, and fix two concentric circular tracks as printing frames on the lower surface of the top cover; Install the precast pile vertical reinforcement structure, complete the horizontal steel bar binding through the horizontal steel bar automatic binding device, configure the impermeable concrete and deliver it to two side-by-side printing heads, and adjust the compatibility between the printing heads and the track so that the printing heads move synchronously with the sinking of the caisson. The dual printheads operate synchronously. The first printhead is equipped with a rotation module, which drives the print nozzle to rotate radially perpendicular to the tangent of the circular track. The first printhead prints the inner well wall first, then the partition layer, forming the inner space enclosed by the inner well wall and the partition layer. The second printhead prints the outer well wall simultaneously, forming the outer space enclosed by the partition layer and the outer well wall. During the interval between printing the corresponding section of the inner well wall and the partition layer, the rotation module drives the print nozzle to adjust the printing angle of the connecting ribs and lays the connecting ribs between the inner and outer well walls and the partition layer. The relative height between the printhead and the printed structure is monitored and maintained in real time by radar ranging. After each printing revolution, the printhead moves up one layer to print continuously, wherein the radial width of the outer space is smaller than the radial width of the inner space. After printing to the preset height, cement is poured into the inner space through the inner pouring port and thermal insulation filler is poured into the outer space through the outer pouring port, while the filling density of the two spaces is monitored simultaneously. The excavation and transportation of earthwork at the working face are continuously carried out to make the caisson sink in the preset direction. The synchronous printing of the inner and outer well walls and partitions, the laying of connecting bars, the pouring of materials and the excavation and transportation of earthwork are carried out in a cycle until the caisson reaches the specified depth. Complete the sealing and waterproofing of the caisson according to the preset standards, handle the connection nodes between the upper end of the caisson and the surrounding structure, and complete the construction of the caisson.

2. The automated construction method for caisson 3D printing based on a circular track according to claim 1, characterized in that, Based on the geological data of the construction area and the design parameters of the caisson, relevant construction parameters are determined, including: The geological data, caisson diameter, and design depth are determined as the basic parameter feature group; the well wall structure dimensions and interlayer thickness are determined as the structural parameter feature group; and the vertical reinforcement structure layout position is determined as the installation parameter feature group. Extract complete historical construction cases containing basic parameter feature groups, structural parameter feature groups, and installation parameter feature groups from the historical construction parameter database, and calculate the similarity coefficients between the basic parameter feature groups, structural parameter feature groups, and installation parameter feature groups and the corresponding historical parameter feature groups in the historical construction parameter database. Complete historical construction cases with similarity coefficients greater than the preset similarity coefficient threshold for all basic parameter feature groups, structural parameter feature groups, and installation parameter feature groups are selected to form a qualified case library; Historical basic parameter feature groups, historical structural parameter feature groups, and historical installation parameter feature groups are extracted from the qualified case library to determine the corresponding parameters for trench excavation, rebar cage binding, circular track installation, print head synchronous operation, and caisson sinking control.

3. The automated construction method for caisson 3D printing based on a circular track according to claim 2, characterized in that, Based on the aforementioned basic parameter characteristic group, structural parameter characteristic group, and installation parameter characteristic group, relevant construction parameters are determined, including: Extract all historical basic parameter feature groups, historical structural parameter feature groups, and historical installation parameter feature groups from the qualified case library; If there is only a single complete historical case in the qualified case library, then the corresponding historical basic parameter feature group corresponding to the trench excavation parameters and caisson sinking control parameters, the historical structural parameter feature group corresponding to the rebar cage binding parameters and print head synchronous operation parameters, and the historical installation parameter feature group corresponding to the circular track installation parameters will be used as the trench excavation parameters, rebar cage binding parameters, circular track installation parameters, print head synchronous operation parameters, and caisson sinking control parameters, respectively. If there are multiple complete historical cases in the qualified case library, the similarity coefficients of the basic parameter feature group, structural parameter feature group, and installation parameter feature group of each case are weighted and summed according to a preset ratio to obtain a comprehensive similarity coefficient. Based on this coefficient, the weights are determined, and the weighted average values ​​of the parameters corresponding to the multiple historical basic parameter feature groups, the multiple historical structural parameter feature groups, and the multiple historical installation parameter feature groups are calculated respectively. These are used as parameters for trench excavation, caisson sinking control, rebar cage binding, print head synchronous operation, and circular track installation, respectively. The weight is equal to the comprehensive similarity coefficient of a single case divided by the sum of the comprehensive similarity coefficients of all cases.

4. The automated construction method for caisson 3D printing based on a circular track according to claim 1, characterized in that, When the dual printing heads move synchronously with the sinking of the caisson, it includes: Displacement sensors are installed on the dual print heads and the top cover of the caisson to collect real-time data on the caisson's sinking displacement and the independent position data of the two print heads. The relative displacement values ​​of the two print heads and the caisson are determined so that the dual print heads can sink synchronously with the caisson. The relative displacement threshold range and distance threshold are preset, and the sinking speed of the caisson is calculated based on the sinking displacement data. When the relative displacement value is within the preset relative displacement threshold range, the current moving speed of the print head is maintained; When the relative displacement value is greater than the maximum value of the preset relative displacement threshold range or less than the minimum value of the preset relative displacement threshold range, the print head moving speed is dynamically adjusted, and at the same time, the distance data between the print head and the printed structure is collected by the radar ranging sensor. If the distance data is greater than the preset distance threshold, the height and horizontal position of the print head are adjusted synchronously until the relative displacement value and distance data both meet the preset requirements.

5. The automated construction method for caisson 3D printing based on a circular track according to claim 1, characterized in that, The dual-printhead synchronous operation includes: The system presets a printhead synchronization error threshold, a print trajectory deviation threshold, a print speed parameter, a material output parameter, and a timing threshold for the alternating operation of the inner well wall and the partition layer of the first printhead. The synchronization error threshold and the timing threshold for the alternating operation of the inner well wall and the partition layer of the first printhead are used as the standard for judging the consistency of the printing progress. The system presets trajectory data, print trajectory deviation thresholds, abnormal output values, and thickness deviation threshold ranges, and collects the motion trajectory data and output uniformity data of the two print heads in real time. The motion trajectory data is compared with preset trajectory data to calculate the trajectory deviation value; When the trajectory deviation value is greater than the preset printing trajectory deviation threshold, the driving parameters of the corresponding print head are automatically adjusted to correct the motion trajectory. When the discharge uniformity data is greater than the abnormal discharge amount, the conveying speed at the feed end is adjusted to control the thickness deviation of the inner and outer well walls and the partition within the preset thickness deviation threshold range. If the trajectory deviation value is less than or equal to the preset printing trajectory deviation threshold, the output uniformity data is less than or equal to the abnormal output value, the alternating operation sequence meets the threshold, and the dual printhead synchronization error is less than or equal to the synchronization error threshold, then the current printing parameters are maintained and the operation continues.

6. The automated construction method for caisson 3D printing based on a circular track according to claim 1, characterized in that, When the first printhead lays the connecting ribs via the rotating module, it includes: The layout spacing parameters of the connecting ribs, the radial rotation angle threshold of the rotating module, the printing path parameters, the operation interval duration threshold, and the synchronization timing threshold are preset, and the layout spacing parameters and rotation angle threshold are used as control standards for the forming quality of the connecting ribs. When the first print head revolves along the circular track, the rotating module drives the print nozzle to rotate in a direction perpendicular to the track tangent according to a preset synchronization timing threshold, so that the printing direction of the connecting rib always points to the connection area between the inner and outer well walls and the partition layer. Print connecting bars continuously at the set spacing. After printing a section of connecting bar, collect the layout position data, height data, and fit data with the inner and outer well walls and partitions of that section of connecting bar, and compare them with the preset parameters. If the comparison results meet the requirements, continue to follow the orbital revolution and module rotation to complete the subsequent connection bar layout; If the comparison results do not meet the requirements, adjust the synchronization relationship between the rotation angle of the rotating module and the orbital speed, and re-install the connecting ribs in that section. After all connecting bars are installed, the firmness test data and penetration validity data of the connecting bars are collected. When the firmness test data reaches the preset firmness threshold and the penetration validity data meets the design requirements, the connecting bar installation is deemed qualified; if it does not meet the standards, the unqualified connecting bars are reprinted.

7. The automated construction method for caisson 3D printing based on a circular track according to claim 1, characterized in that, The vertical reinforcement structure for installing precast piles includes: The drilling position is located according to the preset position parameters of the vertical reinforcement structure mounting hole, the hole is drilled to the preset depth, the impurity content data in the hole is collected, and the impurity threshold is preset. When the impurity content is greater than or equal to the preset impurity threshold, clean the impurities in the hole until the impurity content is less than the preset impurity threshold. The precast pile is slowly hoisted and inserted into the borehole. The bottom and sidewalls of the precast pile are fixed by grouting. The verticality data of the precast pile is collected in real time, and the verticality threshold is preset. When the deviation value of the verticality data is less than or equal to the preset verticality threshold, the grouting parameters are maintained and the operation continues. When the deviation value of the verticality data is greater than the preset verticality threshold, the position of the precast pile is adjusted and grouting is repeated. After the grouting material has solidified, the bearing capacity test data of the precast piles are collected. When the overall bearing capacity test data of the precast piles and the grouting body is greater than or equal to the preset bearing capacity requirement of the caisson foundation determined based on the caisson design parameters, the precast piles are deemed to be installed qualified. When the overall bearing capacity test data of the precast piles and the grouting body is less than the preset bearing capacity requirement of the caisson foundation determined based on the caisson design parameters, reinforcement measures are taken or the precast piles are replaced.

8. The automated construction method for caisson 3D printing based on a circular track according to claim 1, characterized in that, The step of synchronously moving up one layer for continuous printing after each complete printing cycle includes: The preset printing layer thickness threshold, printing layer height threshold, and dual print head up-up synchronization error threshold are used. After both print heads have completed one round of printing, the actual thickness data of the inner and outer well walls and the partition layer are collected by the thickness sensor. The actual thickness data is compared with the preset printing layer thickness threshold. When the actual thickness data of all structures is greater than or equal to the preset printing layer thickness threshold, the dual print heads are controlled to move synchronously to the next printing position according to the requirement that the upward movement time difference is less than or equal to the dual print head upward movement synchronization error threshold. The upward movement distance is equal to the preset printing layer height threshold, and the horizontal position of the two print heads is calibrated respectively. When the actual thickness data is less than the preset printing layer thickness threshold, adjust the output parameters of the print head and locally thicken and reprint along the original printing trajectory until the actual thickness data of all structures is greater than or equal to the preset printing layer thickness threshold, and then perform the upward movement and calibration operation.

9. The automated construction method for caisson 3D printing based on a circular track according to claim 1, characterized in that, The process of injecting material into the inner and outer spaces and monitoring the filling density includes: The preset pouring sequence is: first the inner cement, then the outer insulation filler. The pouring volume parameters, filling density threshold, preset maximum pouring volume, and pouring speed adapted to the inner and outer spaces are set. The material is slowly poured through the inner pouring port and the outer pouring port according to the preset parameters. During the filling process, a density monitoring device is used to collect the filling density data of the inner and outer spaces in real time. When the filling density data is greater than or equal to the preset filling density threshold, the filling operation of the corresponding space is stopped. When the filling density data is less than the preset filling density threshold and the injection volume is less than the preset maximum injection volume, the injection operation of the corresponding space continues; if the injection volume is equal to the preset maximum injection volume and the filling density data still does not meet the standard, the injection is stopped and the space defects are investigated. After the cement is poured and initially set, a filling uniformity threshold is preset, and the thermal insulation filler is poured using a high-pressure jetting method. The filling uniformity data of the thermal insulation filler is collected. When the uniformity data is greater than or equal to the filling uniformity threshold, the jetting operation in the corresponding space is stopped. When the uniformity data is less than the filling uniformity threshold, adjust the injection parameters of the corresponding space and re-collect the uniformity data; if the standard is still not met after multiple adjustments, add more insulation filler until the data meets the requirements.

10. The automated construction method for caisson 3D printing based on a circular track according to claim 1, characterized in that, The cyclical execution of the operation until the caisson reaches the specified depth includes: The preset thresholds for single sinking height, sinking speed, and printing-grouting-sinking matching cycle of the caisson are used. When the synchronous printing of the caisson wall and the partition layer, the laying of connecting bars, and the material grouting of one layer are completed and the preset printing-grouting-sinking matching cycle is met, the earthwork excavation and transportation equipment is started to excavate and transport the earthwork in the working face. The actual sinking speed data and sinking verticality data of the caisson are collected in real time, and the actual sinking speed data is compared with a preset sinking speed threshold. When the actual sinking speed matches the printing progress and the sinking verticality data meets the requirements, continue the operation while maintaining the excavation and transportation parameters. When the actual sinking speed is greater than or equal to the sinking speed threshold, adjust the excavation and transportation equipment parameters to reduce the sinking speed. When the caisson sinks to the single sinking height threshold, the excavation and transportation operations are stopped, and the synchronous printing of the well wall and partition, the laying of connecting bars and the pouring of materials are continued. Repeat the above cycle of excavation, transportation, printing, and grouting, and collect the actual depth data of the caisson and the integrity data of the formed structure in real time. Stop the cycle when the actual depth data equals the preset completion depth and the structural integrity matches the design requirements.

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