A control system for backfilling of a geological exploration hole

Abstract

The present application relates to the technical field of concrete backfill control, in particular to a geological exploration hole backfill control system, which is provided with a vibration and exhaust mechanism with both exhaust and vibration functions. During the concrete pumping process, the exhaust hole at the top of the exhaust pipe can continuously receive and discharge the retained gas in the geological exploration hole. Since the exhaust pipe can naturally float up and bend with the concrete pouring process, its length direction can be in real-time consistent with the irregular profile of the top of the exploration hole, ensuring that the exhaust hole is always upward, so that the enclosed gas in the top recessed area can be fully discharged. The vibration generating assembly is fixed to the bottom of the exhaust pipe, and the mechanical vibration generated by it effectively reduces the viscous resistance between the exhaust pipe and the concrete. Combined with the buoyancy provided by the gas inside the exhaust pipe, the exhaust pipe is continuously driven to float up in the viscous concrete to maintain the optimal exhaust position. According to the concrete filling position switching vibration mode, the exhaust pipe is promoted to float up, and the concrete is adaptively vibrated.

Description

Technical Field

[0001] This invention relates to the field of concrete backfill control technology, specifically to a control system for backfilling geological tunnels. Background Technology

[0002] In the early stages of hydropower station construction, a geological exploration tunnel, hundreds of meters long and about 2 meters in diameter, needs to be excavated into the mountainside at the station's location. The purpose of this tunnel is to conduct geological surveys and investigate the geological conditions of the area. During the middle stages of construction, the geological exploration tunnel needs to be sealed with retaining walls and grout. This is because some tunnels are located directly opposite the dam site, and failure to seal them would affect the dam construction. Additionally, tunnels not located near the dam also need to be sealed to prevent geological disasters, personnel access, and, most importantly, to protect the stability of the engineering structure.

[0003] The existing method for filling geological caverns involves first constructing a retaining wall at the cavern entrance, leaving a gap at the top of the wall. Grouting pipes are then inserted through this gap into the cavern to inject grout. However, this method has a drawback: because of the gap at the top of the wall, concrete overflows from the top of the wall as it is poured, preventing the grout from fully filling the cavern. Furthermore, the top of the cavern is an irregular curved surface with many upward-facing depressions. Using the existing method, gas cannot escape smoothly, creating cavities at the top. These cavities, after the dam is filled, will become weak points in the dam foundation under the combined effects of water pressure, seepage, and dam load over a long period, potentially leading to uneven settlement, concentrated leakage, or even dam instability—major engineering safety problems. Summary of the Invention

[0004] The main objective of this invention is to provide a control system for backfilling geological tunnels, in order to solve the technical problem that existing geological tunnel filling methods result in incomplete filling, creating cavities at the top that become weak points in the dam foundation and pose safety risks.

[0005] To achieve the above objectives, the present invention provides a control system for backfilling geological tunnels, comprising a concrete pumping mechanism and a vibration exhaust mechanism. The input end of the concrete pumping mechanism receives concrete, and the output end of the concrete pumping mechanism extends into the interior of the geological tunnel to be backfilled. The vibration exhaust mechanism includes an exhaust pipe and a vibration generating component. The exhaust pipe has a closed end and an open end. The closed end extends into the interior of the geological exploratory tunnel to be backfilled, and the open end serves as the exhaust outlet. Multiple exhaust holes are spaced apart along the length of the top of the exhaust pipe. The exhaust pipe floats up as the concrete is pumped in, and the length of the exhaust pipe bends and deforms following the top contour of the geological exploratory tunnel to be backfilled. The normal direction of the exhaust holes remains facing the top of the geological exploratory tunnel to be backfilled. The vibration generating component extends along the length of the exhaust pipe and is fixed to the bottom of the exhaust pipe to transmit the mechanical vibration generated by the vibration generating component to the exhaust pipe; wherein, the vibration mode of the vibration generating component is associated with the concrete filling surface.

[0006] Furthermore, the vibration generating assembly includes a housing, a driving component, a flexible connecting shaft, and at least one eccentric block; The housing is fixedly connected to the bottom of the exhaust pipe, and the housing has a flexible structure to bend and deform together with the exhaust pipe. The drive component is mounted on the exhaust pipe and is positioned near the open end of the exhaust pipe. The first end of the flexible connecting shaft is connected to the driving end of the driving component, and the second end of the flexible connecting shaft extends along the length of the exhaust pipe and into the interior of the housing. The eccentric block is eccentrically fixed to the flexible connecting shaft and housed inside the housing; The rotational driving force output by the driving component is transmitted to the eccentric block via the flexible connecting shaft, driving the eccentric block to rotate, thereby generating the mechanical vibration.

[0007] More preferably, the housing has a plurality of accommodating cavities spaced apart along its length, and the flexible connecting shaft passes through the plurality of accommodating cavities in sequence; The eccentric blocks are provided in multiple ways, and each of the multiple eccentric blocks is housed in one of the multiple accommodating cavities, and each is eccentrically fixedly connected to the flexible connecting shaft. When the flexible connecting shaft rotates, multiple eccentric blocks rotate synchronously, generating multiple vibration sources spaced apart along the length of the exhaust pipe to apply uniform mechanical vibration to the exhaust pipe.

[0008] More preferably, the housing includes a body, a cover, and fasteners; the body is fixedly connected to the exhaust pipe, and the cover is fixedly connected to the housing by the fasteners; the accommodating cavity is arranged between the body and the cover.

[0009] Furthermore, the vibration exhaust mechanism also includes a first airbag, which is fixedly connected to the top of the exhaust pipe and extends along the length of the exhaust pipe. The first airbag is filled with gas, thereby providing an upward net buoyancy to the exhaust pipe.

[0010] More preferably, there are two first airbags, which are respectively fixedly connected to both sides of the top of the exhaust pipe, and the exhaust port is located between the two first airbags. A flow channel is formed between the two first airbags, configured to guide the gas above the concrete top surface to the exhaust port.

[0011] More preferably, the vibration exhaust mechanism further includes a filter screen sleeve, which is fitted over the closed end of the exhaust pipe to wrap around the exhaust pipe, the first airbag, and the vibration generating component, and is disposed outside the exhaust hole; wherein, the filter screen sleeve is configured to block coarse aggregate in concrete from entering the exhaust hole, and to allow gas and cement mortar to enter the interior of the exhaust pipe through the exhaust hole.

[0012] Furthermore, the vibration exhaust mechanism also includes a second airbag, and the geological exploration tunnel to be backfilled also includes a retaining wall. The second airbag is arranged around the outer periphery of the exhaust pipe and embedded inside the retaining wall. The second airbag is sealed and connected to the retaining wall. During the concrete pouring stage, the second airbag is in an inflated state to seal the gap between the exhaust pipe and the retaining wall. During the pull-out phase of the vibration exhaust mechanism, the second airbag is in a deflated and contracted state to release the sealing fit with the baffle wall, thereby facilitating the axial movement of the vibration exhaust mechanism. At the end of the concrete pouring stage, the second airbag is inflated to seal the voids remaining in the retaining wall after the vibration exhaust mechanism is pulled out.

[0013] Furthermore, the concrete pumping mechanism has an inlet and an outlet, the outlet extending into the geological cavities to be backfilled, and the open end of the exhaust pipe positioned directly above the inlet of the concrete pumping mechanism.

[0014] More preferably, the concrete pumping mechanism is one of a piston concrete pump, an extrusion concrete pump, or a hydraulic diaphragm concrete pump.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention utilizes a vibration-driven venting mechanism that simultaneously performs venting and vibration functions. During concrete pumping, the vent hole at the top of the vent pipe continuously receives and discharges trapped gas from the geological tunnel. Because the vent pipe naturally floats and bends with the concrete pouring process, its length conforms to the irregular contour of the tunnel top in real time, ensuring the vent hole always faces upwards, allowing for the full discharge of trapped gas from the concave area at the top. The vibration generator is fixed to the bottom of the vent pipe; its mechanical vibration effectively reduces the viscous resistance between the vent pipe and the concrete. Combined with the buoyancy provided by the gas inside the vent pipe, it drives the pipe to continuously float upwards in the viscous concrete to maintain the optimal venting position. Through the synergistic effect of venting and vibration, the concrete completely fills the top of the tunnel, eliminating the top cavity that is difficult to avoid in traditional processes. This allows the backfill material inside the geological tunnel to form a complete and dense integral structure with the surrounding rock, significantly improving the bearing stability and long-term operational safety of the dam foundation in hydropower projects. During concrete pumping, the vibration mode of the vibration generator is switched according to the concrete filling surface to match the vibration characteristics with the filling stage. This promotes the vent pipe to rise and continuously remove trapped gas, while also providing adaptive vibration to the concrete to improve the compaction of the filling. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the geological tunnel backfilling control system applied to the geological tunnel to be backfilled, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the overall structure of a geological tunnel backfilling control system according to an embodiment of the present invention; Figure 3 This is a partially enlarged view of the vibration exhaust mechanism in the control system for backfilling a geological tunnel according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the vibration exhaust mechanism in the control system for backfilling a geological tunnel according to an embodiment of the present invention; Figure 5 This is an exploded view of the vibration exhaust mechanism in the control system for backfilling a geological tunnel according to an embodiment of the present invention; Figure 6 This is an exploded view of a vibration generating component in a geological tunnel backfilling control system according to an embodiment of the present invention; Figure 7This is a flowchart illustrating the control method for backfilling geological tunnels according to one embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Geological exploration tunnel to be backfilled; 2. Concrete pumping mechanism; 3. Vibration exhaust mechanism; 31. Exhaust pipe; 311. Exhaust hole; 32. Vibration generating component; 321. Shell; 3211. Receptacle; 3212. Body; 3213. Cover; 3214. Fastener; 322. Drive component; 323. Eccentric block; 324. Flexible connecting shaft; 33. First airbag; 34. Filter screen; 35. Second airbag; 4. Retaining wall; 5. Unpoured section of geological exploration tunnel.

[0019] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0023] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0024] Please see Figures 1 to 6This embodiment provides a control system for backfilling a geological tunnel, including a concrete pumping mechanism 2 and a vibration exhaust mechanism 3. The input end of the concrete pumping mechanism 2 receives concrete, and the output end of the concrete pumping mechanism 2 extends into the interior of the geological tunnel 1 to be backfilled. The vibration exhaust mechanism 3 includes an exhaust pipe 31 and a vibration generating component 32. The exhaust pipe 31 has a closed end and an open end. The closed end extends into the interior of the geological exploratory tunnel 1 to be backfilled, and the open end serves as an exhaust outlet. Multiple exhaust holes 311 are spaced apart along the length of the top of the exhaust pipe 31. The exhaust pipe 31 floats upward as concrete is pumped in, and its length follows the top contour of the geological exploratory tunnel 1 to be backfilled, undergoing bending deformation. The normal direction of the exhaust holes 311 remains facing the top of the geological exploratory tunnel 1 to be backfilled. In this embodiment, the radial direction of the exhaust pipe 31 is difficult to deform, while its length direction is prone to bending deformation, for example, a steel serpentine pipe. The vibration generating component 32 extends along the length of the exhaust pipe 31 and is fixed to the bottom of the exhaust pipe 31 to transmit the mechanical vibration generated by the vibration generating component 32 to the exhaust pipe 31.

[0025] Specifically, when it is necessary to pour and fill the geological exploration tunnel, a retaining wall 4 is first built in the geological exploration tunnel. Because the overall length of the geological exploration tunnel is relatively long, the pouring is carried out in sections by building the retaining wall 4. The end of the retaining wall 4 away from the entrance and exit of the geological exploration tunnel encloses the geological exploration tunnel 1 to be backfilled, and the end of the retaining wall 4 near the entrance and exit of the geological exploration tunnel encloses the unpoured section 5 of the geological exploration tunnel. When building the retaining wall 4, the exhaust pipe 31 is passed through the top of the retaining wall 4 and extends into the geological exploration tunnel 1 to be backfilled. At the same time, the discharge port of the concrete pumping mechanism 2 is also extended into the geological exploration tunnel 1 to be backfilled through the top of the retaining wall 4.

[0026] During operation, the concrete pumping mechanism 2 pumps concrete into the geological cavity 1 to be backfilled. Air inside the geological cavity 1 enters the vent pipe 31 through the vent hole 311 and eventually exits from the open end of the vent pipe 31. As concrete is pumped into the geological cavity 1, the top surface of the concrete in the geological cavity 1 slowly rises. The vibration generating component 32 is activated, causing the vent pipe 31 to vibrate. Because the vent pipe 31 contains gas, the buoyancy force on the vent pipe 31 in the concrete is greater than its weight. Under the vibration action of the vibration generating component 32, the vent pipe 31 floats upward, keeping it always at the top of the concrete. This allows air in the geological cavity 1 to be continuously discharged from the vent pipe 31. When all the air in the geological cavity 1 is discharged, it means that the concrete has completely filled the entire geological cavity 1. At this time, some of the cement mortar in the concrete will enter the vent pipe 31 through the vent hole 311. The concrete is discharged from the open end of the exhaust pipe 31. Therefore, when pumping concrete through the concrete pumping mechanism 2 into the geological exploration cave 1 to be backfilled, observe the state of the open end of the exhaust pipe 31. In the initial stage of pumping, all the concrete discharged from the exhaust pipe 31 is gas. In the later stage of pumping, gas and some cement mortar will be discharged from the exhaust pipe 31. When no gas is discharged from the exhaust pipe 31, that is, when all the concrete discharged from the exhaust pipe 31 is cement mortar, it means that the concrete has completely filled the entire geological exploration cave 1 to be backfilled. At this time, slowly pull out the vibration exhaust mechanism 3. Note that during the pulling process, the pumped concrete fills the space formed after the exhaust pipe 31 is pulled out in real time, realizing "pulling and filling at the same time" until the vibration exhaust mechanism 3 is completely pulled out and the concrete pumping is stopped. After the concrete has solidified, a retaining wall 4 is built in the unpoured section 5 of the geological exploration cave, and then the geological exploration cave 1 to be backfilled in the retaining wall 4 is poured. This process is repeated until the entire geological exploration cave is filled.

[0027] The above-mentioned structural design allows the geological exploration tunnel to be completely filled without creating cavities at the top, thus ensuring the stability of the hydropower station dam and preventing potential dangers.

[0028] It should be noted that the top of the geological exploration tunnel may have depressions. If no vent pipe 31 is installed and concrete is pumped directly into the geological exploration tunnel 1 to be backfilled, the air in the upward-sloping depressions at the top of the geological exploration tunnel 1 cannot be expelled, resulting in the pumped concrete failing to completely fill the top of the geological exploration tunnel 1, especially when the top of the geological exploration tunnel 1 has upward-sloping depressions. However, with the vent pipe 31, which has a vent hole 311 at the top and can bend and deform, the vent pipe 31 can expel the air from the upward-sloping depressions at the top of the geological exploration tunnel 1, allowing the concrete to completely fill the geological exploration tunnel 1.

[0029] It is worth noting that the vent pipe 31 is subjected to the viscous force, gravity, and buoyancy of the concrete. Without vibration, the viscous force of the concrete is very large, making it difficult for the vent pipe 31 to move within the concrete. However, when the vent pipe 31 vibrates, the viscous force of the concrete on the vent pipe 31 decreases. Simultaneously, due to the presence of gas in the vent pipe 31, the buoyancy of the vent pipe 31 exceeds its gravity, causing the vent pipe 31 to move upwards to the top of the concrete, allowing it to expel air from the top of the concrete. Furthermore, vibration not only aids in venting and buoyancy but also provides initial compaction of the filled concrete, improving its density and meeting the stringent requirements for the compactness of foundation concrete in hydraulic structures.

[0030] Furthermore, the vibration generating assembly 32 includes a housing 321, a driving member 322, a flexible connecting shaft 324, and at least one eccentric block 323; The housing 321 is fixedly connected to the bottom of the exhaust pipe 31, and the housing 321 has a flexible structure to bend and deform together with the exhaust pipe 31. The drive component 322 is mounted on the exhaust pipe 31, and the drive component 322 is arranged near the open end of the exhaust pipe 31. The first end of the flexible connecting shaft 324 is connected to the driving end of the driving member 322, and the second end of the flexible connecting shaft 324 extends along the length of the exhaust pipe 31 and extends into the interior of the housing 321. The eccentric block 323 is eccentrically fixed to the flexible connecting shaft 324 and is housed inside the housing 321; The rotational driving force output by the driving component 322 is transmitted to the eccentric block 323 via the flexible connecting shaft 324, driving the eccentric block 323 to rotate, thereby generating the mechanical vibration.

[0031] Specifically, the flexible connecting shaft 324 can be made of wound steel wire. The housing 321 is made of a material that can undergo elastic deformation, such as rubber, silicone, polyurethane, or plastic. The housing 321 is arranged as a long strip housing 321, which extends along the length of the exhaust pipe 31.

[0032] The driving component 322 is a motor, which drives the flexible connecting shaft 324 to rotate, thereby driving the eccentric block 323 to rotate in the accommodating cavity 3211. When the eccentric block 323 rotates, it vibrates, which drives the exhaust pipe 31 to vibrate. When the exhaust pipe 31 vibrates, it can increase the movement speed in the cement, reduce resistance, and vibrate the concrete.

[0033] More preferably, the housing 321 has a plurality of accommodating cavities 3211 spaced apart along its length, and the flexible connecting shaft 324 passes through the plurality of accommodating cavities 3211 in sequence; Multiple eccentric blocks 323 are provided, and the multiple eccentric blocks 323 are housed in the multiple accommodating cavities 3211 in a one-to-one correspondence, and are all eccentrically fixedly connected to the flexible connecting shaft 324. When the flexible connecting shaft 324 rotates, multiple eccentric blocks 323 rotate synchronously, generating multiple vibration sources spaced apart along the length of the exhaust pipe 31 to apply uniform mechanical vibration to the exhaust pipe 31.

[0034] In one embodiment, as a further step, the housing 321 includes a body 3212, a cover 3213, and a fastener 3214. The body 3212 is fixedly connected to the exhaust pipe 31, and the cover 3213 is fixedly connected to the housing 321 via the fastener 3214. A receiving cavity 3211 is arranged between the body 3212 and the cover 3213. Specifically, the fastener 3214 is a screw. The body 3212 has a threaded hole, and the cover 3213 has a through hole. The screw passes through the through hole on the cover 3213 and is threadedly connected to the threaded hole, thereby fastening the cover 3213 to the body 3212. With the cover 3213, when the eccentric block 323 is damaged, the cover 3213 can be disassembled for easy repair. Of course, the eccentric block 323 can be removed from locations where vibration is not required, so that all energy is concentrated at the locations where vibration is needed.

[0035] In one embodiment, the vibration exhaust mechanism 3 further includes a first airbag 33, which is fixedly connected to the top of the exhaust pipe 31 and extends along the length of the exhaust pipe 31. The first airbag 33 is filled with gas, thereby providing an upward net buoyancy to the exhaust pipe 31.

[0036] More preferably, there are two first airbags 33, and the two first airbags 33 are respectively fixedly connected to the two sides of the top of the exhaust pipe 31, and the exhaust port 311 is located between the two first airbags 33. A flow channel is formed between the two first airbags 33, which is configured to guide the gas above the concrete top surface to the exhaust hole 311.

[0037] In this embodiment, the flow channel is a V-shaped groove, and the two first airbags 33 form a barrier on both sides of the vent hole 311, preventing concrete from entering the vent hole 311 from both sides. In this embodiment, the vent hole 311 is an elongated vent hole 311, and the vent hole 311 is set relatively narrow to prevent concrete from entering the vent pipe 31. The elongated vent hole 311 extends along the length of the vent pipe 31. This arrangement reduces the resistance when the vent pipe 31 is pulled out, facilitating the subsequent removal of the vent pipe 31.

[0038] More preferably, the vibration exhaust mechanism 3 further includes a filter screen 34, which is fitted over the closed end of the exhaust pipe 31 to cover the exhaust pipe 31, the first airbag 33, and the vibration generating component 32, and covers the outside of the exhaust hole 311; wherein, the filter screen 34 is configured to block coarse aggregate in concrete from entering the exhaust hole 311, and allow gas and cement mortar to enter the interior of the exhaust pipe 31 through the exhaust hole 311.

[0039] It is understood that during use, the filter screen 34 is placed over the closed end of the exhaust pipe 31, and simultaneously over the first airbag 33 and the vibration generating component 32. The filter screen 34 extends to the retaining wall 4 to block the exhaust hole 311 and prevent large concrete particles from clogging it. The filling concrete contains aggregate, and the purpose of the filter screen is to filter out the coarse aggregate to prevent it from clogging the exhaust pipe 31. After the concrete is filtered by the filter screen, only a small amount of fine sand, water, and cement mortar remains. The sign that the filling is complete is that no more air is discharged from the exhaust pipe 31.

[0040] Furthermore, the vibration exhaust mechanism 3 also includes a second airbag 35, and the geological exploration tunnel 1 to be backfilled also includes a retaining wall 4. The second airbag 35 is arranged around the outer periphery of the exhaust pipe 31 and embedded inside the retaining wall 4. The second airbag 35 is sealed and connected to the retaining wall 4. In this embodiment, the second airbag 35 is provided with an air inlet and outlet, which can be used to inflate and deflate the second airbag 35. The second airbag 35 is an annular airbag that surrounds and encloses the exhaust pipe 31, the first airbag 33 and the vibration generating component 32.

[0041] During the concrete pouring stage, the second airbag 35 is in an inflated state to seal the gap between the exhaust pipe 31 and the retaining wall 4. During the pull-out phase of the vibration exhaust mechanism 3, the second airbag 35 is in a deflated and contracted state to release the sealing fit with the baffle wall 4, thereby facilitating the axial movement of the vibration exhaust mechanism 3. At the end of the concrete pouring stage, the second airbag 35 is in an inflated state to seal the void left on the retaining wall 4 after the vibration exhaust mechanism 3 is pulled out.

[0042] It is known that when the geological exploration tunnel 1 to be backfilled is completely filled with concrete, i.e., during the removal stage of the vibration exhaust mechanism 3, the second airbag 35 is deflated through the air inlet and outlet. At this time, the entire assembly consisting of the exhaust pipe 31, the first airbag 33, and the vibration generating component 32 can be easily pulled outwards. During the removal, the friction between the filter sleeve 34 and the exhaust pipe 31 is less than the friction between the filter sleeve 34 and the concrete. Therefore, the filter sleeve 34 remains in the concrete. After the exhaust pipe 31, the first airbag 33, and the vibration generating component 32 are removed, the second airbag 35 is inflated again, causing the second airbag 35 to compress inwards and seal the original location of the exhaust pipe 31, preventing concrete from leaking out from the middle of the second airbag 35. After the concrete solidifies, the second airbag 35 is deflated and removed. Preparations are then made for the next stage of pouring work, a new filter sleeve 34 is prepared, and the new filter sleeve 34 is placed on the exhaust pipe 31. It should be noted that the filter screen 34 can be either a metal mesh or a nylon mesh. In this embodiment, a nylon mesh is used because it is cheaper.

[0043] In one embodiment, preferably, the concrete pumping mechanism 2 has an inlet and an outlet, with the outlet extending into the geological exploratory tunnel 1 to be backfilled. The concrete pumping mechanism 2 is one of a piston concrete pump, an extrusion concrete pump, or a hydraulic diaphragm concrete pump. The open end of the exhaust pipe 31 is located directly above the inlet of the concrete pumping mechanism 2.

[0044] In this embodiment, the concrete pumping mechanism 2 is a piston concrete pump, which includes a storage hopper, a pumping cylinder, and a discharge pipe. The discharge port of the discharge pipe passes through the retaining wall 4 and is connected to the geological exploration tunnel 1 to be backfilled. The inlet of the storage hopper is arranged corresponding to the open end of the exhaust pipe 31. The cement mortar in the concrete discharged from the exhaust pipe 31 falls downward into the storage hopper, so that it can be pumped again into the geological exploration tunnel 1 to be backfilled under the action of the pumping cylinder, thus preventing material waste.

[0045] like Figure 7 As shown, this embodiment also provides a control method for backfilling geological tunnels, applied to the control system for backfilling geological tunnels as described above, including the following steps: S1. Construct a retaining wall 4 inside the geological exploration tunnel 1 to be backfilled, and pass the output end of the concrete pumping mechanism 2 and the closed end of the exhaust pipe 31 of the vibration exhaust mechanism 3 through the top of the retaining wall 4 and extend into the interior of the geological exploration tunnel 1 to be backfilled; start the concrete pumping mechanism 2 to pump concrete into the geological exploration tunnel 1 to be backfilled, and at the same time start the vibration generating component 32.

[0046] First, a retaining wall 4 is constructed inside the geological exploratory cave 1 to be backfilled. The function of the retaining wall 4 is to divide the relatively long geological exploratory cave into multiple independent filling units, facilitating segmented construction and quality control. During the construction of the retaining wall 4, the output end (i.e., the discharge pipe) of the concrete pumping mechanism 2 is passed through the top of the retaining wall 4 and extends into the interior of the geological exploratory cave 1 to be backfilled; simultaneously, the closed end of the exhaust pipe 31 of the vibration exhaust mechanism 3 is also passed through the top of the retaining wall 4 and extends into the interior of the geological exploratory cave 1 to be backfilled. The open end of the exhaust pipe 31 remains outside the retaining wall 4, serving as an exhaust outlet and monitoring interface.

[0047] After the retaining wall 4 is completed, the output device is ready. Based on this ready signal, the concrete pumping mechanism 2 is started, and concrete is continuously pumped into the geological exploration tunnel 1 to be backfilled through its output end; at the same time, the vibration generating component 32 is started. Through this step, the equipment is prepared for the subsequent filling operation, ensuring that the construction process is standardized and regulated.

[0048] S2. Obtain the concrete filling surface and switch the vibration mode of the vibration generating component 32 according to the concrete filling surface.

[0049] During concrete pumping, as the concrete surface rises, the exhaust pipe 31 needs to remain at the top of the concrete to effectively expel gas. However, concrete has high viscosity, making it difficult for the exhaust pipe 31 to float due to its own buoyancy. This step solves this problem through the combined effect of vibration and attitude monitoring.

[0050] Specifically, an attitude sensor, such as a tilt sensor or a MEMS accelerometer, is installed on the exhaust pipe 31 to collect real-time data on the tilt angle of the exhaust pipe 31 relative to the horizontal plane. Since the exhaust pipe 31 bends and deforms with the shape of the concrete top surface as it floats in the concrete, there is a definite mathematical relationship between its tilt angle and its relative position to the concrete top surface. Therefore, based on the collected tilt angle data, the relative position of the exhaust pipe 31 and the concrete top surface can be calculated, generating a concrete top surface height signal.

[0051] Based on the evolution pattern of the concrete filling stage, three vibration modes and their corresponding switching conditions are preset: Phase 1 (Initial Filling Phase): Phase 1 is defined as when the calculated relative position indicates that the exhaust pipe 31 is located at the bottom or middle of the concrete. At this time, the vibration generation component 32 operates in a low-frequency, high-amplitude vibration mode. This low-frequency, high-amplitude vibration effectively reduces the viscous resistance of the concrete to the exhaust pipe 31. Combined with the buoyancy provided by the gas inside the exhaust pipe 31, this allows the exhaust pipe 31 to overcome viscous resistance and quickly rise to the top of the concrete. This effect stems from the principle of vibration liquefaction—vibration rearranges the particles in the concrete, temporarily reducing the friction and cohesion between the particles, thus making the exhaust pipe easier to move under the action of buoyancy.

[0052] The second stage (intermediate filling stage): When the vent pipe 31 is stably positioned on top of the concrete, and / or its relative position remains stable within a preset range for a certain period of time, it is determined to be the second stage. At this time, the vibration generating component 32 switches to the medium-frequency, medium-amplitude vibration mode. Medium-frequency, medium-amplitude vibration can perform preliminary compaction of the filled concrete, expelling air bubbles from the concrete and improving its density. This effect comes from the principle of vibration compaction—vibration rearranges the aggregates in the concrete, causing air bubbles to rise and escape, thereby improving the density and uniformity of the filling.

[0053] The third stage (final filling stage): When the concrete pumping volume reaches a preset percentage of the total filling volume, such as 90%, and cement mortar begins to be discharged from the open end of the vent pipe 31, the third stage is determined. At this time, the vibration generating component 32 switches to a high-frequency, low-amplitude vibration mode. High-frequency, low-amplitude vibration not only continues to promote venting, but more importantly, it monitors the compaction state of the concrete through vibration feedback data. When the concrete is completely compacted, the propagation characteristics of the vibration wave will undergo a detectable change, providing a basis for determining whether the filling is complete.

[0054] Through the above-mentioned multi-mode adaptive vibration control, the synergistic effect of exhaust, floating, vibration and monitoring functions is realized, which solves the problem that the pipe cannot float and the internal air bubbles cannot be discharged due to the high viscosity of concrete in the traditional method.

[0055] S3. Obtain a pre-set fully filled feature template, collect real-time monitoring data during the pumping process, perform fusion processing on the real-time monitoring data to generate a filling state feature vector, and match the filling state feature vector with the fully filled feature template to obtain the matching degree.

[0056] The real-time monitoring data in this embodiment is multi-source monitoring data, including exhaust image data, gas pressure data inside the exhaust pipe, vibration feedback data of the vibration generating component, and pumping pressure data of the concrete pumping mechanism; wherein; Emission image data: Images of the exhaust from the open end of exhaust pipe 31 are acquired using an image acquisition device, such as an industrial camera. Initially, the exhaust is gaseous, and no obvious liquid features are visible in the image; as filling nears completion, the exhaust transforms into cement mortar, and continuous liquid flow characteristics appear in the image. Using existing image recognition algorithms, the composition and state of the exhaust can be quantitatively analyzed.

[0057] Gas pressure data inside the exhaust pipe: Gas pressure change data is acquired by a pressure sensor, such as a micro-pressure sensor, installed inside the exhaust pipe 31. During the continuous gas discharge phase, pressure fluctuations are small; when the gas is basically emptied and cement mortar begins to enter the exhaust pipe, the pressure will undergo characteristic changes, such as a sudden pressure drop or a change in the fluctuation pattern.

[0058] Vibration feedback data from the vibration generating component: Vibration frequency, amplitude, and phase information are acquired by an accelerometer installed on the vibration generating component 32. This data reflects the propagation characteristics of vibration waves in concrete. When there are cavities or loose areas inside the concrete, the propagation of vibration waves will exhibit anomalies such as frequency shift and amplitude attenuation. By analyzing these anomalies, the filling quality can be indirectly determined.

[0059] Pumping pressure data of the concrete pumping mechanism: Pumping pressure data is acquired through pressure sensors installed on the concrete pumping mechanism 2. The pumping pressure variation curve reflects the flow resistance of concrete within the exploratory tunnel. As the exploratory tunnel gradually fills, the flow resistance increases, and the pumping pressure rises accordingly; when it is completely filled, a characteristic surge in pumping pressure occurs.

[0060] The aforementioned multi-source monitoring data undergoes preprocessing, including filtering, denoising, and normalization, followed by feature extraction to generate a multi-dimensional feature vector characterizing the current filling status. This feature vector integrates information from multiple sensors, providing a more accurate reflection of the actual filling situation than a single indicator.

[0061] The pre-set full-fill feature template is established through a large amount of experimental data or theoretical analysis, and characterizes the typical combination of monitoring data when the caving is fully filled. For example, when fully filled, the effluent image should show continuous cement mortar characteristics, the gas pressure should drop to near atmospheric pressure and stabilize, the vibration feedback should show propagation characteristics in a dense medium, and the pumping pressure should reach the preset termination pressure value.

[0062] S4. Obtain a preset threshold for matching degree and determine whether the matching degree exceeds the preset threshold for matching degree; when the matching degree exceeds the preset threshold for matching degree, it is determined that the geological exploratory cave 1 to be backfilled has been completely filled.

[0063] The matching degree is obtained by matching the filled state feature vector with the fully filled feature template. The matching degree can be calculated using various algorithms, such as Euclidean distance, cosine similarity, or the output probability of a machine learning classifier.

[0064] A preset threshold for matching degree is obtained; in this embodiment, 0.95 is used as the preset threshold. The calculated matching degree is then checked to see if it exceeds this threshold. When the matching degree exceeds the preset threshold, it indicates that the current filling state highly matches the fully filled feature template, thus generating a fully filled confirmation signal. This multi-parameter fusion judgment method solves the problem of misjudgment caused by relying solely on the single indicator of slurry discharge from the vent pipe, which is easily affected by factors such as cement mortar concentration and color. This significantly improves the accuracy of judging whether filling is complete.

[0065] S5. Pull the vibration generating component 32 out of the geological exploration tunnel 1 to be backfilled, obtain the pulling speed and the real-time pumping flow rate of the concrete pumping mechanism 2 during the pulling process, determine the real-time volume of the tube pulled out by the vibration generating component 32 based on the pulling speed, and determine the real-time grouting volume based on the real-time pumping flow rate; dynamically adjust the pulling speed based on the real-time grouting volume so that the real-time grouting volume matches the real-time volume of the tube pulled out.

[0066] S6. After the pipe is pulled out, the retaining wall 4 is sealed and secondary pressure grouting is performed until the geological exploration tunnel 1 to be backfilled is completely filled.

[0067] In this embodiment, after the exhaust pipe 31 is removed, a channel is left at the retaining wall 4. Although the aforementioned steps achieve dynamic matching of grouting, micropores or shrinkage cracks may still exist in the concrete of the channel area.

[0068] First, the second airbag 35 is re-inflated. The second airbag 35 is arranged around the outer periphery of the exhaust pipe 31 and embedded inside the retaining wall 4. It was deflated and the seal was released before the pipe was removed. After the pipe was removed, it was re-inflated to expand and seal the channel left after the exhaust pipe 31 was removed. This temporary sealing measure prevents concrete from flowing out of the channel before it hardens.

[0069] Secondly, secondary pressure grouting is performed into the enclosed space through pre-reserved grouting holes. The grouting pressure is monitored in real time during the grouting process. When the grouting pressure reaches the preset holding pressure threshold (0.2-0.5 MPa in this embodiment), grouting is stopped and maintained at this pressure until the concrete initially sets. Secondary pressure grouting further densifies the concrete in the channel area, eliminating micropores and shrinkage cracks, ensuring that the density of this area is consistent with the main filler.

[0070] After the concrete has initially set, the second airbag 35 is deflated and removed. The passage area is now completely filled with dense concrete, ensuring there are no holes or weak points.

[0071] During concrete pumping, the vibration mode of the vibration generator 32 is automatically switched based on the real-time acquired concrete filling surface, ensuring that the vibration characteristics match the filling stage. This promotes the upward movement of the vent pipe 31 to continuously expel trapped gas and also provides adaptive vibration to the concrete, improving the density of the filling material. By collecting real-time monitoring data, including images of the discharged material, gas pressure, vibration feedback, and pumping pressure, a filling state feature vector is generated through fusion processing and matched with a preset fully filled template, enabling accurate judgment of the filling state and ensuring no gas residue at the top of the exploratory tunnel. During the pipe extraction stage, the extraction speed is dynamically adjusted based on the real-time pumping flow rate, ensuring that the grouting volume matches the volume vacated during extraction, effectively eliminating potential voids that may form during extraction. After extraction, secondary pressure grouting is performed on the four channels of the retaining wall to further compact the area, ultimately forming a continuous and complete filling material, significantly improving the stability and long-term operational safety of the hydropower project dam foundation.

[0072] Furthermore, step S2 specifically includes the following steps: The tilt angle data of the exhaust pipe 31 relative to the horizontal plane is collected in real time, and the relative position of the exhaust pipe 31 and the concrete top surface is calculated based on the tilt angle data. Obtain a first preset range, a second preset range, and a third preset range; determine whether the relative position is within the first preset range, the second preset range, and the third preset range; and determine whether cement mortar is discharged from the open end of the exhaust pipe 31. When the relative position is within the first preset range, it is determined to be the first stage, and the vibration generating component 32 is controlled to operate in a low-frequency high-amplitude vibration mode; the low-frequency high-amplitude vibration effectively reduces the viscous resistance of the concrete to the pipe and promotes the pipe to float quickly to the top of the concrete under the action of buoyancy; When the relative position is within the first preset range, it is determined to be the second stage, and the vibration generating component 32 is controlled to operate in a medium frequency and medium amplitude vibration mode; the medium frequency and medium amplitude vibration adaptively vibrates the filled concrete, removes internal air bubbles, and improves the density of the filling material. When the relative position is within the first preset range and cement mortar begins to be discharged from the open end of the exhaust pipe 31, it is determined to be the third stage, and the vibration generating component 32 is controlled to operate in a high-frequency low-amplitude vibration mode; the high-frequency low-amplitude vibration monitors the concrete compaction state in real time through vibration feedback, providing a basis for judging the completion of filling. The operating parameters of the low-frequency high-amplitude vibration mode have a frequency range of 10-30Hz and an amplitude range of 5-10mm; the operating parameters of the medium-frequency medium-amplitude vibration mode have a frequency range of 30-60Hz and an amplitude range of 3-5mm; and the operating parameters of the high-frequency low-amplitude vibration mode have a frequency range of 60-100Hz and an amplitude range of 1-3mm.

[0073] The dynamic matching of the three vibration modes with the filling stage enables the functions of venting, floating, vibration, and monitoring to work together to ensure that the concrete completely fills the top space of the exploratory tunnel, forming a uniform and dense overall structure.

[0074] Furthermore, step S5, which dynamically adjusts the tube pulling speed based on the real-time slurry replenishment volume, specifically includes the following steps: The volume vacated during real-time tube removal is calculated using the following formula: in, To allow for real-time tube removal and freeing up volume, To allow for real-time tube removal and freeing up volume, This refers to the tube removal speed; The volume matching deviation is calculated using the following formula: Where ΔV is the volume matching deviation. To replenish slurry volume in real time; Obtain a first deviation threshold and a second deviation threshold, and compare the volume matching deviation with the first deviation threshold and the second deviation threshold; When ΔV exceeds the first deviation threshold, reduce the tube removal speed; When ΔV is lower than the second deviation threshold, increase the tube removal speed; When ΔV is between the first deviation threshold and the second deviation threshold, maintain the current tube removal speed; The output tube pulling speed after adjustment.

[0075] In one embodiment, this embodiment also provides a control method for backfilling geological tunnels, applied to the control system for backfilling geological tunnels as described above, comprising the following steps: A retaining wall 4 is built inside the geological exploration tunnel. At the end of the retaining wall 4 away from the entrance and exit of the geological exploration tunnel, a geological exploration tunnel 1 to be backfilled is formed, and at the end of the retaining wall 4 near the entrance and exit of the geological exploration tunnel, an uncast section 5 of the geological exploration tunnel is formed. By building the retaining wall 4, the geological exploration tunnel is divided into sections, which facilitates the segmented casting of the geological exploration tunnel and ensures the casting quality.

[0076] When constructing the retaining wall 4, the output end of the concrete pumping mechanism 2 is inserted through the top of the retaining wall 4 into the geological exploration hole 1 to be backfilled, and the vibration exhaust mechanism 3 is inserted into the retaining wall 4. Specifically, the discharge pipe of the concrete pumping mechanism 2 is connected to the geological exploration hole 1 to be backfilled through the retaining wall 4, and the exhaust pipe 31, the first airbag 33, the vibration generating component 32 and the filter screen 34 are inserted through the retaining wall 4 into the geological exploration hole 1 to be backfilled. When constructing the retaining wall 4, the second airbag 35 is embedded in the retaining wall 4, and the second airbag 35 surrounds and wraps around the exhaust pipe 31, the first airbag 33 and the vibration generating component 32.

[0077] Concrete is poured into the geological exploratory cave 1 to be backfilled via the concrete pumping mechanism 2. At this time, the gas in the geological exploratory cave 1 is discharged from the exhaust pipe 31, the vibration exhaust mechanism 3 is activated, and the drive component 322 rotates through the flexible connecting shaft 324, thereby causing the eccentric block 323 to vibrate. Because of the presence of the first airbag 33, the exhaust pipe 31 always floats on the top of the poured concrete, so that the gas on the top of the concrete enters the exhaust pipe 31 through the exhaust hole 311 and is discharged from the open end of the exhaust pipe 31. Some of the cement mortar in the concrete also enters the exhaust pipe 31 through the exhaust hole 311 and flows out from the open end of the exhaust pipe 31. The flowing cement mortar falls into the concrete pumping mechanism 2 and is pumped back into the geological exploratory cave 1 to prevent material waste.

[0078] Observe the open end of the exhaust pipe 31. When the open end of the exhaust pipe 31 no longer emits gas, it means that the geological exploration tunnel 1 to be backfilled has been completely filled. The vibration exhaust mechanism 3 and the concrete pumping mechanism 2 are dismantled sequentially. Specifically, the second airbag 35 is deflated, and the exhaust pipe 31, vibration generating component 32, and first airbag 33 are pulled out of the geological exploration tunnel 1 to be backfilled. During the pulling process, the friction between the filter screen 34 and the exhaust pipe 31 is less than the friction between the filter screen 34 and the concrete, so the filter screen 34 remains inside the geological exploration tunnel. Specifically, the second airbag 35 is first deflated to release its sealing fit with the retaining wall 4. Then, while maintaining continuous low-pressure pumping by the concrete pumping mechanism 2, the exhaust pipe 31, vibration generating component 32, and first airbag 33 are slowly pulled outwards. Note that during the pulling process, the pumped concrete continuously fills the space formed after the exhaust pipe 31 is removed, achieving "pulling and filling simultaneously". Since the friction between the filter screen 34 and the exhaust pipe 31 is less than the friction between the filter screen 34 and the concrete, the filter screen 34 remains inside the geological exploration tunnel. At the same time, its mesh structure is conducive to the bonding of the new and old concrete. Secondly, after the exhaust pipe 31 assembly is completely pulled out, a small amount of concrete is pumped to seal and smooth the outlet area. Finally, the second airbag 35 is inflated to squeeze inward and seal the original exhaust pipe 31 channel. After the concrete has initially set, the airbag is released and the filter screen is removed.

[0079] Subsequently, construction was carried out on the uncast section 5 of the geological exploration tunnel. A new retaining wall 4 was built inside the uncast end, and the above construction steps were repeated until the entire geological exploration tunnel was completely filled.

[0080] By adopting the above-mentioned method, the geological exploration tunnel is pumped and filled in sections. Furthermore, by adopting the above-mentioned control system and method for backfilling the geological exploration tunnel, the geological exploration tunnel to be poured can be completely filled, preventing the occurrence of cavities in the geological exploration tunnel after pumping and filling, thereby improving the safety of the dam body.

[0081] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A control system for backfilling geological cavities, characterized in that, It includes a concrete pumping mechanism and a vibration exhaust mechanism. The input end of the concrete pumping mechanism receives concrete, and the output end of the concrete pumping mechanism extends into the interior of the geological exploratory tunnel to be backfilled. The vibration exhaust mechanism includes an exhaust pipe and a vibration generating component. in; The exhaust pipe has a closed end and an open end. The closed end extends into the interior of the geological exploratory tunnel to be backfilled, and the open end serves as the exhaust outlet. Multiple exhaust holes are spaced apart along the length of the top of the exhaust pipe. The exhaust pipe floats up as the concrete is pumped in, and the length of the exhaust pipe bends and deforms following the top contour of the geological exploratory tunnel to be backfilled. The normal direction of the exhaust holes remains facing the top of the geological exploratory tunnel to be backfilled. The vibration generating component extends along the length of the exhaust pipe and is fixed to the bottom of the exhaust pipe to transmit the mechanical vibration generated by the vibration generating component to the exhaust pipe; wherein, the vibration mode of the vibration generating component is associated with the concrete filling surface.

2. The control system for backfilling geological tunnels according to claim 1, characterized in that, The vibration generating assembly includes a housing, a driving component, a flexible connecting shaft, and at least one eccentric block; The housing is fixedly connected to the bottom of the exhaust pipe, and the housing has a flexible structure to bend and deform together with the exhaust pipe. The drive component is mounted on the exhaust pipe and is positioned near the open end of the exhaust pipe. The first end of the flexible connecting shaft is connected to the driving end of the driving component, and the second end of the flexible connecting shaft extends along the length of the exhaust pipe and into the interior of the housing. The eccentric block is eccentrically fixed to the flexible connecting shaft and housed inside the housing; The rotational driving force output by the driving component is transmitted to the eccentric block via the flexible connecting shaft, driving the eccentric block to rotate, thereby generating the mechanical vibration.

3. The control system for backfilling geological tunnels according to claim 2, characterized in that, The housing has multiple accommodating cavities spaced apart along its length, and the flexible connecting shaft passes through the multiple accommodating cavities in sequence. The eccentric blocks are provided in multiple ways, and each of the multiple eccentric blocks is housed in one of the multiple accommodating cavities, and each is eccentrically fixedly connected to the flexible connecting shaft. When the flexible connecting shaft rotates, multiple eccentric blocks rotate synchronously, generating multiple vibration sources spaced apart along the length of the exhaust pipe to apply uniform mechanical vibration to the exhaust pipe.

4. The control system for backfilling geological tunnels according to claim 3, characterized in that, The housing includes a body, a cover, and fasteners. The body is fixedly connected to the exhaust pipe, and the cover is fixedly connected to the housing by the fasteners. The accommodating cavity is arranged between the body and the cover.

5. The control system for backfilling geological tunnels according to claim 1, characterized in that, The vibration exhaust mechanism also includes a first airbag, which is fixedly connected to the top of the exhaust pipe and extends along the length of the exhaust pipe. The first airbag is filled with gas, thereby providing an upward net buoyancy to the exhaust pipe.

6. The control system for backfilling geological tunnels according to claim 5, characterized in that, Two first airbags are provided, and the two first airbags are respectively fixedly connected to the two sides of the top of the exhaust pipe, and the exhaust port is located between the two first airbags; A flow channel is formed between the two first airbags, configured to guide the gas above the concrete top surface to the exhaust port.

7. The control system for backfilling geological tunnels according to claim 5, characterized in that, The vibration exhaust mechanism further includes a filter screen sleeve, which is fitted over the closed end of the exhaust pipe to wrap around the exhaust pipe, the first airbag, and the vibration generating component. The filter screen sleeve covers the outside of the exhaust hole. The filter screen sleeve is configured to block coarse aggregate in the concrete from entering the exhaust hole, while allowing gas and cement mortar to enter the interior of the exhaust pipe through the exhaust hole.

8. The control system for backfilling geological tunnels according to claim 1, characterized in that, The vibration exhaust mechanism also includes a second airbag, and the geological exploration tunnel to be backfilled also includes a retaining wall. The second airbag is arranged around the outer periphery of the exhaust pipe and embedded inside the retaining wall. The second airbag is sealed and connected to the retaining wall. During the concrete pouring stage, the second airbag is in an inflated state to seal the gap between the exhaust pipe and the retaining wall. During the pull-out phase of the vibration exhaust mechanism, the second airbag is in a deflated and contracted state to release the sealing fit with the baffle wall, thereby facilitating the axial movement of the vibration exhaust mechanism. At the end of the concrete pouring stage, the second airbag is inflated to seal the voids remaining in the retaining wall after the vibration exhaust mechanism is removed.

9. The control system for backfilling geological tunnels according to claim 1, characterized in that, The concrete pumping mechanism has an inlet and an outlet. The outlet extends into the geological exploratory tunnel to be backfilled, and the open end of the exhaust pipe is located directly above the inlet of the concrete pumping mechanism.

10. The control system for backfilling geological tunnels according to claim 1, characterized in that, The concrete pumping mechanism is one of the following: piston concrete pump, extrusion concrete pump, or hydraulic diaphragm concrete pump.

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