A device and method for automatic filling and constant pressure consolidation of cavities based on stratum collapse prevention and control

Abstract

This invention discloses an automatic cavity filling and pressure-controlled consolidation device and method for preventing and controlling ground subsidence, comprising: a base assembly; a guiding and deployment mechanism, installed on the base assembly and connected to a detection-grouting integrated rod, used to realize the extension and orientation of the detection-grouting integrated rod; the detection-grouting integrated rod, equipped with an independent grouting channel and a signal transmission channel, with a detection unit and a drive unit at the front end, the detection unit being used to collect and process acoustic wave and resistivity data to identify cavities; and an end-sealing and nozzle array, located at the front end of the detection-grouting integrated rod, including a sealing capsule, an annular nozzle seat, a directional nozzle, an electrically controlled valve core, and a flow guide cap, the sealing capsule forming a sealed cavity, the directional nozzle being mounted on the annular nozzle seat, and the directional nozzle being connected to the electrically controlled valve core to achieve multi-mode spraying. This invention, through the detection unit and the guiding and deployment mechanism, can actively detect and locate early-formed underground cavities and address them.

Description

Technical Field

[0001] This invention relates to the field of underground engineering collapse prevention and ground reinforcement technology, and in particular to an automatic cavity filling and constant pressure consolidation device and method based on ground collapse prevention and control. Background Technology

[0002] In recent years, with the rapid development and utilization of urban underground space, ground subsidence and surface settlement have become significant hidden dangers threatening urban safety and the stability of underground engineering structures. Numerous engineering examples demonstrate that the formation and expansion of underground cavities are one of the main causes of ground subsidence. Especially in complex geological environments such as subway sections, urban utility tunnels, tunnels, and mining subsidence areas, cavity collapses are often characterized by their suddenness, rapid expansion, and long disaster chains, seriously threatening the safety of building foundations, pipelines, and the lives and property of people.

[0003] Currently, the prevention and control of underground cavity collapse mainly relies on manual grouting reinforcement and empirical sealing, but such methods generally have the following shortcomings: (1) Strong passivity. Traditional grouting reinforcement is usually implemented only when collapse has occurred or deformation has become significant, which cannot achieve active prevention and control of early cavities; (2) Low grouting accuracy. Existing equipment is difficult to achieve precise directional grouting in complex underground strata, resulting in uneven grout diffusion and low cavity filling rate; (3) Coarse pressure control. Conventional grouting mostly adopts constant pressure or manual pressure adjustment, which is difficult to dynamically adjust according to stratum feedback, and the reinforcement process cannot form a closed-loop control; (4) Lagging monitoring and feedback. There is a lack of real-time monitoring and feedback mechanism for grouting pressure, flow rate and stratum strain, which easily leads to overpressure leakage or underpressure consolidation, affecting the anti-collapse effect.

[0004] Furthermore, the complex geometry of underground cavities and the strong heterogeneity of the surrounding strata make it difficult to accurately control the rheological properties, diffusion paths, and consolidation patterns of the grout during injection. Existing technologies still have significant shortcomings in the integrated control of cavity identification, directional grouting, and pressure consolidation.

[0005] Therefore, there is an urgent need to provide a solution for an automatic cavity filling and constant pressure consolidation device and method based on the prevention and control of ground collapse. Summary of the Invention

[0006] To address the above problems, the present invention provides an automatic cavity filling and constant pressure consolidation device and method based on ground subsidence prevention and control, which solves the problems of passive response, control lag and unstable reinforcement effect in the prior art, and realizes active prevention and control of ground subsidence and intelligent consolidation of cavities.

[0007] According to a first aspect of the present invention, an automatic cavity filling and constant-pressure consolidation device based on ground collapse prevention and control is provided, comprising: A base assembly for securing the device and bearing the grouting reaction force; A guiding and deployment mechanism, mounted on the base assembly and connected to the integrated detection-grouting rod, is used to extend and orient the integrated detection-grouting rod. The integrated detection-grouting rod includes a hollow rod body, which has an independent grouting channel and a signal transmission channel. The front end is equipped with a detection unit and a drive unit. The detection unit is used to collect and process acoustic wave and resistivity data to identify cavities. An end-sealed seal and nozzle array, located at the front end of the integrated detection-grouting rod, includes a sealant bladder, an annular nozzle seat, a directional nozzle, an electrically controlled valve core, and a flow guide cap. The sealant bladder can form a sealed cavity. The directional nozzle is mounted on the annular nozzle seat and connected to the electrically controlled valve core to achieve multi-mode spraying. The grouting and gas-liquid supply system includes a constant displacement grouting pump group, a gas pressure supply unit, a pipeline valve group, a pressure sensor, and a flow meter. The constant displacement grouting pump group is used to supply grout to the detection-grouting integrated rod, the gas pressure supply unit is used to supply gas to the sealing bladder, and the pressure sensor and flow meter are used to monitor pressure and flow rate. The sensing and control system is connected to the guiding and unfolding mechanism, the detection unit, the driving unit, the end sealing and nozzle array, and the grouting and gas-liquid supply system, and is used to control the device to operate, adjust the sealing pressure, and execute the grouting process based on the detection data.

[0008] In the above scheme, the detection unit is configured to use the sound wave and resistivity coupled sensing principle to invert the cavity boundary and volume through the sound wave propagation delay and resistivity distribution characteristics.

[0009] In the above scheme, the sealing capsule achieves radial expansion by gas filling, forming a sealed cavity at the cavity boundary.

[0010] In the above scheme, the expansion pressure of the sealing capsule is set according to the radius of the sealed cavity formed at the cavity boundary, the geological conditions, and the elastic material of the sealing capsule.

[0011] In the above scheme, the directional nozzle can be switched to point injection, fan-shaped injection or annular injection mode by electronically controlled valve core.

[0012] In the above scheme, the sensing and control system is configured to use a fuzzy-PID composite control algorithm to dynamically adjust the control parameters in order to achieve closed-loop pressure stabilization control of grouting pressure and flow rate.

[0013] According to a second aspect of the present invention, a method for automatic cavity filling and constant-pressure consolidation based on ground collapse prevention is provided, characterized in that it employs the apparatus as described in any one of claims 1-6, and includes the following steps: S1. Cavity Detection and Volume Calculation: The cavity volume is calculated by using the detection unit to obtain acoustic echo and resistivity data. S2. Sealing and cavity construction: Position the front end of the device to the target cavity area, inflate the sealing capsule to form a sealed cavity, and form a sealed cavity with initial sealing pressure at the cavity boundary; S3. Directional grouting: Injecting a controlled amount of grout, structural grout, and sealing grout in a phase sequence proportional to the volume of the cavity; S4. Pressure consolidation: During the grouting process, the pressure inside the sealed cavity is adjusted according to the control curve of pressure stabilization based on ramp pressure, plateau pressure, and superimposed pulsating pressure; S5. Pressure Stabilization and Slow Release: When the preset pressure decay condition is met, the pressure inside the sealed cavity is reduced in a stepwise manner; S6. Effect evaluation: Based on the measured values ​​of actual filling volume, grout leakage, and formation consolidation modulus, calculate the filling density, leakage rate, and consolidation efficiency indicators to evaluate the consolidation quality.

[0014] In the above scheme, in step S2, the initial sealing pressure ranges from 0.4 to 0.6 MPa.

[0015] In the above scheme, in step S4, the frequency range of the superimposed pulsating pressure is 0.2~0.5 Hz.

[0016] In the above scheme, in step S4, the output of the grouting pump is dynamically adjusted to maintain the preset pressure control curve based on the real-time monitored cavity pressure and grouting flow rate, and taking into account the formation leakage characteristics.

[0017] The beneficial effects of this invention are: (1) Achieve a shift from "passive repair" to "proactive prevention" mode, significantly improving security. Existing technologies typically involve grouting reinforcement only after collapse or subsidence has occurred, resulting in a delayed response and representing a passive repair approach. This invention, by integrating a high-precision detection unit with a remotely deployable guiding and unfolding mechanism, can proactively detect and locate early-formed underground cavities, enabling automated intervention before they develop into major hazards. This fundamental shift from "passive management" to "proactive prevention" significantly reduces the risk of sudden ground subsidence, ensuring the safety of underground engineering projects and the lives and property of people.

[0018] (2) Achieving “precise targeting” and “closed filling” significantly improves the effectiveness of grouting reinforcement. Existing technologies suffer from low grouting accuracy, uneven grout diffusion, and easy leakage, resulting in low cavity filling rates and unreliable effects. This invention achieves precise orientation of the integrated detection-grouting rod through an attitude angle encoder; its end-capsule forms a sealed cavity at the cavity opening, physically preventing grout leakage; simultaneously, the nozzle array performs multi-mode spraying according to the cavity morphology, ensuring that the grout can be uniformly and controllably filled to every corner of the cavity. Compared to traditional, extensive grouting methods, the filling density and effectiveness of this invention are fundamentally improved.

[0019] (3) Realize "dynamic feedback" and "intelligent control" to significantly enhance the scientific nature and reliability of process control. Existing technologies lack real-time monitoring and closed-loop feedback, resulting in coarse pressure control that can easily lead to under-pressure consolidation or over-pressure fracturing of the formation. This invention integrates multi-parameter sensing units for pressure, flow rate, and attitude, and constructs a closed-loop control system. This system can dynamically adjust grouting parameters based on real-time feedback from cavities and strictly adhere to a scientific pressurization curve of "climbing-platform-pulsating pressure stabilization," achieving intelligent and precise control of the grouting process and ensuring the high quality and long-term stability of the final consolidated body.

[0020] (4) Achieving “full-process integration” and “data-driven evaluation” improves the objectivity of work efficiency and quality evaluation. This invention highly integrates multiple stages, including cavity detection, sealing, filling, pressurization, consolidation, and evaluation, into a single automated platform, avoiding the complexity and inefficiency of multi-process, multi-equipment collaborative operations. Furthermore, by introducing quantitative evaluation indicators such as filling density coefficient, leakage rate, consolidation efficiency coefficient, and comprehensive index, the effectiveness of anti-collapse reinforcement no longer relies solely on experience-based judgment but can be scientifically assessed using objective data, providing a reliable basis for the health management of underground engineering projects. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the guiding and unfolding mechanism of the present invention; Figure 3 This is a cross-sectional view of the integrated detection-grouting rod structure of the present invention; Figure 4 This is a schematic diagram of the end-sealing barrier and nozzle array structure of the present invention.

[0023] The components include: base assembly 1, fixed base 1-1, mounting flange 1-2, positioning pin hole 1-3, bearing support plate 1-4, guide and unfolding mechanism 2, rotating gimbal 2-1, telescopic slide rail 2-2, multi-stage linkage assembly 2-3, attitude angle encoder 2-4, detection-grouting integrated rod 3, hollow rod body 3-1, grouting channel 3-2, signal transmission channel 3-3, detection unit 3-4, drive unit 3-5, end sealing and nozzle array 4, sealing bladder 4-1, annular nozzle seat 4-2, directional nozzle 4-3, electrically controlled valve core 4-4, flow guide cap 4-5, grouting and gas-liquid supply system 5, and sensing and control system 6.

[0024] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0025] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0026] The terms "first," "second," etc., used in this disclosure are for distinguishing similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented, for example, in orders other than those illustrated or described herein.

[0027] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0028] Multiple, including two or more.

[0029] And / or, it should be understood that, for the purposes of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0030] According to a first aspect of the present invention, an automatic cavity filling and constant-pressure consolidation device based on ground collapse prevention and control is provided, such as... Figure 1 As shown, it includes: a base assembly 1, a guide and deployment mechanism 2, a detection-grouting integrated rod 3, an end sealing and nozzle array 4, a grouting and gas-liquid supply system 5, and a sensing and control system 6.

[0031] The base assembly 1 is the load-bearing and fixing part of the entire system, including a fixed base 1-1, a mounting flange 1-2, positioning pin holes 1-3, and a load-bearing support plate 1-4. The fixed base 1-1 is securely connected to the tunnel lining or borehole wall via expansion anchors or bolts. Compared to traditional grouting equipment that relies on manual support or simple brackets, this structure can withstand the larger reaction forces generated during grouting, ensuring the stability of the device under high-pressure grouting conditions. The mounting flange 1-2 provides a fixing interface for the guiding and unfolding mechanism 2, and the positioning pin holes 1-3 ensure the accuracy of the installation angle. The mounting flange 1-2 and the positioning pin holes 1-3 work together to ensure the accuracy of the installation angle of the guiding and unfolding mechanism 2, avoiding grouting position deviation caused by installation errors. The load-bearing support plate 1-4 is used to disperse the grouting reaction force and transfer mechanical loads, preventing secondary damage to the base or stratum caused by localized stress concentration.

[0032] like Figure 2 As shown, the guiding and deploying mechanism 2 is mounted on the base assembly 1 and connected to the integrated detection-grouting rod 3. The guiding and deploying mechanism 2 includes a rotating gimbal 2-1, a telescopic slide rail 2-2, a multi-stage linkage assembly 2-3, and an attitude angle encoder 2-4. The rotating gimbal 2-1 enables the device to rotate 360° in the horizontal plane. The telescopic slide rail 2-2 and the multi-stage linkage form an extendable structure, which can deliver the integrated detection-grouting rod 3 to the target cavity area. The attitude angle encoder 2-4 monitors the attitude and direction of the robotic arm in real time, solving the problem of blind detection and blind grouting in traditional grouting. The combination of the rotating gimbal 2-1, the telescopic slide rail 2-2, and the multi-stage linkage assembly 2-3 realizes flexible movement with multiple degrees of freedom of rotation, telescopic, and multi-stage extension. Compared with traditional fixed grouting pipes, this structure significantly expands the operating coverage under single-point installation and is suitable for continuous treatment of multiple cavities in narrow spaces such as tunnels and pipe corridors. Introducing the concept of multi-joint robotic arms used for above-ground operations into confined underground spaces, and combining it with attitude angle encoders 2-4 to achieve real-time feedback of spatial coordinates and attitude, enables the grouting rod to actively seek and accurately position itself like a "robotic arm," overturning the traditional fixed or simple directional grouting pipe model.

[0033] like Figure 3As shown, the integrated detection-grouting rod 3 includes a hollow rod body 3-1. The hollow rod body 3-1 contains an independent grouting channel 3-2 and a signal transmission channel 3-3, achieving physical integration of detection and grouting functions. Compared to the traditional separate operation method of detection followed by grouting, this structure avoids frequent equipment replacement and repositioning, significantly improving operational efficiency. The front end is equipped with a detection unit 3-4 and a drive unit 3-5 for cavity identification and directional control. The detection unit 3-4 adopts the principle of acoustic wave and resistivity coupling sensing, using the acoustic wave propagation delay and resistivity distribution characteristics to invert the cavity boundary and volume. The cavity volume calculation formula is as follows: (1) In the formula, S is the projected area of ​​the cavity surface. The radial function of the cavity surface is given. Detection unit 3-4 employs a coupled acoustic and resistivity sensing system, which comprehensively utilizes the high resolution of acoustic waves on the cavity boundary and the sensitivity of resistivity to the characteristics of the formation medium, significantly improving the accuracy of the overall judgment of the cavity morphology, size, and the degree of looseness of the surrounding strata.

[0034] The drive unit 3-5 adopts a servo micro-motion mechanism, which dynamically fine-tunes the attitude before and during grouting based on the real-time feedback data from the detection unit 3-4. This enables a closed-loop operation of simultaneous observation and positioning, solving the problems of disconnect between detection and grouting and reliance on experience in traditional technologies.

[0035] like Figure 4 As shown, the end-sealed seal and nozzle array 4, located at the front end of the integrated detection-grouting rod 3, includes a sealing bladder 4-1, an annular nozzle seat 4-2, a directional nozzle 4-3, an electrically controlled valve core 4-4, and a flow guide cap 4-5. The sealing bladder 4-1 is made of high-pressure resistant composite rubber material and can achieve radial expansion through gas filling, forming a sealed cavity at the cavity boundary. This structure physically prevents grout leakage, solving the problems of low filling rate and environmental pollution caused by grout loss in traditional grouting. Its expansion pressure... Radius formed with the cavity The following empirical relationship exists between them: (2) in, These are experimental coefficients determined by the formation conditions and the elasticity of the capsule.

[0036] The directional nozzles 4-3 are mounted on the annular nozzle seat 4-2 and are evenly distributed circumferentially. The spray mode can be switched via the electrically controlled valve core 4-4, achieving three modes: spot spray, fan-shaped spray, and annular injection. It can intelligently select the appropriate mode based on the cavity morphology, enabling precise application from localized point filling to overall annular wrapping, significantly improving the uniformity of grout distribution and filling rate in complex cavities. The guide cap 4-5 guides the grout flow direction and prevents backflow of grout in the initial stage of grouting.

[0037] The grouting and gas-liquid supply system 5 includes a constant-displacement grouting pump set, a gas pressure supply unit, a pipeline valve group, a pressure sensor, and a flow meter. The constant-displacement grouting pump set supplies grout to the integrated detection-grouting rod 3, and the gas pressure supply unit supplies gas to the sealing bladder 4-1. The pressure sensor and flow meter monitor the pressure and flow rate. The constant-displacement grouting pump set and the gas pressure supply unit work together to achieve independent control and coordinated supply of grout and gas pressure. Compared with traditional single grouting equipment, this system can simultaneously meet the needs of sealing bladder expansion and grouting pressurization. The pressure sensor and flow meter collect the intracavitary pressure and grouting flow rate in real time, which can assess the leakage flow rate in real time and dynamically adjust the grouting pump displacement to achieve precise maintenance of consolidation pressure.

[0038] This system can simultaneously control the supply of liquid grout and air pressure, achieving coordinated control of the grouting and sealing processes. Grouting flow rate. With cavity pressure Satisfies the dynamic closed-loop equation: (3) in, The consolidation modulus of the formation. This refers to the leakage flow rate. The system monitors the grouting flow rate in real time. With cavity pressure And assess leakage flow rate It can dynamically adjust the discharge rate of the grouting pump to compensate for the pressure loss caused by formation leakage, thereby maintaining the set consolidation pressure.

[0039] The sensing and control system 6 is connected to the guiding and deployment mechanism 2, the detection unit 3-4, the drive unit 3-5, the end sealing and nozzle array 4, and the grouting and gas-liquid supply system 5. It controls the device's actions, adjusts the sealing pressure, and executes the grouting process based on the detection data. Specifically, the attitude angle encoder 2-4 monitors the robot arm's attitude and direction in real time. The data is processed by the control host and used to dynamically calibrate the extension attitude, achieving automated adjustment of the grouting path. The detection results from the detection unit 3-4 are transmitted to the control host via the data acquisition module, enabling three-dimensional spatial coordinate modeling.

[0040] The sensing and control system 6 comprises a control host, an attitude control module, a data acquisition module, and a closed-loop control module. The control host integrates multi-source data to achieve full-process control from void identification to consolidation evaluation. The attitude control module dynamically calibrates the attitude of the integrated probe-grouting rod based on feedback from the attitude angle encoder, ensuring the accuracy of the grouting direction. The data acquisition module collects multi-parameter data such as pressure, flow rate, sound wave, and resistivity, providing input for closed-loop control. The system employs a fuzzy-PID composite control algorithm, using cavity pressure... Grouting flow rate With target value The error is the input variable and the output control quantity. : (4) Among them, the proportionality coefficient Integral coefficient Differential coefficients Real-time voltage regulation control is achieved through dynamic adjustment using fuzzy logic. This is due to the proportional coefficient of the PID parameters. Integral coefficient Differential coefficients It is not fixed, but dynamically adjusted by fuzzy logic based on real-time errors. This allows the system to possess both the accuracy of PID control and the robustness and adaptability to cope with underground nonlinear and time-varying systems (such as changes in formation permeability).

[0041] The control algorithm achieves adaptive adjustment through pressure, flow rate, and attitude feedback signals. Its control objective function is: (5) In the formula, For the target cavity pressure, For target traffic, , These are the weighting coefficients.

[0042] According to a second aspect of the present invention, an automatic cavity filling and constant-pressure consolidation method based on ground collapse prevention is provided, employing the apparatus described in the first aspect embodiment, and comprising the following steps: S1. Cavity Detection and Volume Calculation: The cavity volume is calculated by using the detection unit to obtain acoustic echo and resistivity data. S2. Sealing and cavity construction: Position the front end of the device to the target cavity area, inflate the sealing capsule to form a sealed cavity, and form a sealed cavity with initial sealing pressure at the cavity boundary; S3. Directional grouting: Injecting a controlled amount of grout, structural grout, and sealing grout in a phase sequence proportional to the volume of the cavity; S4. Pressure consolidation: During the grouting process, the pressure inside the sealed cavity is adjusted according to the control curve of pressure stabilization based on ramp pressure, plateau pressure, and superimposed pulsating pressure; S5. Pressure Stabilization and Slow Release: When the preset pressure decay condition is met, the pressure inside the sealed cavity is reduced in a stepwise manner; S6. Effect evaluation: Based on the measured values ​​of actual filling volume, grout leakage, and formation consolidation modulus, calculate the filling density, leakage rate, and consolidation efficiency indicators to evaluate the consolidation quality.

[0043] In step S2, the initial sealing pressure ranges from 0.4 to 0.6 MPa.

[0044] Step S3 specifically involves injecting the grout in the phase sequence of penetrating grout, structural grout, and sealing grout, specifying the injection volume for each stage. Strictly according to the volume of the cavity Perform proportional control: (6) in Let be the grouting ratio coefficient, and satisfy . + + = 1; In step S4, the frequency range of the superimposed pulsating pressure is 0.2~0.5 Hz. Based on the real-time monitored cavity pressure and grouting flow rate, and considering the formation leakage characteristics, the output of the grouting pump is dynamically adjusted to maintain the preset pressure control curve.

[0045] During the pulsating pressure stabilization phase, the intracavitary pressure Fine-tuning control is performed using the following formula: (7) in, Due to platform pressure, The amplitude of the pulse. The pulsation frequency (0.2-0.5 Hz) is used to promote uniform diffusion and densification of the slurry.

[0046] Step S6 specifically involves defining the filling density coefficient. Leakage rate and consolidation efficiency coefficient They are respectively: , (8) when 0.9 0.05 When the value is 0.85, the consolidation quality of the voids is considered to be qualified.

[0047] As described above and in any possible implementation, a further implementation is provided in which the system employs a fuzzy-PID composite control strategy to control the output quantity. satisfy: (9) in, = ,parameter , , Adjusted in real time by fuzzy logic.

[0048] As described above, and in accordance with any possible implementation, a further implementation is provided in which the evaluation after consolidation is completed uses a comprehensive index. The formula for representing the anti-collapse effect is: (10) when At that time, it was determined that the prevention and control of ground subsidence was of excellent quality.

[0049] The automatic cavity filling and constant-pressure consolidation method for preventing and controlling ground collapse described in this invention further optimizes the operation process and control strategy based on the device, and has the following advantages: The entire process is under closed-loop control. The method covers the entire chain from cavity detection, volume calculation, cavity sealing and construction, directional grouting, pressure consolidation to pressure stabilization and slow release, and effect evaluation. A data closed loop is formed between each step to ensure that the process is controllable and the results are traceable.

[0050] Phase sequence grouting and proportion control. The grout is injected in the phase sequence of penetrating grout, structural grout, and sealing grout, and the proportion is controlled according to the volume of voids. This takes into account the multiple needs of grout penetration, structural reinforcement and boundary sealing, and improves the integrity and stability of the solidified body.

[0051] Scientific pressurization curve and pulsating pressure stabilization. The "climbing-plateau-pulsating pressure stabilization" control curve is adopted. In particular, a low-frequency pulsation of 0.2~0.5 Hz is introduced in the pulsating pressure stabilization stage to promote uniform diffusion and densification of the grout, and improve the problem of incomplete filling that is prone to occur in traditional constant pressure grouting.

[0052] Quantitative evaluation and adaptive control. The reinforcement effect is quantitatively evaluated using indicators such as filling density coefficient, permeability rate, consolidation efficiency coefficient, and comprehensive index. Combined with a fuzzy-PID composite control strategy, the system can adjust control parameters in real time based on formation feedback, exhibiting strong adaptability and engineering applicability.

[0053] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0054] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0055] Through the above description of the embodiments, those skilled in the art can clearly understand that the above implementation methods can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0056] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An automatic cavity filling and constant-pressure consolidation device based on ground collapse prevention and control, characterized in that, include: A base assembly for securing the device and bearing the grouting reaction force; A guiding and deployment mechanism, mounted on the base assembly and connected to the integrated detection-grouting rod, is used to extend and orient the integrated detection-grouting rod. The integrated detection-grouting rod includes a hollow rod body. The hollow rod body has an independent grouting channel and a signal transmission channel. The front end of the hollow rod body is equipped with a detection unit and a drive unit. The detection unit is used to collect and process acoustic wave and resistivity data to identify cavities. The drive unit adjusts the hollow rod body according to the detection information of the detection unit. The end-sealed seal and nozzle array are connected to the detection-grouting integrated rod and are located at the front end of the detection-grouting integrated rod. The seal includes a sealing bladder, an annular nozzle seat, a directional nozzle, an electrically controlled valve core, and a flow guide cap. The sealing bladder can form a sealed cavity. The directional nozzle is disposed on the annular nozzle seat and is connected to the electrically controlled valve core to achieve multi-mode spraying. The grouting and gas-liquid supply system includes a constant-displacement grouting pump set, a gas pressure supply unit, a pipeline valve set, a pressure sensor, and a flow meter. The outlet end of the constant-displacement grouting pump set is connected to the grouting channel through the pipeline valve set. A flow meter is connected in series between the constant-displacement grouting pump set and the pipeline valve set or at the outlet side of the pipeline valve set. The pressure sensor is installed at the outlet of the pipeline valve set or at the inlet of the grouting channel. The outlet end of the gas pressure supply unit is connected to the sealing bladder through the pipeline valve set. The constant-displacement grouting pump set is used to supply grout to the detection-grouting integrated rod. The gas pressure supply unit is used to supply gas to the sealing bladder. The pressure sensor and flow meter are used to monitor pressure and flow rate. The sensing and control system is connected to the guiding and unfolding mechanism, the detection unit, the driving unit, the end sealing and nozzle array, and the grouting and gas-liquid supply system, and is used to control the device to operate, adjust the sealing pressure, and execute the grouting process based on the detection data.

2. The apparatus according to claim 1, characterized in that, The detection unit is configured to use the principle of acoustic wave and resistivity coupling sensing to invert the cavity boundary and volume through the acoustic wave propagation delay and resistivity distribution characteristics.

3. The apparatus according to claim 1, characterized in that, The septum expands radially by filling with gas, forming a sealed cavity at the boundary of the cavity.

4. The apparatus according to claim 1, characterized in that, The expansion pressure of the sealing capsule is set based on the radius of the sealed cavity formed at the cavity boundary, the geological conditions, and the elastic material of the sealing capsule.

5. The apparatus according to claim 1, characterized in that, The directional nozzle can be switched to point injection, fan-shaped injection or annular injection mode via an electronically controlled valve core.

6. The apparatus according to claim 1, characterized in that, The sensing and control system is configured to use a fuzzy-PID composite control algorithm to dynamically adjust control parameters in order to achieve closed-loop pressure stabilization control of grouting pressure and flow rate.

7. A method for automatic cavity filling and constant-pressure consolidation based on ground collapse prevention and control, characterized in that, Using the apparatus as described in any one of claims 1-6, and comprising the following steps: S1. Cavity Detection and Volume Calculation: The cavity volume is calculated by using the detection unit to obtain acoustic echo and resistivity data. S2. Sealing and cavity construction: Position the front end of the device to the target cavity area, inflate the sealing capsule to form a sealed cavity, and form a sealed cavity with initial sealing pressure at the cavity boundary; S3. Directional grouting: Injecting a controlled amount of grout, structural grout, and sealing grout in a phase sequence proportional to the volume of the cavity; S4. Pressure consolidation: During the grouting process, the pressure inside the sealed cavity is adjusted according to the control curve of pressure stabilization based on ramp pressure, plateau pressure, and superimposed pulsating pressure; S5. Pressure Stabilization and Slow Release: When the preset pressure decay condition is met, the pressure inside the sealed cavity is reduced in a stepwise manner; S6. Effect evaluation: Based on the measured values ​​of actual filling volume, grout leakage, and formation consolidation modulus, calculate the filling density, leakage rate, and consolidation efficiency indicators to evaluate the consolidation quality.

8. The method according to claim 7, characterized in that, In step S2, the initial sealing pressure ranges from 0.4 to 0.6 MPa.

9. The method according to claim 7, characterized in that, In step S4, the frequency range of the superimposed pulsating pressure is 0.2~0.5 Hz.

10. The method according to claim 7, characterized in that, In step S4, based on the real-time monitored cavity pressure and grouting flow rate, and taking into account the formation leakage characteristics, the output of the grouting pump is dynamically adjusted to maintain the preset pressure control curve.

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