Automatic control method and system for improving mixing uniformity of cement mixing pile construction

Abstract

This invention discloses an automatic control method and system for improving the mixing uniformity of cement mixing pile construction. The method first determines the design mixing points, mixing times, blade arrangement, and design grouting horizontal-to-vertical ratio R of the soil within the pile body area. V and the design of the lever speed V V and design speed V L ; Calculate and determine the design flow rate Q for each time di In addition, standard parameters are set, and the current pole speed V is continuously monitored when the pile driver starts construction at the current pile location. oV Current speed V oL Current traffic Q oi Current current I o Determine the current I o Current traffic Q oi Current speed V oL Whether it is within the set range, and after the pile driver enters the low speed and low rod speed operation state, continuously judge the current rod speed V. ov Whether it is within the allowable deviation range; until the construction of the current pile position is completed. This invention uses multi-parameter coordinated control to meet the requirements of uniform distribution and mixing of cement binder materials, thereby ultimately achieving the goal of improving the uniformity of pile quality.

Description

Technical Field

[0001] This invention relates to the field of foundation engineering pile driving technology, specifically to an automatic control method and system for improving the uniformity of mixing during cement mixing pile construction. Background Technology

[0002] Cement mixing piles use cement as a binder and curing agent. The soil and curing agent are forcibly mixed on-site using mixing machinery. A series of physicochemical reactions between the curing agent and the soil cause the soil to solidify into a pile body with integrity, water stability, and a certain strength. Cement mixing piles are generally used in composite foundation treatment, underground seepage prevention, and soil wall support projects. Depending on the state of the sprayed curing agent, they are divided into powder jet mixing piles (powder jet piles) and wet jet mixing piles (wet jet piles). Currently, wet jet piles are widely used in foundation engineering. The quality evaluation of cement mixing piles mainly includes construction quality and pile quality. Construction quality evaluation indicators include pile length, pile spacing, pile diameter, cement admixture content, and verticality. Pile quality evaluation indicators include hardness, standard penetration test blow count, unconfined compressive strength (28d), and pile integrity and uniformity. Static load tests, including composite foundation static load tests and single pile static load tests, should also be conducted for the quality inspection of cement mixing pile composite foundations.

[0003] The uniformity of mixing during the construction of cement mixing piles is a crucial indicator for evaluating their construction quality, directly impacting pile strength. Engineering practice has demonstrated that, under the same cement admixture ratio, the more uniform the mixing of the pile body, the higher its strength. The uniformity of cement mixing piles is mainly divided into lateral uniformity and longitudinal uniformity. Lateral uniformity is characterized by the number of point mixing operations on the transverse cross-section of the soil within the pile body (reinforcement body), while longitudinal uniformity is characterized by the number of mixing operations on the longitudinal cross-section within the pile length. Controlling the uniformity of cement mixing pile construction primarily involves ensuring the uniformity of cementitious binder material distribution and mixing. Under normal construction conditions, the designed vertical lifting speed V of the drill rod (mixing head) is... V (Design rod speed), drill pipe blade design horizontal stirring speed V L (Design speed), Design pipeline slurry flow rate Q di The (design flow rate) can work together to maintain a relatively constant level within its allowable deviation range according to the design requirements. Therefore, the grouting volume of each section and the number of mixing points within the pile body can meet the design requirements, and the lateral and longitudinal uniformity is guaranteed.

[0004] Because cement mixing pile construction is a concealed project, and due to limitations in current automated construction control technology and designers' concerns about on-site supervision, it is currently difficult to implement in-process control of mixing uniformity within the pile length. Post-construction testing is the only option. The implementation standards explicitly state the importance of testing the uniformity of the reinforced strata. For example, a good standard for pile uniformity is: continuous, intact, hard, and uniformly mixed in a columnar shape. The pile integrity index is calculated based on the proportion of the cumulative length of core sample segments with a length of not less than 7cm in each advance.

[0005] To address the challenge of controlling the uniformity of cement mixing during construction and to ensure the quality of pile formation, technical personnel in the industry have conducted extensive research:

[0006] Chinese invention patent application number 2024100337767 discloses an intelligent construction control method, device, and system for split-slurry-mixed piles. This method uses real-time sensing of various optimized parameters throughout the construction process to synchronously deduce precise soil state parameters. Based on these deduce parameters, it controls and optimizes various construction parameters during pile formation in real time, improving the effectiveness of split-slurry-mixed piles in treating and reinforcing weak foundations. This intelligent adjustment method for construction parameters based on real-time feedback of soil state information breaks through the current mandatory construction procedure of "survey first, design then construction." Its engineering application still needs further verification. The method of using rapid-moving sensors to measure pore water pressure in soil subjected to strong disturbance and compression in real time also requires further validation.

[0007] Chinese invention patent application number 2023114613467 discloses a constant flow grouting control method for cement-soil mixing piles. By monitoring the flow rate of the grouting pipeline online, the grouting pressure of the grouting pump is automatically adjusted in real time, automatically controlling the constant output of the grouting flow rate, thereby achieving accuracy and uniformity of cement admixture within the pile length. This technology represents a technological advancement in controlling the uniformity of grouting within the pile body, but it fails to solve the problem of controlling the uniformity of mixing during construction.

[0008] Chinese invention patent application number 2024101934197 discloses a construction device and construction method for improving the uniformity of cement-soil mixing piles. By setting up upper and lower double nozzles, it ensures that every point in the pile body can receive the same number of mixing times under normal construction conditions, thereby improving the mixing uniformity. However, this technology fails to solve the problem of uniform distribution of cement binder material under normal and abnormal conditions.

[0009] During normal construction of cement mixing piles, deviations from the design specifications due to changes in the geological strata or operational abnormalities can compromise the uniformity of mixing. For example: Scenario 1: An increase in the characteristic value of the soil bearing capacity causes the mixing motor current to exceed its rated current. The operator reduces the rotor speed, but the mixing head's lifting speed does not decrease synchronously, resulting in insufficient mixing cycles and reduced uniformity. Scenario 2: Poor communication between the operator and the grouting operator leads to a failure to synchronize the mixing head's lifting speed with the grouting flow rate, resulting in insufficient grouting volume and uniform mixing at that section. Scenario 3: The operator simultaneously reduces the rotor speed and lifting speed, but the grouting flow rate fails to decrease synchronously, leading to excessive grouting at that section and increased material costs. Scenario 4: The operator maliciously increases the mixing head's lifting speed. If construction supervision is inadequate or the monitoring system lacks automation and cannot adjust and alarm in a timely manner, potential quality issues may arise.

[0010] Therefore, there is an urgent need to develop an automatic control method and system for improving the uniformity of mixing during wet jet grouting construction, to solve the problem of controlling the uniformity of mixing during wet jet grouting construction, and to promote the high-quality development of the foundation treatment industry. Summary of the Invention

[0011] The technical problem to be solved by the present invention is to provide an automatic control method and system for improving the uniformity of mixing in cement mixing pile construction. By comparing the errors between the current flow rate, rotation speed, and rod speed output parameters and the design parameters, multi-parameter coordinated regulation is performed to make the current parameters controlled by the system close to the expected performance indicators of the design, so as to meet the requirements of uniform distribution and mixing of cement binder materials, thereby ultimately achieving the goal of improving the uniformity of pile quality.

[0012] To address the aforementioned technical problems, this invention provides an automatic control method for improving the mixing uniformity during cement mixing pile construction, comprising the following steps:

[0013] The first step is to determine the design mixing points, mixing times, and pile driver mixing blade arrangement for the soil within the pile body area, and to design the grouting horizontal-to-vertical ratio R. V Calculate and determine the design rod speed V V Design speed V L ;

[0014] Step 2: Calculate and determine the design flow rate Q for each step. di ;

[0015] The third step is to set standard parameters, including the design lever speed V. V Permissible deviation range, maximum limit UV V Design speed V L Permissible deviation range, minimum limit LV L Design flow Qdi Permissible deviation range, minimum flow rate L Q Data acquisition sampling period, rated current I n and instantaneous current limit I ! ;

[0016] Step 4: Begin pile driving operations at the current pile location and continuously monitor the current pole speed V. oV Current speed V oL Current traffic Q oi Current current I o ;

[0017] Step 5: Determine the current I o Is it in [I] n I ! Within the specified range: if less than, continue the current construction work according to the design specifications; if at or greater than, execute the current judgment and handling procedure.

[0018] Step 6: While continuing the current construction work, continuously determine the current flow rate Q. oi Is it within the design flow Q? di Permissible deviation PE Q [ζ] min , ζ max Within the specified range: if it is within the range, continue the current construction work; if it is less than the range, automatically reduce the pole speed.

[0019] Step 7: While continuing the current construction work, continuously judge the current rotation speed V during grouting. oL Is it at the design speed V? L Permissible deviation PE L [ε] min , ε max Within the range: if it is within the range, continue the current construction work; if it is less than the range, proceed based on the grouting horizontal-vertical ratio R. V The lever speed is automatically reduced.

[0020] Step 8: While continuing the current construction operation, and after the pile driver enters a low-speed, low-rod-speed operating state, continuously judge the current rod speed V. oV Is it at the design lever speed V? V Permissible deviation PE V [Δ min Δ max Within the specified range: if it is within the range, continue the current construction work; if it is less than the range, automatically reduce the flow rate.

[0021] Continue until the construction at the current pile location is completed.

[0022] Furthermore, in the first step, the calculation formula is: C=R V ×H×E×m×n;

[0023] In the formula: C represents the number of times the soil within the pile body is mixed at the design mixing point; R V To design the horizontal-to-vertical ratio of the grouting, R V = , where: V L Design speed, unit is r / min; V v The design rod speed is expressed in cm / min; H is the height of the mixing blades passing through the design mixing point in cm; E is the number of single-layer mixing blades passing through the design mixing point; m is the number of mixing cycles within the mixing blade height range at the design mixing point, assuming the grouting horizontal-to-vertical ratio remains constant, m = H × R. V n represents the number of mixing blade layers at the designed mixing point within the pile body for each mixing operation.

[0024] Furthermore, in the second step, based on the wet density of the foundation soil, the amount of lime added, the water-cement ratio, the pile diameter, the construction technology, the number of mixing cycles, and the designed grouting horizontal-vertical ratio R... V Design lever speed V V Design speed V L Calculate and determine the design flow rate Q for each time. di .

[0025] Furthermore, in the third step, the lever speed V is designed. V The allowable deviation range is PE V [Δ min Δ max Design speed V L The allowable deviation range is PE L [ε] min , ε max Design flow rate Q di The allowable deviation range is PE Q [ζ] min , ζ max ] .

[0026] Furthermore, in step five:

[0027] If I o n If the condition is normal, then continue the current construction work according to the design specifications.

[0028] If I o ∈ [I] n I ! If the signal is detected, it is determined to be a high current state, and high current detection and handling are performed.

[0029] If I o >I ! If the current exceeds the limit, then the current exceeds the limit status is determined and the current exceeds the limit judgment and handling is performed; ​

[0030] During the high current detection and handling process, the duration T of the high current state is recorded. In Judgment: If T In If T ≤ the set value, then the situation is considered normal, and the current construction work continues; if T In If the set value is reached, a high current deviation will be detected, the current level will be downgraded, and a warning will be issued.

[0031] Current exceeding the limit judgment and handling: Perform current exceeding the limit state for duration T I! Determine if T I！ If the value is less than the set value, press I to jump to the next page. o ∈ [I] n I ! The duration of the high-current condition is T. In Determine if T I！ If ∈ [set value min, set value max], then a high current deviation state is determined, the current is downgraded, and a warning is issued;

[0032] After downgrading, the piling machine enters a low-current downgrading state, which lasts for a duration of T. Qo Determine if T Qo If the set value is exceeded, the low current downshift state will be timed out, the upshift will be initiated, and a warning will be issued.

[0033] Furthermore, the downgrade process employs an equal percentage adjustment method, with the following adjustment method:

[0034] During grouting, maintain the horizontal-to-vertical ratio R of the grouting process. V Assuming T remains unchanged, when T In >Set value, reduce the current speed V synchronously according to the adjustment ratio. oL and current lever speed V oV ;

[0035] Simultaneously, automatic flow reduction is performed, i.e., at the current lever speed V. oV When reducing, while keeping the designed ash content unchanged, the current rod speed V is used. oV Adjust the ratio to simultaneously reduce the current traffic Q oi Its calculation formula is Q oi =Q di × ;

[0036] Reassess I after adjustment o Is it in [I] n I ! Within the specified range, and perform subsequent processing.

[0037] Upshifting is handled using a fixed-value method, and the adjustment method is as follows:

[0038] When the current is reduced to a lower setting, while maintaining the horizontal-to-vertical grouting ratio R... V Assuming T remains unchanged, when T Qo When the set value is reached, the current speed V increases synchronously. oL Current lever speed V ov State before the most recent downshift;

[0039] Simultaneously, automatic flow rate increase processing is performed, i.e., at the current lever speed V. oV When increasing the flow rate, the current flow rate Q is increased proportionally while maintaining the designed ash content unchanged. oi Its calculation formula is Q oi =Q di × ;

[0040] If T I！ If the set value is reached, the system will determine that the current is in a dangerous state of exceeding the limit, and will perform a power-off operation and issue a warning. The power-off operation involves cutting off the power supply to the mixing motor and the winch motor for lifting the drill rod.

[0041] Furthermore, in step six:

[0042] If Q oi ∈PE Q [ζ] min , ζ max If the condition is normal, the current construction work can continue.

[0043] If Q oi ∈ [L] Q , ζ min If the low flow rate is detected, the lever speed will be automatically reduced, and a warning will be issued.

[0044] The automatic reduction of lever speed is implemented to reduce the current lever speed V proportionally to the current flow rate reduction while maintaining the designed ash content unchanged. oV Its calculation formula is V oV =V V × After the automatic reduction of the rod speed, the pile driver enters a low-flow, low-rod-speed state.

[0045] When the lever speed is automatically reduced, the current rotational speed V is not changed. oL ;

[0046] If Q oi <L Q If the flow rate is found to be below the minimum limit, the automatic reduction of the lever speed will be stopped, and a warning will be issued.

[0047] If Q o >ζ max If the flow rate exceeds the limit, the current construction work will continue, and a warning will be issued.

[0048] When the piling machine enters a low flow, low rod speed state, Q o <L Q Low traffic status, Q o >ζ max If the traffic exceeds the limit, perform traffic recovery intervention.

[0049] Traffic recovery intervention processing, for the current traffic Q oi The manual intervention measures taken when the pile driver is in an abnormal state during construction due to an abnormal condition.

[0050] Furthermore, in step seven:

[0051] If V oL ∈PE L [ε] min , ε max If the condition is normal, the current construction work can continue.

[0052] If V oL ∈ [LV] L , ε min If the low-speed deviation is determined, the grouting horizontal-vertical ratio R is used as the basis for the determination. V The lever speed is automatically reduced, and a warning is issued.

[0053] Based on the horizontal-vertical ratio R of grouting V The lever speed is automatically reduced to the current rotational speed V. oL When lowering, while maintaining the grouting horizontal-to-vertical ratio R V Under the premise of not changing, reduce the current lever speed V proportionally to the current reduction in rotational speed. oV The calculation formula is V oV = Current lever speed V oV After being lowered, the pile driver enters a low-speed, low-pole-speed operating state;

[0054] If V oL <LV L If the rotational speed is determined to be below the minimum limit, the grouting operation will be stopped based on the horizontal-to-vertical ratio R. V The lever speed is automatically reduced, and a warning is issued.

[0055] If V oL >ε max If the speed exceeds the limit, the current construction work will continue, and a warning will be issued.

[0056] When the piling machine enters a low-speed, low-pole-speed operating state, V oL <LV L Extremely low speed, V oL >ε maxIf the engine speed exceeds the maximum limit, speed recovery intervention will be performed.

[0057] Speed ​​recovery intervention is performed because of the current speed V. oL The manual intervention measures taken when the pile driver is in an abnormal state during construction due to an abnormal condition.

[0058] Furthermore, in step eight:

[0059] If V oV ∈PE V [Δ min Δ max If the condition is normal, continue the current construction work;

[0060] If V oV <Δ min If the low pole speed is deviated, the flow rate needs to be automatically reduced and a warning should be issued.

[0061] After the automatic flow reduction process, the piling machine enters a low-speed, low-flow operation state, and then the minimum flow limit L is applied. Q Determine if Q o <L Q If the flow rate is below the minimum limit, then maintain the current L. Q The flow rate remains constant; if the flow rate stops, the processing speed will automatically decrease.

[0062] If V oV ∈ (Δ max UV V If the pole speed deviates from the target state, then the duration of the high pole speed deviance state is determined as T. Δmax Judgment: If T Δmax If T ≤ the set value, it is considered a normal state, and the flow rate and speed will be automatically increased, and a warning will be issued; if T Δmax If the set value is reached, it will be determined that the high-speed rod deviates from the timeout state, and the flow rate and speed will be automatically increased, and a warning will be issued.

[0063] Automatic flow rate increase processing, i.e., at the current lever speed V oV When increasing the flow rate, the current flow rate Q is increased proportionally while maintaining the designed ash content unchanged. oi Its calculation formula is Q oi =Q di × ;

[0064] Automatic speed increase processing, i.e., at the current lever speed V oV When raising the height, while maintaining the horizontal-to-vertical grouting ratio R... V Under the premise of keeping the current speed unchanged, increase the current rotational speed V proportionally to the current increase in lever speed. oL Its calculation formula is V oL=R V ×V oV ;

[0065] If V oV UV V If the lever speed exceeds the limit, then the lever speed is determined to be above the maximum limit (UV). V Standard execution, automatic increase in flow rate and rotation speed, and warning response; based on the maximum limit UV of lever speed. V Standard execution, based on the maximum limit UV of lever speed. V The standard automatically increases the flow rate and rotation speed.

[0066] According to the maximum limit of lever speed UV V The standard automatically increases the flow rate, i.e., at the current lever speed V. oV Increase to UV V At the same time, while keeping the designed ash content unchanged, the current flow rate Q is increased proportionally. oi Its calculation formula is Q oi =Q di × ;

[0067] According to the maximum limit of lever speed UV V The standard automatically increases the rotational speed to the current lever speed V. oV Increase to UV V At the same time, while maintaining the horizontal-to-vertical ratio R of the grouting V Under the premise of keeping the current speed unchanged, increase the current rotational speed V proportionally to the current increase in lever speed. oL Its calculation formula is V oL =R V *V oV ;

[0068] When the pile driver enters a low-speed deviation state, the flow rate exceeds the minimum limit (Q). oi <L Q , lever speed exceeding the upper limit state V oV UV V High pole speed deviation state timeout state T Δmax If the set value is reached, a lever speed recovery intervention will be performed;

[0069] Intervention processing for lever speed recovery, due to the current lever speed V oV Manual intervention measures taken when an abnormal condition causes the piling machine to operate in an abnormal state;

[0070] In V oV ∈PE V [Δ min Δ max ] or V oV ∈ (Δ max UV VUnder the condition that the pile driver construction is judged to be in a normal state, the current construction operation continues until the construction operation at the current pile position is completed.

[0071] A system for executing the automatic control method described in any one of the above, comprising a hardware component and a software component. The hardware component includes a front-end intelligent monitoring industrial control host, a back-end grouting and mixing controller, and data acquisition sensors. The back-end grouting and mixing controller automatically controls the segmented constant output of the grouting flow rate through a back-end grouting pump to improve the uniformity of grouting. The data acquisition sensors include a current transmitter, a first flow meter, a second flow meter, a third flow meter, a fourth flow meter, an encoder, an inclinometer, a speed transmitter, and a grouting weighing sensor. The software component includes a mixing pile monitoring system and a data communication system on the front-end intelligent monitoring industrial control host, and a grouting and mixing control system installed on the back-end grouting and mixing controller. The mixing pile monitoring system is used to monitor the construction control parameters of cement mixing piles in real time and analyze the grout volume and grout density, and output a visualized construction record table.

[0072] Current lever speed V oV The data is collected by the encoder and calculated by the front-end intelligent monitoring industrial control host.

[0073] Current speed V oL Data is acquired from a speed transmitter.

[0074] Current traffic Q oi Data was collected by the third and fourth flow meters;

[0075] Current current I o Data acquired by a current transmitter;

[0076] Inclinometer is used to assist in adjusting the verticality of the mixing pile machine frame; slurry weighing sensor sends the collected slurry batching weight data to the background slurry injection controller for precise slurry preparation; first flow meter and second flow meter send the collected pipeline slurry flow data to the background slurry injection controller for precise grouting.

[0077] The beneficial effects of this invention are:

[0078] It can effectively improve the uniformity of mixing during wet spraying pile construction and achieve automated control. When the construction operation deviates from the design state due to changes in strata or operational abnormalities, the system effectively suppresses fluctuations through a multi-parameter coordinated control strategy of flow rate, rotation speed, and rod speed, improving the system's optimization and self-adaptation capabilities. This ensures that the amount of grout in the soil section and the number of point mixing times within the pile body (reinforcement body) meet the design requirements, thereby improving the uniformity of pile quality.

[0079] Furthermore, the automatic control method for improving the uniformity of construction mixing of the present invention can also be applied to other engineering application scenarios related to foundation treatment using cement mixing methods, such as in-situ solidification and high-pressure jet grouting, greatly improving its applicability. Attached Figure Description

[0080] Figure 1 This is a schematic diagram of the control system structure of the present invention;

[0081] Figure 2 This is a flowchart of the control method of the present invention. Detailed Implementation

[0082] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0083] Reference Figure 1 As shown, an embodiment of the automatic control system for improving the uniformity of cement mixing pile construction according to the present invention includes two parts in field application: hardware equipment and software system. The hardware equipment includes a front-end intelligent monitoring industrial control host, a back-end grouting and injection controller, a wireless bridge, and data acquisition sensors. The back-end grouting and injection controller automatically controls the segmented constant output of grouting flow through a back-end grouting pump PLC (programmable logic controller), ensuring the uniformity of grouting. The data acquisition sensors include a current transmitter, flow meter, encoder, inclinometer, speed transmitter, and grouting weighing sensor. The software system includes a mixing pile intelligent monitoring system and data communication system installed on the industrial control host, and a grouting and injection control system installed on the back-end grouting and injection controller. The mixing pile intelligent monitoring system monitors key control parameters of cement mixing pile construction in real time, including: motor current of the rotating rod power box, tilt angle of the mixing pile machine frame, rod sinking / lifting speed (rod speed), rod rotation speed, grouting flow rate, cement admixture, etc., and analyzes the segmented grout volume and grout density in real time through intelligent algorithms, outputting a visualized construction record table.

[0084] Current lever speed V oV The data is collected by the encoder and calculated by the front-end intelligent monitoring industrial control host.

[0085] Current speed V oL Data is acquired from a speed transmitter.

[0086] Current traffic Q oi Data were collected by flow meters 3 and 4;

[0087] Current current I o Data acquired by a current transmitter;

[0088] Inclinometer is used to assist in adjusting the verticality of the mixing pile machine frame; slurry weighing sensor sends the collected slurry batching weight data to the background slurry injection controller for precise slurry preparation; flow meter 1 and flow meter 2 send the collected pipeline slurry flow data to the background slurry injection controller for precise grouting.

[0089] Reference Figure 2 As shown, the automatic control method for improving the mixing uniformity of cement-mixed wet-sprayed piles, specifically implemented according to the present invention, includes the following steps:

[0090] The first step is to calculate design parameters and set construction parameters before construction begins. Based on geological survey data and on-site process tests, the "four-mixing, three-jetting" construction process is determined. The design mixing point for the soil within the pile body (reinforcement body) is the design pile bottom section point, and the number of mixing times for each grouting is no less than 20. The mixing blades are arranged in 6 layers, with 2 layers of inner rotating rods and 4 layers of outer drill rods. All mixing blades are rectangular steel bars, arranged horizontally, with a height of 3cm and a layer spacing of 50cm. Each layer has 2 mixing blades, arranged in a symmetrical "+" shape between the upper and lower layers. The design grouting horizontal-to-vertical ratio R... V =0.75, the design lever speed is uniformly adopted as V V =0.8m / min, the design speed is uniformly adopted as 60r / min; under the design horizontal-to-vertical ratio condition, the number of stirring times m=H×R within the height range of the stirring blades is determined by the stirring point. V =3cm×0.75=2.25 (times); Each time the mixing passes through the designed pile bottom section point within the pile body, the number of mixing blade layers is 2, that is, the drilling depth is 50cm. During construction operation, it must be ensured that the bottom two layers of blades of the mixing head completely penetrate the designed pile bottom section.

[0091] According to the calculation formula:

[0092] C=R V ×H×E×m×n=0.75×3×2×2.25×2=20.25 (times), which meets the design requirements;

[0093] In the formula:

[0094] C—Calculation of the number of mixing times at the design mixing point of the soil within the pile body (reinforcement body);

[0095] R V —Design grouting horizontal-vertical ratio, R V =0.75,

[0096] V L —Design speed, 60 r / min;

[0097] V V —Designed lever speed: 80cm / min;

[0098] H—Height of the inner stirring blades passing through the designed stirring point, which is 3cm;

[0099] E—Number of single-layer stirring blades passing through the designed stirring point: 2;

[0100] m—Under the condition that the horizontal-to-vertical ratio of grouting remains unchanged, the number of times the mixing point is designed within the height range of the mixing blades, 2.25 times;

[0101] n—Number of mixing blade layers passing through the designed mixing point within the pile body for each mixing operation, 2 layers;

[0102] To further clarify, the design mixing point of the soil within the pile body (reinforcement body) is the design pile bottom section point, so that the number of mixing times within the pile body is greater at the top than at the bottom. This ensures that the pile strength is greater at the top than at the bottom while meeting the design requirements, which is consistent with the actual stress state of the pile body under the load at the pile top.

[0103] Step 2: Calculate the design flow rate. The wet density of the foundation soil is calculated as 1800 kg / m³, the design cement content is 20%, the pile diameter is 80 cm, the water-cement ratio is 0.8, and the "four-mixing, three-spraying" process is used. The proportions of the first, second, and third spraying volumes to the total grout volume are 10%, 50%, and 40%, respectively. The cement density is 3.15 g / cm³. The calculation process for each design flow rate is as follows:

[0104] Ash content per linear meter: 3.14 × 0.42 × 1800 kg / m³ × 20% = 180.864 (kg / m);

[0105] Grouting amount per linear meter: 180.864 kg of cement + 180.864 kg of water × 0.8 = 325.555 (kg);

[0106] The volume of grout per linear meter is: water 180.864 kg × 0.8 + cement 180.864 kg ÷ 3.15 g / cm³ = 202.11 (L).

[0107] The amount of shotcrete per linear meter for three applications is as follows: The amount of shotcrete for the first application is 202.11 × 10% = 20.21 (L).

[0108] The second shotcrete volume is 202.11 × 50% = 101.06 (L);

[0109] The third shotcrete volume was 202.11 × 10% = 80.84 (L).

[0110] Three-stage design flow: First Q d1 =20.21×0.8=16.17(L / min);

[0111] Second Q d2=101.06×0.8=80.85 (L / min);

[0112] Third Q d3 =80.84×0.8=64.6 (L / min);

[0113] Step 3: Configure standard parameters on the front-end intelligent monitoring industrial control host:

[0114] Design lever speed V V =80cm / min, the allowable deviation is controlled at 2%, i.e., PE V =[Δ min Δ max [78.4, 81.6] cm / min, the maximum limit of the lever speed is controlled at 10% above the design lever speed, i.e., UV V =80×(1+10%)=88cm / min;

[0115] Design speed V L =60r / min, the allowable deviation is controlled at 2%, i.e., PE L =[ε min , ε max [58.8, 61.2] r / min, minimum speed limit LV L Based on the experience gained from the process test piles, the speed should be controlled at 15 r / min.

[0116] Design flow Q di The allowable deviation is controlled at 2%, and the allowable deviations for the three current flow rates are as follows:

[0117] Q d1 =16.17L / min, corresponding to PE Q1 =[ζ min , ζ max ] = [15.84, 16.49] L / min;

[0118] Q d2 =80.85L / min, corresponding to PE Q2 =[ζ min , ζ max ] = [79.23, 82.47] L / min;

[0119] Q d3 =64.67L / min, corresponding to PE Q3 =[ζ min , ζ max ]=[63.38, 65.97]L / min;

[0120] Taking into account the maximum and minimum values ​​of the three design flow rates, and ensuring a reasonable range of variation in the flow meter readings within the measurement range, a minimum limiting flow rate L is set. Q =8L / min;

[0121] The data acquisition sampling period is set to 1 second;

[0122] Rated current I of the stirring motor n =264A, the instantaneous current limit I is set based on field process test experience. ! =300A.

[0123] Step 4: After the pile driver starts construction at the current pile location, the front-end intelligent monitoring control host continuously monitors the current pole speed V. oV Current speed V oL Current traffic Q oi Current current I o ;

[0124] Step 5: Determine the current I o Is it in [I] n I ! Within the range of [264, 300]A;

[0125] If I o n If the value is 264A, then the condition is normal, and the current construction work should continue according to the design specifications.

[0126] If I o ∈ [I] n I ! If ] = [264,300]A, then a high current state is determined, and the high current duration T is further determined. In Judgment: If T In If the time is ≤5 minutes, it is considered a normal state, and the current construction work continues; if T In If the time exceeds 5 minutes, it is determined that the high current deviation is in effect, and the current is downgraded and a warning is issued.

[0127] The downshifting process described above uses an equal-proportional method. The adjustment ratio can be a fixed value, such as 10%, which is 10% of the design lever speed and design rotation speed. The adjustment method is as follows:

[0128] During grouting, maintain the horizontal-to-vertical ratio R of the grouting process. V Assuming T remains unchanged, when T In When the time exceeds 5 minutes, the current rotational speed V will be reduced synchronously by 10%. oL and current lever speed V oV That is, the current rotational speed V oL Reduced to 60 × (1 - 10%) = 54 r / min, current lever speed V oV ​Reduced to 80 × (1 - 10%) = 72 cm / min;

[0129] Automatic flow reduction is implemented, i.e., at the current lever speed V. oV When the flow rate is reduced to 72 cm / min, the current flow rate Q is reduced proportionally while keeping the designed ash content unchanged. oi Its calculation formula is Q oi =Q di × That is, the current flow Q three times oi Reduced to:

[0130] Q o1 =16.17×(1-10%)=14.55(L / min);

[0131] Q o2 =80.85×(1-10%)=72.76(L / min);

[0132] Q o3 =64.67×(1-10%)=58.20 (L / min);

[0133] Jump to step 5 and re-evaluate I. o Is it in [I] n I ! Within the specified range, and follow the original procedure for subsequent processing;

[0134] If I o >I ! =300A, then the current is judged to be in an over-limit state, and the duration T of the over-limit state is further determined. I！ Judgment: If T I！ If the time is less than 5 seconds, press I to proceed. o ∈ [I] n I ! [264, 300] Conditional execution high current state duration T In judge;

[0135] If T I！ If the current deviates from the state (e.g., 5s, 30s), then the current is downgraded and a warning is issued. The downgrade process is the same as the aforementioned downgrade process.

[0136] After downshifting, the piling machine enters a low-current downshifting state, and the duration T of this low-current downshifting state is further measured. Qo Determine if T Qo If the timeout exceeds 5 minutes, it is determined that the low current downshift state has exceeded the timeout period, and the upshift process is initiated, along with a warning.

[0137] The above-mentioned upshifting process uses a fixed value method, and the adjustment method is as follows:

[0138] When the current is reduced to a lower setting, while maintaining the horizontal-to-vertical grouting ratio R... V Assuming T remains unchanged, when T Qo After 5 minutes, the system returns to its state before the most recent downshift, and the current engine speed V is increased simultaneously. oL Up to 60 r / min, current lever speed V oV Up to 80 cm / min;

[0139] Simultaneously, automatic flow rate increase processing is performed, i.e., at the current lever speed V. oV When the flow rate is increased to 80 cm / min, the current flow rate Q is increased proportionally for the three consecutive times while keeping the designed ash content unchanged. oi :

[0140] Q o1 The flow rate recovered from 14.55 L / min to 16.17 L / min;

[0141] Q o2 The flow rate recovered from 72.76 L / min to 80.85 L / min;

[0142] Q o3 The flow rate recovered from 58.20 L / min to 64.67 L / min;

[0143] Jump to step 5 and re-evaluate I. o Is it in [I] n I ! Within the range of [264, 300]A, and perform subsequent processing according to the original procedure;

[0144] If T I！ If the current exceeds the limit for more than 30 seconds, the system will determine that the current is in a dangerous state and will cut off the power and issue a warning.

[0145] The aforementioned power outage procedure involves cutting off the power supply to both the mixing motor and the winch motor for raising and lowering the drill rod.

[0146] Step 6: Continue the current construction process and continuously check the current flow rate Q three times. oi Is it within the design flow Q? di Permissible deviation PE Q [ζ] min , ζ max Within the range; based on the second current flow Q o2 Is it within the design flow Q? d2 =80.85L / min corresponds to PE Q2 =[ζ min , ζ max Let's take [79.23, 82.47] L / min as an example for explanation:

[0147] When Q o2 = 80.91 ∈ PE q [ζ min ,ζ max = [79.23, 82.47] L / min, it is judged as the normal state and the current construction operation is continued;

[0148] When Q o2 = 75.26 ∈ [L Q ,ζ min ) = [8, 79.23) L / min, it is judged as the low - flow deviation state, the rod speed is automatically reduced, and a warning is processed;

[0149] The above - mentioned automatic reduction of the rod speed is to reduce the current rod speed V in the same proportion as the current flow reduction degree on the premise of keeping the designed ash - mixing amount unchanged oV , and its calculation formula is V oV = V V × = 80 × = 74.47 cm / min. After the automatic reduction of the rod speed, the pile driver enters the low - flow and low - rod - speed operation state;

[0150] Furthermore, after the rod speed is automatically reduced to 74.47 cm / min, the current rotation speed is still V oL = 60 r / min;

[0151] When Q o2 = 6 < L Q = 8 L / min, it is judged as the ultra - low - flow limit state, the automatic reduction of the rod speed is stopped, and a warning is processed;

[0152] When Q o2 = 84.60 > 82.47 L / min, it is judged as the ultra - high - flow limit state, the current construction operation is continued, and a warning is processed;

[0153] When the pile driver enters the low - flow and low - rod - speed operation state, Q o2 < LQ = 8 L / min ultra - low - flow limit state, Q o2 > 82.47 L / min ultra - high - flow limit state, a flow - recovery intervention is carried out;

[0154] The flow - recovery intervention refers to the manual intervention behavior taken when the current flow Q oi appears in an abnormal state, resulting in the pile driver being in an abnormal state during construction, which may bring adverse effects such as uneven grouting and mixing, and increased costs;

[0155] Step 7. During the continuation of the current construction operation, continuously judge the current rotation speed V during grouting oLIs it at the design speed V? L Permissible deviation PE L [ε] min , ε max Within the range of [58.8, 61.2] r / min;

[0156] When V oL =59.7∈PE L [ε] min , ε max If the value is [58.8, 61.2] r / min, then the condition is considered normal, and the current construction operation continues;

[0157] When V oL =52.4∈[LV L , ε min If the speed is 15, 58.8 r / min, then the low-speed deviation is determined, and the grouting horizontal-vertical ratio R is used as the basis for the determination. V The lever speed is automatically reduced to 0.75, and a warning is issued.

[0158] The above is based on the horizontal-vertical ratio R of grouting. V Automatic reduction of lever speed at 0.75 refers to the current rotational speed V. oL When the speed is reduced by 52.4 r / min, the horizontal-to-vertical grouting ratio R is maintained. V With the value remaining constant at 0.75, the current lever speed V is reduced proportionally to the decrease in current rotational speed. oV Its calculation formula is V V = = =69.87 r / min; Current lever speed V oV After being lowered, the pile driver enters a low-speed, low-pole-speed operating state;

[0159] When V oL =12.6 <LV L =15r / min, then the rotation speed is judged to be below the low limit, and the grouting horizontal-vertical ratio R is stopped. V The lever speed is automatically reduced to 0.75, and a warning is issued.

[0160] When V oL =63.3>ε max If the speed is 61.2 r / min, it is determined that the speed is above the limit. Continue the current construction operation and issue a warning.

[0161] When the piling machine enters a low-speed, low-pole-speed operating state, V oL <LV L =15r / min speed below the limit, V oL >ε maxIf the speed exceeds the limit of 61.2 r / min, speed recovery intervention will be performed.

[0162] Speed ​​recovery intervention refers to the intervention caused by the current speed V oL When an abnormal condition occurs, causing the piling machine to operate in an abnormal state, which may lead to adverse effects such as uneven grouting, uneven mixing, and increased costs, manual intervention is taken.

[0163] Step 8: Continue the current construction operation, and after the pile driver enters a low-speed, low-rod-speed operating state, continuously judge the current rod speed V. oV Is it at the design lever speed V? V Permissible deviation PE V [Δ min Δ max Within the range of [78.4, 81.6] cm / min;

[0164] When V oV =80.5∈PE V [Δ min Δ max If the flow rate is [78.4, 81.6] cm / min, then the condition is considered normal, and the current construction work continues;

[0165] When V oV =70.8<Δ min =78.4cm / min, then it is determined that the low rod speed is deviating from the state, and it is necessary to automatically reduce the flow rate and issue a warning.

[0166] The automatic flow reduction process is the same as defined in step five, namely: at the current lever speed V oV When the flow rate is reduced to 70.8 cm / min, the current flow rate Q is reduced proportionally while keeping the designed ash content unchanged. o2 Its calculation formula is Q o2 =Q d2 × =80.85× =71.55L / min;

[0167] After the flow rate automatically decreases to 71.55 L / min, the piling machine enters a low rod speed and low flow rate operation state.

[0168] Then, the minimum flow limit L is applied. Q =8L / min, when Q o ≥L Q =8L / min, then the pile driver will continue to operate in a low pole speed and low flow rate state;

[0169] When V oV =84.6∈(Δ max UVV If ] = (81.6, 88], then determine the high pole speed deviation state and perform a duration T. Δmax judge:

[0170] When V oV =84.6cm / min duration T Δmax If 17 ≤ 30 s, it is judged as a normal state, and the flow rate and speed will be automatically increased, and a warning will be issued.

[0171] The above-mentioned automatic flow rate increase processing, that is, at the current lever speed V oV When the flow rate increases to 84.6 cm / min, the current flow rate Q is increased proportionally while keeping the designed ash content unchanged. o2 Its calculation formula is Q o2 =Q d2 × = 80.85× =85.5L / min;

[0172] Automatic speed increase processing refers to the current lever speed V. oV When the flow rate increases to 84.6 cm / min, while maintaining the horizontal-to-vertical grouting ratio R... V With the value remaining constant at 0.75, the current rotational speed V is increased proportionally to the increase in current lever speed. oL Its calculation formula is V oL =RV×Vov=0.75×84.6=63.45r / min;

[0173] When V oV =84.6cm / min Duration T Δmax If 40 > 30s, the high-speed rod is judged to have deviated from the timeout state, and the flow rate and speed are automatically increased, and a warning is issued; the automatic increase of flow rate and speed is related to T. Δmax The handling method for the state =17≤30s is the same;

[0174] When V oV =90>UV V =88cm / min, then the pole speed is judged to be in the state of exceeding the height limit, according to the maximum pole speed limit UV. V =88cm / min standard execution, stop flow rate, automatically increase speed and issue a warning; according to the maximum limit UV of the lever speed. V =88cm / min standard execution, refers to UV... V =88cm / min standard, automatically increase flow rate and rotation speed;

[0175] According to UV V =88cm / min standard for automatic flow rate increase processing, that is, at the current lever speed V oVWhen the flow rate is increased to 88 cm / min, the current flow rate Q is increased proportionally while keeping the designed ash content unchanged. o2 Its calculation formula is Q o2 =Q d2 × =80.85× =88.94L / min;

[0176] According to UV V =88cm / min standard for automatic speed increase processing, referring to the current lever speed V oV When the flow rate is increased to 88 cm / min, while maintaining the horizontal-to-vertical grouting ratio R... V With the value remaining constant at 0.75, the current rotational speed V is increased proportionally to the increase in current lever speed. oL Its calculation formula is V oL =R V ×V oV =0.75×88=66r / min;

[0177] When the pile driver enters a low-speed deviation state, the flow rate exceeds the minimum limit (Q). o2 <L Q , lever speed exceeding the upper limit state V oV UV V High pole speed deviation state timeout state T Δmax If the time exceeds 30 seconds, a lever speed recovery intervention will be performed.

[0178] Pole speed recovery intervention refers to the intervention caused by the current pole speed V. oV When an abnormal state occurs, causing the piling machine to operate in an abnormal state, which may lead to adverse effects such as uneven grouting, uneven mixing, and increased current, manual intervention is taken.

[0179] In V oV ∈PE V [Δ min Δ max ] or V oV ∈ (Δ max UV V Under these conditions, if the piling machine is judged to be in a normal operating state, the current construction operation will continue until the construction operation at the current pile location is completed.

[0180] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. An automatic control method for improving the mixing uniformity during cement mixing pile construction, characterized in that, Includes the following steps: The first step is to determine the design mixing points, mixing times, and pile driver mixing blade arrangement for the soil within the pile body area, and to design the grouting horizontal-to-vertical ratio R. V Calculate and determine the design rod speed V V Design speed V L ; Step 2: Calculate and determine the design flow rate Q for each step. di ; The third step is to set standard parameters, including the design lever speed V. V Permissible deviation range, maximum limit UV V Design speed V L Permissible deviation range, minimum limit LV L Design flow Q di Permissible deviation range, minimum flow rate L Q Data acquisition sampling period, rated current I n and instantaneous current limit I ! ; Step 4: Begin pile driving operations at the current pile location and continuously monitor the current pole speed V. oV Current speed V oL Current traffic Q oi Current current I o ; Step 5: Determine the current I o Is it in [I] n I ! Within the specified range: if less than, continue the current construction work according to the design specifications; if at or greater than, execute the current judgment and handling procedure. Step 6: While continuing the current construction work, continuously determine the current flow rate Q. oi Is it within the design flow Q? di Permissible deviation PE Q [ζ] min , ζ max Within the specified range: If it is within the range, then continue the current construction work; If the value is less than the specified value, the lever speed will be automatically reduced. Step 7: While continuing the current construction work, continuously judge the current rotation speed V during grouting. oL Is it at the design speed V? L Permissible deviation PE L [ε] min , ε max Within the range: if it is within the range, continue the current construction work; if it is less than the range, proceed based on the grouting horizontal-vertical ratio R. V Automatic reduction of lever speed; Step 8: While continuing the current construction operation, and after the pile driver enters a low-speed, low-rod-speed operating state, continuously judge the current rod speed V. oV Is it at the design lever speed V? V Permissible deviation PE V [Δ min Δ max Within the specified range: if it is within the range, continue the current construction work; if it is less than the range, automatically reduce the flow rate. Continue until the construction at the current pile location is completed.

2. The automatic control method for improving the mixing uniformity in cement mixing pile construction as described in claim 1, characterized in that, In the first step, the calculation formula is: C=R V ×H×E×m×n; In the formula: C represents the number of times the soil within the pile body is mixed at the design mixing point; R V To design the horizontal-to-vertical ratio of the grouting, R V = , where: V L Design speed, unit is r / min; V v The design rod speed is expressed in cm / min; H is the height of the mixing blades passing through the design mixing point in cm; E is the number of single-layer mixing blades passing through the design mixing point; m is the number of mixing cycles within the mixing blade height range at the design mixing point, assuming the grouting horizontal-to-vertical ratio remains constant, m = H × R. V n represents the number of mixing blade layers at the designed mixing point within the pile body for each mixing operation.

3. The automatic control method for improving the mixing uniformity of cement mixing pile construction as described in claim 1, characterized in that, In the second step, based on the wet density of the foundation soil, the amount of lime added, the water-cement ratio, the pile diameter, the construction technology, the number of mixing cycles, and the designed grouting horizontal-vertical ratio R... V Design lever speed V V Design speed V L Calculate and determine the design flow rate Q for each time. di .

4. The automatic control method for improving the mixing uniformity of cement mixing pile construction as described in claim 1, characterized in that, In the third step, design the lever speed V. V The allowable deviation range is PE V [Δ min Δ max Design speed V L The allowable deviation range is PE L [ε] min , ε max Design flow rate Q di The allowable deviation range is PE Q [ζ] min , ζ max ] .

5. The automatic control method for improving the mixing uniformity of cement mixing pile construction as described in claim 1, characterized in that, In step five: If I o n If the condition is normal, then continue the current construction work according to the design specifications.​ If I o ∈ [I] n I ! If the signal is detected, it is determined to be a high current state, and high current detection and handling are performed. If I o >I ! If the current exceeds the limit, then the current exceeds the limit status is determined and the current exceeds the limit judgment and handling is performed; During the high current detection and handling process, the duration T of the high current state is recorded. In Judgment: If T In If T ≤ the set value, then the situation is considered normal, and the current construction work continues; if T In If the set value is reached, a high current deviation will be detected, the current level will be downgraded, and a warning will be issued. Current exceeding the limit judgment and handling: Perform current exceeding the limit state for duration T I! Determine if T I！ If the value is less than the set value, press I to jump to the next page. o ∈ [I] n I ! The duration of the high-current condition is T. In Determine if T I！ If ∈ [set value min, set value max], then a high current deviation state is determined, the current is downgraded, and a warning is issued; After downgrading, the piling machine enters a low-current downgrading state, which lasts for a duration of T. Qo Determine if T Qo If the set value is exceeded, the low current downshift state will be timed out, the upshift will be initiated, and a warning will be issued.

6. The automatic control method for improving the mixing uniformity in cement mixing pile construction as described in claim 5, characterized in that, Downgrading is handled using an equal percentage method, and the adjustment method is as follows: During grouting, maintain the horizontal-to-vertical ratio R of the grouting process. V Assuming T remains unchanged, when T In >Set value, reduce the current speed V synchronously according to the adjustment ratio. oL and current lever speed V oV ; Simultaneously, automatic flow reduction is performed, i.e., at the current lever speed V. oV When reducing, while keeping the designed ash content unchanged, the current rod speed V is used. oV Adjust the ratio to simultaneously reduce the current traffic Q oi Its calculation formula is Q oi =Q di × ; Reassess I after adjustment o Is it in [I] n I ! Within the specified range, and perform subsequent processing; Upshifting is handled using a fixed-value method, and the adjustment method is as follows: When the current is reduced to a lower setting, while maintaining the horizontal-to-vertical grouting ratio R... V Assuming T remains unchanged, when T Qo When the set value is reached, the current speed V increases synchronously. oL Current lever speed V ov State before the most recent downshift; Simultaneously, automatic flow rate increase processing is performed, i.e., at the current lever speed V. oV When increasing the flow rate, the current flow rate Q is increased proportionally while maintaining the designed ash content unchanged. oi Its calculation formula is Q oi =Q di × ; If T I！ If the set value is reached, the system will determine that the current is in a dangerous state of exceeding the limit, and will perform a power-off operation and issue a warning. The power-off operation involves cutting off the power supply to the mixing motor and the winch motor for lifting the drill rod.

7. The automatic control method for improving the mixing uniformity of cement mixing pile construction as described in claim 1, characterized in that, In step six: If Q oi ∈PE Q [ζ] min , ζ max If the condition is normal, the current construction work can continue. If Q oi ∈ [L] Q , ζ min If the low flow rate is detected, the lever speed will be automatically reduced, and a warning will be issued. The automatic reduction of lever speed is implemented to reduce the current lever speed V proportionally to the current flow rate reduction while maintaining the designed ash content unchanged. oV Its calculation formula is V oV =V V × After the automatic reduction of the rod speed, the pile driver enters a low-flow, low-rod-speed state. When the lever speed is automatically reduced, the current rotational speed V is not changed. oL ; If Q oi <L Q If the flow rate is found to be below the minimum limit, the automatic reduction of the lever speed will be stopped, and a warning will be issued. If Q o >ζ max If the flow rate exceeds the limit, the current construction work will continue, and a warning will be issued. When the piling machine enters a low flow, low rod speed state, Q o <L Q Low traffic status, Q o >ζ max If the traffic exceeds the limit, perform traffic recovery intervention. Traffic recovery intervention processing, for the current traffic Q oi The manual intervention measures taken when the pile driver is in an abnormal state during construction due to an abnormal condition.

8. The automatic control method for improving the mixing uniformity of cement mixing pile construction as described in claim 1, characterized in that, In step seven: If V oL ∈PE L [ε] min , ε max If the condition is normal, the current construction work can continue. If V oL ∈ [LV] L , ε min If the low-speed deviation is determined, the grouting horizontal-vertical ratio R is used as the basis for the determination. V The lever speed is automatically reduced, and a warning is issued. Based on the horizontal-vertical ratio R of grouting V The lever speed is automatically reduced to the current rotational speed V. oL When lowering, while maintaining the grouting horizontal-to-vertical ratio R V Under the premise of not changing, reduce the current lever speed V proportionally to the current reduction in rotational speed. oV The calculation formula is V oV = Current lever speed V oV After being lowered, the pile driver enters a low-speed, low-pole-speed operating state; If V oL <LV L If the rotational speed is determined to be below the minimum limit, the grouting operation will be stopped based on the horizontal-to-vertical ratio R. V The lever speed is automatically reduced, and a warning is issued. If V oL >ε max If the speed exceeds the limit, the current construction work will continue, and a warning will be issued. When the piling machine enters a low-speed, low-pole-speed operating state, V oL <LV L Extremely low speed, V oL >ε max If the engine speed exceeds the maximum limit, speed recovery intervention will be performed. Speed ​​recovery intervention is performed because of the current speed V. oL The manual intervention measures taken when the pile driver is in an abnormal state during construction due to an abnormal condition.

9. The automatic control method for improving the mixing uniformity of cement mixing pile construction as described in claim 1, characterized in that, In step eight: If V oV ∈PE V [Δ min Δ max If the condition is normal, continue the current construction work; If V oV <Δ min If the low pole speed is deviated, the flow rate needs to be automatically reduced and a warning should be issued. After the automatic flow reduction process, the piling machine enters a low-speed, low-flow operation state, and then the minimum flow limit L is applied. Q Determine if Q o <L Q If the flow rate is below the minimum limit, then maintain the current L. Q The flow rate remains constant; if the flow rate stops, the processing speed will automatically decrease. If V oV ∈ (Δ max UV V If the pole speed deviates from the target state, then the duration of the high pole speed deviance state is determined as T. Δmax Judgment: If T Δmax If T ≤ the set value, it is considered a normal state, and the flow rate and speed will be automatically increased, and a warning will be issued; if T Δmax If the set value is reached, it will be determined that the high-speed rod deviates from the timeout state, and the flow rate and speed will be automatically increased, and a warning will be issued. Automatic flow rate increase processing, i.e., at the current lever speed V oV When increasing the flow rate, the current flow rate Q is increased proportionally while maintaining the designed ash content unchanged. oi Its calculation formula is Q oi =Q di × ; Automatic speed increase processing, i.e., at the current lever speed V oV When raising the height, while maintaining the horizontal-to-vertical grouting ratio R... V Under the premise of keeping the current speed unchanged, increase the current rotational speed V proportionally to the current increase in lever speed. oL Its calculation formula is V oL =R V ×V oV ; If V oV UV V If the lever speed exceeds the limit, then the lever speed is determined to be above the maximum limit (UV). V Standard execution, automatic increase in flow rate and rotation speed, and warning response; based on the maximum limit UV of lever speed. V Standard execution, based on the maximum limit UV of lever speed. V The standard automatically increases the flow rate and rotation speed. According to the maximum limit of lever speed UV V The standard automatically increases the flow rate, i.e., at the current lever speed V. oV Increase to UV V At the same time, while keeping the designed ash content unchanged, the current flow rate Q is increased proportionally. oi Its calculation formula is Q oi =Q di × ; According to the maximum limit of lever speed UV V The standard automatically increases the rotational speed to the current lever speed V. oV Increase to UV V At the same time, while maintaining the horizontal-to-vertical ratio R of the grouting V Under the premise of keeping the current speed unchanged, increase the current rotational speed V proportionally to the current increase in lever speed. oL Its calculation formula is V oL =R V *V oV ; When the pile driver enters a low-speed deviation state, the flow rate exceeds the minimum limit (Q). oi <L Q , lever speed exceeding the upper limit state V oV UV V High pole speed deviation state timeout state T Δmax If the set value is reached, a lever speed recovery intervention will be performed; Intervention processing for lever speed recovery, due to the current lever speed V oV Manual intervention measures taken when an abnormal condition causes the piling machine to operate in an abnormal state; In V oV ∈PE V [Δ min Δ max ] or V oV ∈ (Δ max UV V Under the condition that the pile driver construction is judged to be in a normal state, the current construction operation continues until the construction operation at the current pile position is completed.

10. A system for improving the uniformity of mixing during cement mixing pile construction, characterized in that, The automatic control method for executing any one of claims 1-9 comprises a hardware component and a software component. The hardware component includes a front-end intelligent monitoring industrial control host, a back-end grouting and mixing controller, and data acquisition sensors. The back-end grouting and mixing controller automatically controls the segmented constant output of the grouting flow rate through a back-end grouting pump to improve the uniformity of grouting. The data acquisition sensors include a current transmitter, a first flow meter, a second flow meter, a third flow meter, a fourth flow meter, an encoder, an inclinometer, a speed transmitter, and a grouting weighing sensor. The software component includes a mixing pile monitoring system and a data communication system on the front-end intelligent monitoring industrial control host, and a grouting and mixing control system installed on the back-end grouting and mixing controller. The mixing pile monitoring system is used to monitor the construction control parameters of the cement mixing pile in real time and analyze the grout volume and density, and output a visualized construction record table. Current lever speed V oV The data is collected by the encoder and calculated by the front-end intelligent monitoring industrial control host. Current speed V oL Data is acquired from a speed transmitter. Current traffic Q oi Data was collected by the third and fourth flow meters; Current current I o Data acquired by a current transmitter; Inclinometer is used to assist in adjusting the verticality of the mixing pile machine frame; slurry weighing sensor sends the collected slurry batching weight data to the background slurry injection controller for precise slurry preparation; first flow meter and second flow meter send the collected pipeline slurry flow data to the background slurry injection controller for precise grouting.

Images