Distributed grouting process regulation method and system, and storage medium

Abstract

This application relates to a distributed grouting process control method, system, and storage medium, belonging to the field of grouting control technology. The method includes: acquiring first grouting state parameters of multiple grouting pipelines; the multiple grouting pipelines include a grouting main trunk and multiple grouting branches; determining the resistance matrix of the first branch and the grouting front position based on the first grouting state parameters; constructing a multi-point resistance topology model based on the mapping relationship between the first branch resistance matrix and the grouting front position; generating an initial flow direction gradient vector based on the multi-point resistance topology model, determining an equilibrium correction coefficient, and correcting the initial flow direction gradient vector according to the equilibrium correction coefficient to obtain a target flow direction gradient vector; and proportionally distributing the total flow of the grouting main trunk to the multiple grouting branches based on the target flow direction gradient vector to obtain the target valve opening value of each grouting branch, so as to determine the target adjustment command of each grouting branch according to the target valve opening value.

Description

Technical Field

[0001] This application relates to the field of grouting control technology, and in particular to a method, system and storage medium for controlling distributed grouting processes. Background Technology

[0002] During coal mining, disasters such as floor water damage and roof collapse occur frequently, and grouting technology is an effective means to cope with these disasters. Traditional coal mine grouting systems mostly adopt centralized grout preparation on the ground and transport it underground through long-distance pipelines. This has problems such as high pipeline resistance, easy blockage, and serious waste of grout. In addition, the automation level of underground grout preparation is low, and dust can also harm the health of workers. By using an integrated distributed grouting method that combines the ground grout preparation station with vertical boreholes, the grout delivery path is shortened, and pipeline resistance and the risk of blockage are reduced. However, since the goaf formed after coal seam extraction is divided into three layers—the caving zone, the compaction zone, and the fracture zone—with significant differences in the void structure of each layer, the current grouting control strategy treats the goaf as a single cavity and adopts an overall grouting method based on the total flow rate and total pressure difference of the main pipe. This makes it difficult to identify in real time the local resistance changes caused by the different void structures in each branch pipeline. Therefore, it is impossible to dynamically capture the resistance and flow direction information of each branch and accurately allocate the grouting volume. This causes the grout to preferentially flow into the low-resistivity fracture network, resulting in leakage. Meanwhile, the high-resistivity occluded bags cannot be effectively grouted for a long time, making it difficult to achieve balanced filling of the three layers of the goaf structure. As a result, residual cavity air leakage and settlement problems occur repeatedly, leading to a significant decline in filling efficiency and forcing a longer treatment cycle. Summary of the Invention

[0003] This invention provides a method, system, and storage medium for controlling a distributed grouting process, to at least solve the problem of uneven filling of the three-layer structure in the goaf due to the difficulty in dynamically capturing the resistance and flow direction information of each branch, resulting in low filling efficiency and long treatment cycle. The technical solution of this invention is as follows: According to a first aspect of the present invention, a distributed grouting process control method is provided. The method includes: collecting first grouting state parameters of multiple grouting pipelines; the multiple grouting pipelines include a grouting main trunk and multiple grouting branches; determining a first branch resistance matrix and a grouting front position based on the first grouting state parameters; the grouting front position characterizes the coordinate position information of the grout front at each level in the goaf; each level in the goaf includes a caving zone, a compaction zone, and a fracture zone; constructing a multi-point resistance topology model based on the mapping relationship between the first branch resistance matrix and the grouting front position; determining an equilibrium correction coefficient based on an initial flow direction gradient vector generated by the multi-point resistance topology model, and correcting the initial flow direction gradient vector according to the equilibrium correction coefficient to obtain a target flow direction gradient vector; the target flow direction gradient vector characterizes the flow trend and intensity of grout injected into the goaf; and proportionally distributing the total flow of the grouting main trunk to multiple grouting branches based on the target flow direction gradient vector to obtain a target valve opening value for each grouting branch, so as to determine a target adjustment command for each grouting branch according to the target valve opening value.

[0004] As one implementation method, the second grouting state parameters of multiple grouting branches are determined after the target adjustment command is executed; the second grouting state parameters are compared with the first grouting state parameters to determine multiple grouting state changes; the multiple grouting state changes include the Euclidean norm of the difference matrix, the change in the coordinates of the grouting front, and the instantaneous flow rate value of each grouting branch; if multiple grouting state changes are detected to simultaneously meet preset termination conditions, the target valve opening value is determined to be the termination opening value; the termination conditions include the Euclidean norm of the difference matrix being less than a preset convergence threshold, the change in the coordinates of the grouting front being less than a preset spatial threshold, and the instantaneous flow rate value of each grouting branch being less than the saturation flow rate threshold.

[0005] In this implementation, the changes in state parameters before and after executing the adjustment command are compared to comprehensively determine whether the grouting process has reached the expected endpoint. Because the internal structure of the goaf includes collapse zones, fracture zones, and compaction zones, it is highly heterogeneous, and phenomena such as localized preferential filling, bypassing, and seepage may occur during the grouting process. Single indicators are easily affected by local anomalies. By introducing a multi-parameter fusion termination condition, the problem of unreliable single-indicator criteria is solved, and a scientific determination of the grouting endpoint is achieved.

[0006] As one implementation method, if multiple grouting state changes are detected not simultaneously meeting the preset termination condition, the current valve opening value is determined based on the second grouting state parameter corresponding to the target adjustment command; the current adjustment command is determined based on the current valve opening value; the actual grouting state parameters of multiple grouting branches after execution according to the second adjustment command are determined; the actual grouting state parameters are compared with the second grouting state parameters corresponding to the previous adjustment to determine the current grouting state change; until the current grouting state change is detected to simultaneously meet the preset termination condition, the current valve opening value corresponding to the actual grouting state parameter is determined as the termination opening value.

[0007] In this implementation, due to the complex and variable geological conditions of the goaf, such as local collapse and fissure closure, a single adjustment may not achieve the expected results. Through continuous iteration, the system gradually approaches the true optimal state. Each iteration uses the latest state as a benchmark to calculate new changes until all parameters simultaneously meet the termination conditions. Furthermore, the system can automatically adjust the next instruction based on the actual feedback after each adjustment, forming a complete closed loop of perception-decision-execution-re-perception. This gradual adjustment avoids large fluctuations or over-adjustment, allowing control quantities such as valve opening and flow distribution to smoothly approach the optimal value. This is beneficial to system stability and formation safety, thereby achieving precise, stable, and automated control of the entire grouting process and providing complete data support for process traceability and quality assessment.

[0008] As one implementation method, the first grouting state parameters include the first instantaneous pressure value, the first instantaneous flow rate value, and the coordinates of the first grouting front.

[0009] Based on the first grouting state parameters, the resistance matrix of the first branch and the position of the grouting front are determined, including: determining the resistance values ​​of multiple grouting branches based on the first instantaneous pressure value and the first instantaneous flow rate value, and generating the resistance matrix of the first branch; and determining the vertical height of multiple grouting branches based on the coordinates of the first grouting front; and determining the position of the grouting front based on the vertical height; wherein the grouting front position in the bottom range of the vertical height is located in the collapse zone, the grouting front position in the middle range is located in the compaction zone, and the grouting front position in the upper range is located in the fracture zone.

[0010] In this implementation, the complex three-layer void structure of the goaf—the collapse zone, the compaction zone, and the fracture zone—is fully considered. The traditional approach of treating the goaf as a single cavity is abandoned. Based on this, a multi-point resistance topology is constructed to accurately capture the resistance differences in each region, significantly reduce the coverage differences in the integrity of filling at different levels, and completely eliminate the phenomenon of uneven flow field.

[0011] As one implementation method, based on a multi-point resistance topology model, an initial flow direction gradient vector is generated, and the equilibrium correction coefficient is determined. This includes: determining the preset flow direction and preset flow time based on the initial flow direction gradient vector; determining the flow direction misalignment amplitude based on the deviation between the actual flow direction monitored in real time and the preset flow direction; assessing the impact of resistance changes on flow delay based on the preset flow time and determining the impedance time delay ratio; and generating the equilibrium correction coefficient based on the flow direction misalignment amplitude and the impedance time delay ratio.

[0012] In this implementation, the dual characteristics of flow direction misalignment amplitude and time delay ratio are integrated to combine the static characteristics of geology with the dynamic deviation of real-time monitoring. After a nonlinear diagnostic model, a precise correction weight coefficient is generated to achieve forward-looking control of the flow rate of branch pipelines. This effectively curbs the risk of pipeline leakage and blockage, reduces the frequency of equipment maintenance, and shortens the grouting operation cycle, thereby achieving a two-way improvement in grouting efficiency and safety.

[0013] As one implementation method, based on the target flow direction gradient vector, the total flow rate of the grouting main trunk is proportionally distributed to multiple grouting branches to obtain the target valve opening value of each grouting branch. This includes: determining the proportion of the flow direction gradient component according to the target flow direction gradient vector; distributing the total flow rate of the grouting main trunk to multiple grouting branches according to the proportion of the flow direction gradient component to determine the target flow rate of each grouting branch; and determining the target valve opening value according to the target flow rate and the preset valve flow coefficient of each grouting branch.

[0014] In this implementation, the proportion of the total flow rate that each branch should bear is clearly defined by the proportion of the flow gradient components. This provides a clear and quantifiable basis for subsequent flow rate allocation and avoids mutual interference between multiple pipelines. Thus, while ensuring a constant total flow rate in the grouting main branch, the flow rate of each grouting branch is allocated on demand.

[0015] As one implementation method, the target adjustment command includes increasing the opening, decreasing the opening, or maintaining the current opening; based on the target valve opening value, the target adjustment command for each grouting branch is determined, including: determining the current opening of each grouting branch; comparing the current opening with the target valve opening value to determine the target adjustment command.

[0016] As one implementation method, the second grouting state parameters include the second instantaneous pressure value, the second instantaneous flow rate value, and the coordinates of the second grouting front.

[0017] The second grouting state parameters are compared with the first grouting state parameters to determine various grouting state changes, including: determining the second branch resistance matrix based on the second instantaneous pressure value and the second instantaneous flow rate value; determining the Euclidean norm of the difference matrix based on the differences between each element of the second branch resistance matrix and the first branch resistance matrix, comparing the Euclidean norm with a preset convergence threshold to determine the matrix convergence state; and determining the change in grouting front coordinates based on the spatial change between the second grouting front coordinates and the first grouting front coordinates.

[0018] According to a second aspect of the present invention, a distributed grouting process control system is provided, the distributed grouting process control system comprising: The data acquisition module is configured to collect the first grouting state parameters of multiple grouting pipelines. These multiple grouting pipelines include a grouting main trunk and multiple grouting branches. Based on the first grouting state parameters, the resistance matrix of the first branch and the position of the grouting front are determined. The position of the grouting front represents the coordinate position information of the grout front at each level in the goaf. Each level in the goaf includes the caving zone, compaction zone, and fracture zone. Based on the mapping relationship between the resistance matrix of the first branch and the position of the grouting front, a multi-point resistance topology model is constructed.

[0019] The flow direction optimization module is configured to generate an initial flow direction gradient vector based on a multi-point resistance topology model, determine the equilibrium correction coefficient, and correct the initial flow direction gradient vector according to the equilibrium correction coefficient to obtain the target flow direction gradient vector; the target flow direction gradient vector characterizes the flow trend and intensity of slurry injection into the goaf.

[0020] The valve control module is configured to proportionally distribute the total flow of the grouting main branch to multiple grouting branches based on the target flow direction gradient vector, thereby obtaining the target valve opening value for each grouting branch, and determining the target adjustment command for each grouting branch based on the target valve opening value.

[0021] The status feedback module is configured to determine the second grouting status parameters of multiple grouting branches after the adjustment command is executed; based on the second grouting status parameters, iteratively update the target valve opening value and determine the current valve opening value.

[0022] The termination archiving module is configured to compare the second grouting state parameters with the first grouting state parameters to determine multiple grouting state changes. These multiple grouting state changes include the Euclidean norm of the difference matrix, the change in the grouting front coordinates, and the instantaneous flow rate of each grouting branch. If multiple grouting state changes simultaneously meet preset termination conditions, the target valve opening value corresponding to the target adjustment command is determined as the termination opening value. The termination conditions include the Euclidean norm of the difference matrix being less than a preset convergence threshold, the change in the grouting front coordinates being less than a preset spatial threshold, and the instantaneous flow rate of each grouting branch being less than the saturation flow rate threshold. The termination opening value is then archived, and the process proceeds to the grout solidification detection stage.

[0023] The distributed grouting process control system is configured to perform a distributed grouting process control method as described in the first aspect and any of its possible implementations.

[0024] According to a third aspect of the present invention, a distributed grouting process control device is provided, the device being configured to perform a distributed grouting process control method as described in the first aspect and any possible implementation thereof.

[0025] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which instructions are stored, such that when the instructions in the computer-readable storage medium are executed by a processor of a distributed grouting process control device, the distributed grouting process control device is able to perform a distributed grouting process control method as described in the first aspect and any possible implementation thereof.

[0026] According to a fifth aspect of the present invention, a computer program product is provided, the computer program product including computer instructions, which, when executed on a distributed grouting process control device, cause the distributed grouting process control device to execute the distributed grouting process control method of the first aspect and any possible implementation thereof.

[0027] The technical solution provided by the embodiments of the present invention brings at least the following beneficial effects: The present invention fully considers the complex three-layer void structure of the goaf, the compaction zone, and the fracture zone. By constructing a multi-point resistance topology in real time, it accurately captures the resistance differences in each region, significantly reduces the coverage differences in the integrity of filling at different levels, and determines the initial flow direction gradient vector based on the multi-point resistance topology. The initial flow direction gradient vector is then corrected by the generated equilibrium correction coefficient to determine the target flow direction gradient vector that controls the grouting trajectory and intensity. This makes the final flow gradient vector more consistent with the actual working conditions, effectively corrects the deviation of the grout diffusion path, realizes the forward-looking control of the grouting branch flow, enhances the adaptability and robustness of the grouting process, and distributes the total flow of the grouting main to each grouting branch proportionally according to the target flow direction gradient vector. This determines the target valve opening value of each grouting branch, ensures the accurate control of the actual flow of each branch, eliminates coupling interference between multiple branches, effectively curbs the risk of pipeline leakage and blockage, reduces the frequency of equipment maintenance, and shortens the grouting operation cycle, achieving a two-way improvement in grouting efficiency and safety.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0030] Figure 1 This is a schematic diagram of a distributed grouting process control system according to an exemplary embodiment; Figure 2 This is a flowchart illustrating a distributed grouting process control method according to an exemplary embodiment; Figure 3 This is a schematic diagram of a distributed grouting process control device according to an exemplary embodiment. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0032] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. 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.

[0033] Before providing a detailed description of the distributed grouting process control method provided in the embodiments of this application, let's briefly introduce the application scenarios and implementation environment involved in the embodiments of this application.

[0034] During coal mining, disasters such as floor water damage and roof collapse occur frequently, and grouting technology is an effective means to cope with these disasters. Traditional coal mine grouting systems mostly use centralized grout preparation on the ground and transport it underground through long-distance pipelines. This has problems such as high pipeline resistance, easy blockage, and serious grout waste. In addition, the automation level of underground grout preparation is low, and dust can also harm the health of workers. Research has found that coal mine grouting technology is constantly developing, and integrated distributed grouting systems combining the ground and underground systems have been adopted. By combining the ground grout preparation station with vertical boreholes, the grout delivery path has been shortened, and pipeline resistance and blockage risk have been reduced. However, the goaf formed after coal seam extraction consists of three layers: the caving zone, the compaction zone, and the fracture zone. The void structure of each layer is significantly different, and the challenge of uniformly filling the goaf remains.

[0035] Current grouting control strategies generally treat the goaf as a single cavity, employing a holistic grouting method based on the total flow rate and total pressure difference of the main pipe. This makes it difficult to identify in real time the local resistance changes caused by different void structures in each branch pipeline. This results in grout preferentially flowing into the low-resistivity fracture network, leading to leakage, while the high-resistivity occluded bags cannot be effectively grouted for extended periods. This causes repeated air leakage and settlement problems in the residual cavities, significantly reducing filling efficiency and forcing a prolonged remediation cycle. Existing technologies cannot dynamically capture the resistance and flow direction information of each branch and accurately allocate grouting volume, making it difficult to achieve balanced filling of the three-layer structure of the goaf.

[0036] To address the aforementioned issues, this application proposes a distributed grouting process control method. This method fully considers the complex three-layer void structure of the goaf, including the collapse zone, compaction zone, and fracture zone. By constructing a multi-point resistance topology in real time, it accurately captures the resistance differences in each region, significantly reducing the coverage differences in the incompleteness of filling at different levels. Based on the multi-point resistance topology, an initial flow direction gradient vector is determined, and this vector is corrected using a generated equilibrium correction coefficient. This determines the target flow direction gradient vector that ultimately controls the grouting trajectory and intensity, making the final flow gradient vector more consistent with actual working conditions. This effectively corrects deviations in the grout diffusion path, achieving proactive control of the grouting branch flow rate and enhancing the adaptability and robustness of the grouting process. Furthermore, based on the target flow direction gradient vector, the total flow rate of the grouting main branch is proportionally distributed to each grouting branch, thereby determining the target valve opening value for each branch. This ensures precise control of the actual flow rate of each branch, eliminates coupling interference between multiple branches, effectively curbs the risk of pipeline leakage and blockage, reduces equipment maintenance frequency, and shortens the grouting operation cycle, achieving a dual improvement in grouting efficiency and safety.

[0037] Secondly, the implementation architecture involved in this application will be briefly introduced below.

[0038] Figure 1 This is a schematic diagram of a distributed grouting process control system provided in this application. Figure 1 As shown, the distributed grouting process control system includes a data acquisition module 11, a flow direction optimization module 12, a valve control module 13, a status feedback module 14, and a termination archiving module 15.

[0039] The data acquisition module 11, flow direction optimization module 12, valve control module 13, status feedback module 14, and termination archiving module 15 mentioned above are connected via communication.

[0040] The data acquisition module 11 is configured to acquire the first grouting state parameters of multiple grouting pipelines; the multiple grouting pipelines include a grouting main trunk and multiple grouting branches; based on the first grouting state parameters, the resistance matrix of the first branch and the position of the grouting front are determined; the position of the grouting front represents the coordinate position information of the grout front at each level in the goaf; each level in the goaf includes the caving zone, the compaction zone, and the fracture zone; based on the mapping relationship between the resistance matrix of the first branch and the position of the grouting front, a multi-point resistance topology model is constructed.

[0041] The flow direction optimization module 12 is configured to generate an initial flow direction gradient vector based on a multi-point resistance topology model, determine the equilibrium correction coefficient, and correct the initial flow direction gradient vector according to the equilibrium correction coefficient to obtain the target flow direction gradient vector; the target flow direction gradient vector characterizes the flow trend and intensity of slurry injection into the goaf.

[0042] The valve control module 13 is configured to distribute the total flow of the grouting main branch to multiple grouting branches proportionally based on the target flow direction gradient vector, and obtain the target valve opening value of each grouting branch, so as to determine the target adjustment command of each grouting branch according to the target valve opening value.

[0043] The status feedback module 14 is configured to determine the second grouting status parameters of multiple grouting branches after the adjustment command is executed; and to iteratively update the target valve opening value based on the second grouting status parameters to determine the current valve opening value.

[0044] The termination archiving module 15 is configured to compare the second grouting state parameters with the first grouting state parameters to determine multiple grouting state changes. These multiple grouting state changes include the Euclidean norm of the difference matrix, the change in the grouting front coordinates, and the instantaneous flow rate of each grouting branch. If multiple grouting state changes simultaneously meet preset termination conditions, the target valve opening value corresponding to the target adjustment command is determined to be the termination opening value. The termination conditions include the Euclidean norm of the difference matrix being less than a preset convergence threshold, the change in the grouting front coordinates being less than a preset spatial threshold, and the instantaneous flow rate of each grouting branch being less than a saturation flow rate threshold. The termination opening value is then archived and transferred to the grout solidification detection stage.

[0045] In one implementation, the data acquisition module 11 continuously acquires data and outputs the branch resistance matrix and the three-layer void topology mapping result. After receiving the topology mapping result, the flow direction optimization module 12 outputs the optimized target flow direction gradient vector. The valve control module 13 issues the valve target adjustment command based on the target flow direction gradient vector. The status feedback module 14 writes back the data in real time and refreshes the branch resistance matrix, and sends it back to the valve control module 13 for prediction iteration. When the termination condition is detected, the termination archiving module 15 completes the log archiving and switches to the solidification monitoring stage.

[0046] In this way, the grouting process can be dynamically controlled and operated automatically throughout, without the need for extensive manual intervention.

[0047] This distributed grouting process control system is configured to collect first grouting state parameters from multiple grouting pipelines. These pipelines include a main grouting trunk and multiple grouting branches. Based on the first grouting state parameters, the system determines the resistance matrix of the first branch and the position of the grouting front. The grouting front position represents the coordinate position information of the grout front at each level in the goaf. Each level in the goaf includes the caving zone, compaction zone, and fracture zone. A multi-point resistance topology model is constructed based on the mapping relationship between the first branch resistance matrix and the grouting front position. Based on the multi-point resistance topology model, an initial flow direction gradient vector is generated, and an equilibrium correction coefficient is determined. The initial flow direction gradient vector is then corrected according to the equilibrium correction coefficient to obtain the target flow direction gradient vector. The target flow direction gradient vector represents the flow trend and intensity of the grout injected into the goaf. Based on the target flow direction gradient vector, the total flow rate of the main grouting trunk is proportionally distributed to multiple grouting branches to obtain the target valve opening value for each grouting branch. Based on the target valve opening value, the target adjustment command for each grouting branch is determined.

[0048] As one implementation method, the distributed grouting process control system is specifically configured to: determine the second grouting state parameters of multiple grouting branches after execution according to the target control command; compare the second grouting state parameters with the first grouting state parameters to determine multiple grouting state changes; these multiple grouting state changes include the Euclidean norm of the difference matrix, the change in the grouting front coordinates, and the instantaneous flow rate value of each grouting branch; if multiple grouting state changes simultaneously meet preset termination conditions, determine the target valve opening value as the termination opening value; the termination conditions include the Euclidean norm of the difference matrix being less than a preset convergence threshold, the change in the grouting front coordinates being less than a preset spatial threshold, and the instantaneous flow rate value of each grouting branch being less than the saturation flow rate threshold.

[0049] As one implementation method, the distributed grouting process control system is specifically configured to detect that multiple grouting state changes do not simultaneously meet the preset termination conditions; determine the current valve opening value based on the second grouting state parameter corresponding to the target adjustment command; determine the current adjustment command based on the current valve opening value; determine the actual grouting state parameters of multiple grouting branches after execution according to the second adjustment command; compare the actual grouting state parameters with the second grouting state parameters corresponding to the previous adjustment to determine the current grouting state change; until the current grouting state change is detected to simultaneously meet the preset termination conditions, determine the current valve opening value corresponding to the actual grouting state parameter as the termination opening value.

[0050] As one implementation method, the first grouting state parameters include a first instantaneous pressure value, a first instantaneous flow rate value, and the coordinates of the first grouting front. The distributed grouting process control system is specifically configured to determine the first branch resistance matrix and the grouting front position based on the first grouting state parameters, including: determining the resistance values ​​of multiple grouting branches based on the first instantaneous pressure value and the first instantaneous flow rate value, and generating the first branch resistance matrix; and determining the vertical height of multiple grouting branches based on the coordinates of the first grouting front; and determining the grouting front position based on the vertical height; wherein the grouting front position in the bottom range of the vertical height is located in the collapse zone, the grouting front position in the middle range is located in the compaction zone, and the grouting front position in the upper range is located in the fracture zone.

[0051] As one implementation method, the distributed grouting process control system is specifically configured based on a multi-point resistance topology model to generate an initial flow direction gradient vector and determine the equilibrium correction coefficient. This includes: determining the preset flow direction and preset flow time based on the initial flow direction gradient vector; determining the flow direction misalignment amplitude based on the deviation between the actual flow direction monitored in real time and the preset flow direction; assessing the impact of resistance changes on flow delay based on the preset flow time and determining the impedance time delay ratio; and generating the equilibrium correction coefficient based on the flow direction misalignment amplitude and the impedance time delay ratio.

[0052] As one implementation method, the distributed grouting process control system is specifically configured to distribute the total flow rate of the grouting main trunk to multiple grouting branches proportionally based on the target flow direction gradient vector, thereby obtaining the target valve opening value of each grouting branch. This includes: determining the proportion of the flow direction gradient component according to the target flow direction gradient vector; distributing the total flow rate of the grouting main trunk to multiple grouting branches according to the proportion of the flow direction gradient component, thereby determining the target flow rate of each grouting branch; and determining the target valve opening value based on the target flow rate and the preset valve flow coefficient of each grouting branch.

[0053] As one implementation method, the distributed grouting process control system is specifically configured such that the target adjustment command includes increasing the opening, decreasing the opening, or maintaining the current opening; based on the target valve opening value, the target adjustment command for each grouting branch is determined, including: determining the current opening of each grouting branch; comparing the current opening with the target valve opening value to determine the target adjustment command.

[0054] As one implementation method, the second grouting state parameters include the second instantaneous pressure value, the second instantaneous flow rate value, and the second grouting front coordinates. The distributed grouting process control system is specifically configured to compare the second grouting state parameters with the first grouting state parameters to determine various grouting state changes, including: determining the second branch resistance matrix based on the second instantaneous pressure value and the second instantaneous flow rate value; determining the Euclidean norm of the difference matrix based on the differences between the elements of the second and first branch resistance matrices, comparing the Euclidean norm with a preset convergence threshold to determine the matrix convergence state; and determining the change in grouting front coordinates based on the spatial change between the second and first grouting front coordinates.

[0055] For ease of understanding, the distributed grouting process control method provided in this application will be described in detail below with reference to the accompanying drawings.

[0056] Figure 2 This is a flowchart illustrating a distributed grouting process control method according to an exemplary embodiment, such as... Figure 2 As shown, the distributed grouting process control method includes the following steps.

[0057] S21, collect the first grouting status parameters of multiple grouting pipelines.

[0058] Multiple grouting pipelines include a main grouting trunk and multiple grouting branches.

[0059] The coal mine goaf forms a typical three-layer void structure: the bottom caving zone has large and irregular voids, the middle compacted zone has a dense structure but residual microcracks, and the top fissure zone is full of penetrating cracks, requiring grouting for filling and reinforcement. A main grouting pipe and several branch grouting pipes are installed in this area, equipped with pressure-flow sensors and multiple valve actuators.

[0060] The grouting status parameters of each grouting pipeline are collected in real time using pressure-flow sensors.

[0061] S22, Based on the first grouting state parameters, determine the resistance matrix of the first branch and the position of the grouting front. Based on the mapping relationship between the resistance matrix of the first branch and the position of the grouting front, construct a multi-point resistance topology model.

[0062] The first grouting state parameters include the first instantaneous pressure value, the first instantaneous flow rate value, and the first grouting front coordinates.

[0063] The grouting front position characterizes the coordinate position information of the grout front at each level in the goaf.

[0064] The goaf includes different levels such as the caving zone, compaction zone, and fracture zone.

[0065] The grout front at the bottom of the vertical range is located in the caving zone, the grout front at the middle range is located in the compaction zone, and the grout front at the top range is located in the fracture zone.

[0066] In one implementation, the resistance values ​​of multiple grouting branches are determined based on the first instantaneous pressure value and the first instantaneous flow rate value, generating a first branch resistance matrix. Furthermore, the vertical heights of the multiple grouting branches are determined based on the coordinates of the first grouting front. The position of the grouting front is determined based on the vertical height. A multi-point resistance topology model is constructed based on the mapping relationship between the first branch resistance matrix and the grouting front position.

[0067] In this implementation, the complex three-layer void structure of the goaf, including the collapse zone, compaction zone, and fracture zone, is fully considered. The traditional approach of treating the goaf as a single cavity is abandoned. By constructing a multi-point resistance topology in real time, the resistance differences in each region are accurately captured, which greatly reduces the coverage differences in the filling integrity of different layers and completely eliminates the phenomenon of uneven flow field.

[0068] S23. Based on the multi-point resistance topology model, the initial flow direction gradient vector is generated, the equilibrium correction coefficient is determined, and the initial flow direction gradient vector is corrected according to the equilibrium correction coefficient to obtain the target flow direction gradient vector.

[0069] The target flow gradient vector characterizes the flow trend and intensity of slurry injection into the goaf.

[0070] In one implementation, a preset flow direction and a preset flow time are determined based on an initial flow direction gradient vector; the flow direction misalignment amplitude is determined based on the deviation between the actual flow direction monitored in real time and the preset flow direction; and the impact of resistance changes on flow delay is assessed based on the preset flow time to determine the impedance time delay ratio; and an equalization correction coefficient is generated based on the flow direction misalignment amplitude and the impedance time delay ratio.

[0071] In this implementation, the dual characteristics of flow direction misalignment amplitude and time delay ratio are integrated to combine the static characteristics of geology with the dynamic deviation of real-time monitoring. After a nonlinear diagnostic model, a precise correction weight coefficient is generated to achieve forward-looking control of the flow rate of branch pipelines. This effectively curbs the risk of pipeline leakage and blockage, reduces the frequency of equipment maintenance, and shortens the grouting operation cycle, thereby achieving a two-way improvement in grouting efficiency and safety.

[0072] S24, based on the target flow direction gradient vector, the total flow of the grouting main trunk is proportionally distributed to multiple grouting branches to obtain the target valve opening value of each grouting branch, so as to determine the target adjustment command of each grouting branch according to the target valve opening value.

[0073] In one implementation, determining the precise target adjustment command for each grouting branch specifically includes the following two steps.

[0074] First, based on the target flow gradient vector, the total flow of the main pipe is proportionally distributed to each branch, and the specific target valve opening is calculated in reverse.

[0075] Specifically, the proportion of the flow direction gradient component is determined based on the target flow direction gradient vector; the total flow rate of the grouting main is distributed to multiple grouting branches according to the proportion of the flow direction gradient component, and the target flow rate of each grouting branch is determined; the target valve opening value is determined based on the target flow rate and the preset valve flow coefficient of each grouting branch.

[0076] Among them, the preset valve flow coefficient characterizes the inherent flow capacity of the valve, that is, the degree of ease or ability of the valve to allow fluid to pass through at a specific opening degree.

[0077] In this way, the proportion of the total flow rate that each branch should bear is clearly defined by the proportion of the flow gradient components. This provides a clear and quantifiable basis for subsequent flow allocation and avoids mutual interference between multiple pipelines. Thus, while ensuring a constant total flow rate in the grouting main branch, the flow rate of each grouting branch is allocated as needed. Furthermore, by introducing a preset valve flow coefficient, the valve opening calculation is made to conform to real-world operating conditions, improving the realism and accuracy of valve opening control.

[0078] Secondly, the current opening degree of the valve actuators corresponding to each grouting branch is monitored in real time to determine the target adjustment command.

[0079] Specifically, determine the current opening degree of each grouting branch; compare the current opening degree with the target valve opening degree value to determine the target adjustment command.

[0080] The target adjustment instructions include increasing the opening degree, decreasing the opening degree, or maintaining the current opening degree.

[0081] If the current opening of a branch is less than the target valve opening value, an increase opening adjustment command is issued; if the current opening is greater than the target valve opening value, a decrease opening adjustment command is issued; if the current opening is equal to the target valve opening value, the status quo is maintained; in this way, the target adjustment command is issued to each valve actuator.

[0082] After determining the target adjustment command for the current stage based on steps S21 to S24 above, the target adjustment command is issued to the valve actuators of each grouting branch. Simultaneously, the valve opening and grouting front coordinates of each grouting branch after adjustment according to the target adjustment command are recorded, and the state parameters of each grouting branch corresponding to the adjusted valve opening are collected in real time. The branch resistance matrix is ​​then refreshed, and the flow gradient vector and target valve opening are recalculated to complete the same-cycle iteration.

[0083] Simultaneously, the Euclidean norm of the difference matrix of the branch resistance matrix before and after two consecutive iterations, the spatial change of the grouting front coordinates, and the instantaneous flow rate of each grouting branch corresponding to the current valve opening are calculated to determine whether the termination condition has been met. When the Euclidean norm is less than the convergence threshold, the change of the front is less than the preset spatial threshold, and the flow rates of all branches are lower than the saturation flow rate threshold, the final valve status and flow log are archived, and the process transitions to the solidification monitoring stage.

[0084] Optionally, determine the second grouting state parameters of multiple grouting branches after the target adjustment command is executed; compare the second grouting state parameters with the first grouting state parameters to determine the changes in various grouting states.

[0085] The second grouting state parameters include the second instantaneous pressure value, the second instantaneous flow rate value, and the coordinates of the second grouting front.

[0086] The various grouting state changes include the Euclidean norm of the difference matrix, the change in the coordinates of the grouting front, and the instantaneous flow rate of each grouting branch.

[0087] In one specific implementation, the second grouting state parameter is compared with the first grouting state parameter to determine the amount of change in various grouting states.

[0088] Based on the second instantaneous pressure and flow rates, the second branch resistance matrix is ​​determined. The Euclidean norm of the difference matrix is ​​determined based on the differences between the elements of the second and first branch resistance matrices. This Euclidean norm is then compared to a preset convergence threshold to determine the matrix convergence state. The change in grouting front coordinates is determined based on the spatial variation between the coordinates of the second and first grouting fronts.

[0089] Optionally, the parameters corresponding to two consecutive valve adjustments are compared until the resistance matrix convergence is detected and the cavity saturation flag is triggered. Then, the final valve status and flow log are archived, and the process transitions to the solidified monitoring phase. Specifically, this includes the following two scenarios: First, if multiple grouting state changes are detected simultaneously and meet the preset termination conditions, the target valve opening value is determined to be the termination opening value.

[0090] Termination conditions include the difference matrix being less than the preset convergence threshold, the change in the coordinates of the grouting front being less than the preset spatial threshold, and the instantaneous flow rate of each grouting branch being less than the saturation flow rate threshold.

[0091] Understandably, by comparing the changes in state parameters before and after executing the adjustment command, a comprehensive judgment is made as to whether the grouting process has reached the expected endpoint. Because the internal structure of the goaf includes caving zones, fracture zones, and compaction zones, it is highly heterogeneous, and phenomena such as localized preferential filling, bypassing, and seepage may occur during the grouting process. Single indicators are easily affected by local anomalies. By introducing a multi-parameter fusion termination condition, the problem of unreliable single-indicator criteria is solved, enabling a scientific determination of the grouting endpoint.

[0092] Secondly, if multiple grouting state changes are detected that do not simultaneously meet the preset termination conditions, the current valve opening value is determined based on the second grouting state parameter corresponding to the target adjustment command.

[0093] Based on the current valve opening value, determine the current adjustment command; determine the actual grouting state parameters of multiple grouting branches after executing the second adjustment command; compare the actual grouting state parameters with the second grouting state parameters corresponding to the previous adjustment to determine the current grouting state change. Continue until the current grouting state change is detected and simultaneously meets the preset termination condition, then determine the current valve opening value corresponding to the actual grouting state parameters as the termination opening value.

[0094] Due to the complex and variable geological conditions in the goaf, such as local collapses and fissure closures, a single adjustment may not achieve the desired result. Through continuous iteration, the system gradually approaches the true optimal state. Each iteration uses the latest state as a benchmark to calculate new changes until all parameters simultaneously meet the termination conditions. Furthermore, the system can automatically adjust the next instruction based on the actual feedback after each adjustment, forming a complete closed loop of perception-decision-execution-re-perception. This gradual adjustment avoids large fluctuations or over-adjustment, allowing control quantities such as valve opening and flow distribution to smoothly approach the optimal value. This is beneficial to system stability and formation safety, thereby achieving precise, stable, and automated control of the entire grouting process and providing complete data support for process traceability and quality assessment.

[0095] In this way, by continuously optimizing the flow field distribution through a closed-loop iterative mechanism, pipeline energy consumption is reduced, grout waste is avoided, and resource utilization is improved. Furthermore, real-time logs and process data during grouting can be used for quality traceability, providing reliable data support for the optimization and iteration of subsequent grouting schemes, and significantly improving overall economic benefits.

[0096] Figure 3 This is a schematic diagram of a distributed grouting process control device provided in this application. Figure 3 The monitoring device 50 includes: a first processor 501, a communication bus 502, a memory 503, a communication interface 504, an output device 505, an input device 506, and a second processor 507.

[0097] The distributed grouting process control device 50 may include at least one first processor 501 and a memory 503 for storing processor-executable instructions. The first processor 501 is configured to execute the instructions in the memory 503 to implement the distributed grouting process control method in the following embodiments.

[0098] In addition, the distributed grouting process control device 50 may also include a communication bus 502, at least one communication interface 504, an input device 506, and an output device 505.

[0099] The first processor 501 may be a processor (central processing unit, CPU), a microprocessor unit, an ASIC, or one or more integrated circuits for controlling the execution of programs according to the present application.

[0100] The communication bus 502 may include a path for transmitting information between the aforementioned components.

[0101] Communication interface 504 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0102] Input device 506 is used to receive input signals and output device 505 is used to output signals.

[0103] Memory 503 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed discs, laser discs, optical discs, digital universal discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. Memory may exist independently and be connected to the processing unit via a bus. Memory may also be integrated with the processing unit.

[0104] The memory 503 stores instructions for executing the scheme of this application, and the execution is controlled by the first processor 501. The first processor 501 executes the instructions stored in the memory 503 to realize the functions of the method of this application.

[0105] In a specific implementation, as one example, the first processor 501 may include one or more CPUs, for example... Figure 3 CPU0 and CPU1 in the CPU.

[0106] In a specific implementation, as one example, the distributed grouting process control device 50 may include multiple processors, such as... Figure 3 The first processor 501 and the second processor 507 are described. Each of these processors can be a single-core processor or a multi-core processor. A processor here can refer to one or more devices, circuits, and / or processing cores used to process data (such as computer program instructions).

[0107] The distributed grouting process control equipment, such as Figure 3 The diagram shows a first processor 501 and a memory 503 for storing executable instructions of the first processor 501. The first processor 501 is configured to execute the executable instructions to implement the distributed grouting process control method as described in any of the possible embodiments above. Since the same technical effects can be achieved, further details are omitted here to avoid repetition.

[0108] This application also provides a computer-readable storage medium. When the instructions in the computer-readable storage medium are executed by the processor of a distributed grouting process control device, the distributed grouting process control device is able to perform the distributed grouting process control method as described in any of the possible embodiments above. And it can achieve the same technical effect; to avoid repetition, it will not be described again here.

[0109] This application also provides a computer program product, including a computer program or instructions, which are executed by a processor as a distributed grouting process control method according to any of the possible implementations described above. It achieves the same technical effects, and to avoid repetition, will not be described again here.

[0110] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0111] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for controlling a distributed grouting process, characterized in that, The method includes: Collect first grouting status parameters of multiple grouting pipelines; the multiple grouting pipelines include a grouting main trunk and multiple grouting branches; Based on the first grouting state parameters, the first branch resistance matrix and the grouting front position are determined; the grouting front position represents the coordinate position information of the grout front at each level of the goaf; each level of the goaf includes the caving zone, the compaction zone, and the fracture zone; Based on the mapping relationship between the first branch resistance matrix and the grouting front position, a multi-point resistance topology model is constructed; Based on the multi-point resistance topology model, an initial flow direction gradient vector is generated, an equilibrium correction coefficient is determined, and the initial flow direction gradient vector is corrected according to the equilibrium correction coefficient to obtain a target flow direction gradient vector; the target flow direction gradient vector characterizes the flow trend and intensity of slurry injection into the goaf. Based on the target flow gradient vector, the total flow rate of the grouting main trunk is proportionally distributed to the multiple grouting branches to obtain the target valve opening value of each grouting branch, so as to determine the target adjustment command of each grouting branch according to the target valve opening value.

2. The distributed grouting process control method according to claim 1, characterized in that, The method further includes: Determine the second grouting state parameters of the plurality of grouting branches after the target adjustment command is executed; The second grouting state parameter is compared with the first grouting state parameter to determine various grouting state changes; the various grouting state changes include the Euclidean norm of the difference matrix, the change in the coordinates of the grouting front, and the instantaneous flow rate value of each grouting branch; If the multiple grouting state changes are detected to simultaneously meet the preset termination conditions, the target valve opening value is determined to be the termination opening value. The termination conditions include the difference matrix Euclidean norm being less than a preset convergence threshold, the change in the grouting front coordinates being less than a preset spatial threshold, and the instantaneous flow rate values ​​of each grouting branch being less than the saturation flow rate threshold.

3. The distributed grouting process control method according to claim 2, characterized in that, The method further includes: If the multiple grouting state changes are not simultaneously satisfied with the preset termination condition, the current valve opening value is determined according to the second grouting state parameter corresponding to the target adjustment command. Based on the current valve opening value, determine the current adjustment command; determine the actual grouting state parameters of the multiple grouting branches after the second adjustment command is executed; compare the actual grouting state parameters with the second grouting state parameters corresponding to the previous adjustment to determine the current grouting state change amount; Until the change in the current grouting state is detected to simultaneously meet the preset termination condition, the current valve opening value corresponding to the actual grouting state parameter is determined to be the termination opening value.

4. The distributed grouting process control method according to claim 1, characterized in that, The first grouting state parameters include the first instantaneous pressure value, the first instantaneous flow rate value, and the first grouting front coordinates; The step of determining the first branch resistance matrix and the grouting front position based on the first grouting state parameters includes: Based on the first instantaneous pressure value and the first instantaneous flow rate value, the resistance values ​​of the plurality of grouting branches are determined, and the first branch resistance matrix is ​​generated; Furthermore, based on the coordinates of the first grouting front, the vertical height of the plurality of grouting branches is determined; based on the vertical height, the position of the grouting front is determined; wherein, the grouting front position in the bottom range of the vertical height is located in the collapse zone, the grouting front position in the middle range is located in the compaction zone, and the grouting front position in the upper range is located in the fracture zone.

5. The distributed grouting process control method according to claim 1, characterized in that, The initial flow direction gradient vector generated based on the multi-point resistance topology model is used to determine the equilibrium correction coefficient, including: Based on the initial flow direction gradient vector, determine the preset flow direction and preset flow rate time; The flow direction misalignment amplitude is determined based on the deviation between the actual flow direction monitored in real time and the preset flow direction; Furthermore, based on the preset flow time, the degree of impact of resistance change on flow delay is evaluated, and the impedance time delay ratio is determined; The equalization correction coefficient is generated based on the flow direction phase misalignment amplitude and the impedance time delay ratio.

6. The distributed grouting process control method according to claim 1, characterized in that, The step of proportionally distributing the total flow rate of the grouting main branch to the multiple grouting branches based on the target flow direction gradient vector, and obtaining the target valve opening value for each of the grouting branches, includes: Based on the target flow direction gradient vector, determine the proportion of the flow direction gradient components; According to the proportion of the flow direction gradient components, the total flow rate of the grouting trunk is distributed to the plurality of grouting branches, and the target flow rate of each of the grouting branches is determined; The target valve opening value is determined based on the target flow rate and the preset valve flow coefficient of each grouting branch.

7. The distributed grouting process control method according to claim 6, characterized in that, The target adjustment command includes increasing the opening degree, decreasing the opening degree, or maintaining the current opening degree; The step of determining the target adjustment command for each of the grouting branches based on the target valve opening value includes: Determine the current opening degree of each of the grouting branches; The current valve opening is compared with the target valve opening value to determine the target adjustment command.

8. The distributed grouting process control method according to claim 2, characterized in that, The second grouting state parameters include the second instantaneous pressure value, the second instantaneous flow rate value, and the second grouting front coordinates; The step of comparing the second grouting state parameter with the first grouting state parameter to determine various grouting state changes includes: Based on the second instantaneous pressure value and the second instantaneous flow rate value, the second branch resistance matrix is ​​determined; based on the differences between each element of the second branch resistance matrix and the first branch resistance matrix, the Euclidean norm of the difference matrix is ​​determined, and the Euclidean norm is compared with a preset convergence threshold to determine the convergence state of the matrix. Furthermore, the change in the grouting front coordinates is determined based on the spatial variation between the second grouting front coordinates and the first grouting front coordinates.

9. A distributed grouting process control system, characterized in that, The system includes: The data acquisition module is configured to acquire the first grouting state parameters of multiple grouting pipelines; the multiple grouting pipelines include a grouting main trunk and multiple grouting branches; based on the first grouting state parameters, the resistance matrix of the first branch and the position of the grouting front are determined; the position of the grouting front represents the coordinate position information of the grout front at each level of the goaf; each level of the goaf includes the collapse zone, the compaction zone, and the fracture zone; based on the mapping relationship between the resistance matrix of the first branch and the position of the grouting front, a multi-point resistance topology model is constructed. The flow direction optimization module is configured to generate an initial flow direction gradient vector based on the multi-point resistance topology model, determine an equilibrium correction coefficient, and correct the initial flow direction gradient vector according to the equilibrium correction coefficient to obtain a target flow direction gradient vector; the target flow direction gradient vector characterizes the flow trend and intensity of slurry injection into the goaf. The valve control module is configured to proportionally distribute the total flow rate of the grouting main trunk to the multiple grouting branches based on the target flow direction gradient vector, thereby obtaining the target valve opening value of each grouting branch, and determining the target adjustment command of each grouting branch according to the target valve opening value. The status feedback module is configured to determine the second grouting status parameters of the plurality of grouting branches after the adjustment command is executed; and to iteratively update the target valve opening value based on the second grouting status parameters to determine the current valve opening value. The termination archiving module is configured to compare the second grouting state parameters with the first grouting state parameters to determine multiple grouting state changes. These multiple grouting state changes include the Euclidean norm of the difference matrix, the change in grouting front coordinates, and the instantaneous flow rate values ​​of each grouting branch. If the multiple grouting state changes simultaneously meet preset termination conditions, the target valve opening value corresponding to the target adjustment command is determined to be the termination opening value. The termination conditions include the Euclidean norm of the difference matrix being less than a preset convergence threshold, the change in grouting front coordinates being less than a preset spatial threshold, and the instantaneous flow rate values ​​of each grouting branch being less than a saturation flow rate threshold. The termination opening value is then archived and transferred to the grout solidification detection stage. The system is configured to perform the distributed grouting process control method as described in any one of claims 1-8.

10. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is able to perform the distributed grouting process control method as described in any one of claims 1-8.

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