Intelligent pipe pulling control system and method for diaphragm wall based on dynamic pouring

Abstract

The application discloses a diaphragm wall intelligent pipe pulling control system and method based on dynamic pouring, relates to the technical field of diaphragm wall construction, and comprises a data acquisition unit, a pipe pulling model construction unit, a control unit, an execution unit and a data storage and feedback unit. The data acquisition unit acquires pipe pulling parameters, concrete state parameters, slot hole and mud parameters, depth temperature distribution parameters and regional adaptation parameters in real time. The pipe pulling model construction unit constructs a multi-factor fusion pipe pulling model based on the collected multi-dimensional parameters. The control unit compares and analyzes real-time data and pipe pulling model output, and generates a pipe pulling control instruction. The execution unit adjusts the pipe pulling speed and lifting intensity accordingly, realizes the collaborative adaptation of pipe pulling and dynamic pouring operation, establishes an adaptation database by collecting regional soil, freezing and thawing and gravel distribution parameters, realizes real-time acquisition and manual review to guarantee data accuracy, and executes graded emergency control for abnormal concrete setting, slot hole instability and abnormal pipe pulling resistance and other working conditions.

Description

Technical Field

[0001] This invention relates to the field of anti-seepage wall construction technology, specifically to an intelligent pipe-pulling control system and method for anti-seepage walls based on dynamic casting. Background Technology

[0002] Cutoff walls are underground continuous wall structures widely used in water conservancy projects, foundation pit support, and environmental remediation. Their main function is to block groundwater seepage and ensure project safety. During cutoff wall construction, the extraction of the joint pipe is a critical step; the timing and speed of pipe extraction directly affect the wall's forming quality and construction safety.

[0003] Traditional pipe removal operations rely heavily on the experience and judgment of construction workers, estimating the timing of pipe removal based on factors such as concrete pouring time and ambient temperature. This approach is highly subjective and uncertain. Due to the lack of comprehensive monitoring and scientific analysis of the pipe removal environment, problems often arise, such as premature pipe removal leading to concrete collapse, or premature pipe removal causing the joint pipe to adhere to the concrete and become difficult to remove. In severe cases, this can even lead to construction accidents such as pipe jamming, pipe solidification, and hole collapse, affecting project progress and quality.

[0004] In existing technologies, some intelligent pipe-pulling systems have begun to employ sensor monitoring technology, collecting parameters such as the initial setting state of concrete and the pulling force to assist in determining the timing of pipe extraction. However, these systems often only consider one or a few influencing factors and fail to establish a comprehensive environmental analysis model for pipe extraction. Especially under complex geological conditions, the degree of influence of factors such as temperature distribution at different depths, hydration heat generated by cement hardening, differences in geological conditions, and changes in ambient temperature on pipe extraction operations varies, and existing technologies struggle to achieve comprehensive analysis and dynamic response to these factors.

[0005] Specifically, existing technologies have the following shortcomings: First, there is a lack of monitoring of temperature distribution at different depths, and the impact of temperature gradients on concrete setting speed and pipe pulling resistance is not fully considered; Second, heat of hydration is an important factor affecting the setting state of concrete, but existing systems fail to monitor and quantify the impact of heat of hydration on pipe pulling operations in real time; Third, the impact of geological conditions on pipe pulling resistance lacks systematic analysis; Fourth, the impact of environmental temperature changes on concrete setting and pipe pulling parameters is not incorporated into the control model; Fifth, the impact of mud parameters and trench stability on pipe pulling safety lacks real-time monitoring and early warning mechanisms.

[0006] Therefore, there is an urgent need to develop an intelligent tube removal control system that can comprehensively consider multiple influencing factors. By constructing a multi-factor fusion tube removal model, the tube removal parameters can be dynamically optimized, thereby improving the safety and reliability of tube removal operations. Summary of the Invention

[0007] To address the problem in existing technologies where axial displacement of the joint pipe during dynamic pipe pulling due to environmental factors leads to gaps in the subsequent anti-seepage wall, this application provides an intelligent pipe pulling control system and method for anti-seepage walls based on dynamic casting.

[0008] To achieve the above objectives, the technical solution adopted in this application is: an intelligent pipe-pulling control system for a seepage-proof wall based on dynamic casting, characterized in that it includes:

[0009] The data acquisition unit is used to collect in real time the pipe extraction parameters, concrete state parameters, trench and mud parameters, depth temperature distribution parameters and regional adaptation parameters during the pipe extraction process.

[0010] The pipe-pulling model construction unit is communicatively connected to the data acquisition unit and is used to receive real-time data transmitted by the data acquisition unit. Based on multi-dimensional parameters, a multi-factor fusion pipe-pulling model is constructed, which integrates temperature gradients at different depths, hydration heat generated by cement hardening, concrete setting state, geological conditions, ambient temperature, freeze-thaw state, mud parameters and trench stability, and dynamically calculates the optimal pipe-pulling parameters.

[0011] The control unit is communicatively connected to the tube removal model construction unit, and is used to receive the optimal tube removal parameters output by the tube removal model construction unit, compare and analyze the real-time data with the model output, and generate corresponding tube removal control commands.

[0012] An execution unit, which is communicatively connected to the control unit, is used to receive control commands sent by the control unit and perform adjustment operations on the pipe pulling speed, pipe pulling height, and pipe pulling lifting force to achieve coordinated adaptation between the pipe pulling process and the dynamic pouring process.

[0013] The data storage and feedback unit is communicatively connected to the data acquisition unit, the tube removal model construction unit, and the control unit, respectively, and is used to store historical data and provide data feedback support to each unit.

[0014] Furthermore, the tube removal model construction unit incorporates a multi-factor fusion tube removal resistance prediction model to predict the total resistance during the tube removal process.

[0015] Furthermore, the tube removal model construction unit also has a built-in optimal tube removal speed calculation model, which is used to calculate the optimal tube removal speed based on the tube removal resistance prediction results and environmental parameters.

[0016] Furthermore, the data acquisition unit includes a depth temperature detection subunit, which is used to collect temperature distribution data at different depths of the connector tube in real time, construct temperature gradient curves, and provide temperature field parameters for the tube pulling model. The depth temperature detection subunit adopts a distributed temperature sensor array, with a temperature sensor arranged every 0.5m to 1.0m along the axial direction of the connector tube to monitor temperature changes in the depth direction in real time.

[0017] Furthermore, the data acquisition unit includes a hydration heat monitoring subunit, which is used to monitor the hydration heat released during the cement hardening process in real time, including the hydration heat release rate, cumulative hydration heat, and peak hydration heat temperature.

[0018] The hydration heat monitoring subunit calculates the degree of influence of hydration heat on the setting state of concrete by combining temperature sensors and heat flow sensors with concrete mix proportion parameters.

[0019] Furthermore, the data acquisition unit includes a geological environment parameter acquisition subunit, used to collect soil type, gravel distribution, freeze-thaw state and groundwater level parameters of the construction area;

[0020] The geological environment parameter acquisition subunit establishes a geological environment parameter database by combining geological exploration data, on-site sampling analysis, and sensor monitoring, providing geological condition correction parameters for the pipe-pulling model.

[0021] Furthermore, the data acquisition unit includes a concrete condition monitoring subunit, which is used to monitor the initial setting time, final setting time, slump, and pouring speed parameters of the concrete in real time. The concrete condition monitoring subunit evaluates the concrete setting state in real time through a combination of a penetration resistance meter, a temperature sensor, and a flow sensor, providing a basis for determining the timing of pipe removal.

[0022] Furthermore, the data acquisition unit includes a slot and mud monitoring subunit, used to monitor in real time the liquid level height, borehole wall stability, mud density, mud viscosity, and mud sand content parameters in the slot; the slot and mud monitoring subunit uses a combination of a liquid level sensor, a borehole wall inclinometer, and a mud performance tester to evaluate the stability of the slot in real time, providing a guarantee for the safety of pipe pulling.

[0023] Furthermore, the data acquisition adopts a dual mode of real-time acquisition and manual verification. Every 30 minutes, key data such as the burial depth of the guide pipe, the lifting force of the pipe, the initial setting state of the concrete, the depth temperature distribution, and the hydration heat parameters are manually sampled and verified. The verified data is compared with the data acquired by the sensor. If the deviation exceeds the allowable range, the sensor and pipe pulling model parameters are immediately calibrated.

[0024] This invention also provides an intelligent pipe-pulling control method for seepage-proof walls based on dynamic casting, comprising the following steps:

[0025] S101: Real-time acquisition of pipe pulling parameters, concrete state parameters, trench and mud parameters, depth temperature distribution parameters, and regional adaptation parameters through the data acquisition unit.

[0026] S102: The unit for constructing the tube extraction model is based on the collected multi-dimensional parameters, and comprehensively considers factors such as temperature gradient at different depths, heat of hydration generated by cement hardening, concrete setting state, geological conditions, ambient temperature and freeze-thaw state, mud parameters and slot stability to calculate the optimal tube extraction parameters.

[0027] S103: The control unit compares and analyzes real-time data with model output to generate tube removal control commands;

[0028] S104: The actuator performs adjustment operations on the tube extraction speed, tube extraction height, and tube extraction lifting force.

[0029] S105: When the initial setting time of concrete is less than 6 hours or the pouring interruption time exceeds 40 minutes, stop pulling the pipe and start the concrete insulation and mixing device. Wait until the concrete condition returns to the preset threshold before resuming pipe pulling. When the deformation of the trench wall exceeds the allowable range, start the mud circulation reinforcement device, add curing agent to ensure the stability of the trench wall before continuing pipe pulling. When the predicted value of pipe pulling resistance exceeds the safety threshold, reduce the pipe pulling speed or suspend pipe pulling. Wait until the resistance returns to normal before continuing the operation.

[0030] Beneficial effects:

[0031] 1. This invention constructs a multi-factor integrated pipe-pulling model, which comprehensively considers factors such as temperature gradients at different depths, heat of hydration generated by cement hardening, concrete setting state, geological conditions, ambient temperature and freeze-thaw state, mud parameters and trench stability, etc., to achieve accurate prediction and dynamic optimization of pipe-pulling parameters, significantly improving the safety and reliability of pipe-pulling operations.

[0032] 2. This invention introduces depth temperature distribution monitoring, using a distributed temperature sensor array to collect temperature data at different depths in real time, constructing temperature gradient curves to provide accurate temperature field parameters for the pipe-pulling model. The temperature gradient has a significant impact on the concrete setting rate and pipe-pulling resistance. This invention can dynamically adjust the pipe-pulling parameters according to changes in the temperature gradient, avoiding pipe-pulling accidents caused by temperature differences.

[0033] 3. The pipe pulling resistance prediction model and the optimal pipe pulling speed calculation model of the present invention adopt a multi-factor fusion algorithm. The weight coefficients of each factor can be dynamically adjusted according to different geological conditions. It has strong versatility and adaptability and can be widely applied to the construction of anti-seepage walls in different regions and under different geological conditions. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a block diagram showing the module connections in an embodiment of this application;

[0036] Figure 2 This is a schematic diagram illustrating the steps of the intelligent pipe-pulling method for the seepage barrier wall according to an embodiment of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of this application, it should be noted that the use of terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These terms are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the use of terms such as "first" and "second" in the description of this application is only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not imply that the component is required to be absolutely horizontal or suspended, but rather that it may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0042] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] Example 1

[0044] Please refer to Figure 1 This embodiment provides an intelligent pipe-pulling control system for a seepage-proof wall based on dynamic casting, including:

[0045] The data acquisition unit is used to collect in real time the pipe extraction parameters, concrete state parameters, trench and mud parameters, depth temperature distribution parameters, and regional adaptation parameters during the pipe extraction process. Through the sensor array, the mechanical quantities, concrete state quantities, geological environment quantities, and temperature field quantities during pipe extraction are converted into transmittable electrical / digital signals to achieve real-time perception of all working conditions.

[0046] The above-mentioned pipe-pulling parameters are used to collect speed, displacement, lifting force, and burial depth, reflecting the current motion and stress state of the pipe-pulling equipment.

[0047] Concrete state parameters are used to collect data on setting time, slump, and flow rate, reflecting whether the concrete is in a safe state where the pipe can be pulled out.

[0048] The parameters of the slot and mud are used to collect liquid level, hole wall deformation, and mud properties, reflecting whether the slot wall protection is safe.

[0049] The depth temperature distribution parameter is used to collect temperatures at different depths, construct a temperature gradient, and reflect the rate of concrete setting along the depth.

[0050] The regional adaptation parameters are used to collect environmental temperature, freeze-thaw cycles, geology, gravel, etc., to reflect the impact of the site on the resistance to pipe pulling.

[0051] The acquisition of the above parameters provides a unique, real, and real-time field input for subsequent modeling and control, which is the foundation of intelligent control.

[0052] The pipe-pulling model construction unit is communicatively connected to the data acquisition unit and is used to receive real-time data transmitted by the data acquisition unit. Based on multi-dimensional parameters, a multi-factor fusion pipe-pulling model is constructed, which integrates temperature gradients at different depths, hydration heat generated by cement hardening, concrete setting state, geological conditions, ambient temperature, freeze-thaw state, mud parameters and trench stability, and dynamically calculates the optimal pipe-pulling parameters.

[0053] It communicates with the data acquisition unit; receives real-time data; constructs a multi-factor fusion pipe-pulling model based on multi-dimensional parameters; integrates temperature gradient, heat of hydration, concrete setting state, geological conditions, ambient temperature, freeze-thaw state, mud parameters, and trench stability; and dynamically calculates the optimal pipe-pulling parameters. Wired / wireless communication is used to achieve real-time data transmission from the acquisition unit to the model unit, ensuring that model calculations are synchronized with the field.

[0054] Multi-factor fusion modeling is used to quantify, normalize, and weight fusion eight core influencing factors to form a unified calculation model:

[0055] Temperature gradients are used to control condensation differences along depth;

[0056] Heat of hydration is used to control the hardening rate of concrete;

[0057] The setting of concrete is used to control the timing of pipe removal;

[0058] Geological / freeze-thaw / ambient temperature are used to control regional adaptability;

[0059] Mud / groove stabilization is used to control construction safety boundaries;

[0060] The model transforms nonlinear, strongly coupled field factors into computable mathematical relationships.

[0061] The model updates in real time with the collected data, and recalculates at each moment based on the current working conditions, outputting the optimal tube pulling speed, lifting force, and safety resistance threshold at that moment.

[0062] Ultimately, it is used to transform human experience-based judgments into data-driven, dynamic, optimal decisions.

[0063] The following is a calculation model for the optimal tube removal speed, and its calculation formula is as follows:

[0064]

[0065] in, Optimal tube removal speed, m / h; Basic tube removal speed, m / h; Correction factor; , Attenuation coefficient; Geological environment correction function; : Correction function for mud concrete.

[0066] The formula uses the base speed Based on this standard, multi-coefficient real-time correction allows the tube extraction speed to be adjusted continuously and smoothly, changing second by second according to working conditions. This completely replaces manual speed adjustment based on experience, significantly reducing speed control errors and making tube extraction timing more precise. Furthermore, it employs an exponential decay term. The greater the heat of hydration released, the faster the concrete hardens. The speed automatically decreases, effectively avoiding pipe condensation, pipe jamming, and equipment damage caused by pulling the pipe out too late or the concrete sticking to the joint pipe.

[0067] The above formula uses a temperature gradient compensation term. The greater the temperature gradient at depth, the greater the difference in hardening between the upper and lower parts of the concrete. The speed is moderately increased to solve the defect that traditional single-point temperature measurement cannot reflect the difference in setting in the depth direction, and to prevent the upper part of the hole from collapsing and the lower part from forming solidified pipes.

[0068] Geological environment correction function Automatic adaptation: The higher the gravel content and the greater the diurnal temperature range, the faster the model will automatically adjust its speed. It can be used in soft soil, gravel, freeze-thaw, and large temperature range areas, greatly improving its versatility and regional adaptability.

[0069] Specifically, the above-mentioned geological environment correction parameters are:

[0070] ;

[0071] Through the mud concrete correction function Abnormal mud density and concrete setting trigger automatic speed limiting. The pipe pulling speed is strongly coupled and matched with the trench wall protection and concrete workability, significantly reducing the risk of borehole collapse.

[0072] Specifically, the above-mentioned correction factor for mud concrete:

[0073] ;

[0074] The continuous multiplication correction structure ensures smooth speed changes without abrupt changes, avoiding frequent start-stops, rapid acceleration and deceleration, thus extending equipment life and improving the quality of wall forming.

[0075] All correction factors The model can be iteratively updated using historical data. The more engineering data available, the more refined the model becomes, and the closer the speed control gets to the theoretical optimum.

[0076] It should be noted that the formula for calculating the heat of hydration release rate is: ;

[0077] in, : Hydration heat release rate, kJ / (kg・h);

[0078] Specific heat capacity of concrete, kJ / (kg・℃);

[0079] Concrete density, kg / m³;

[0080] : Rate of temperature change, °C / h.

[0081] The control unit is communicatively connected to the tube removal model construction unit, and is used to receive the optimal tube removal parameters output by the tube removal model construction unit, compare and analyze the real-time data with the model output, and generate corresponding tube removal control commands.

[0082] The aforementioned closed-loop control uses the output value of the model as the target value and the field-collected data as the feedback value, comparing the difference. When the deviation is within the allowable range, a smooth operation command is output; when the deviation approaches the threshold, a deceleration / fine-tuning command is output; when the deviation exceeds the threshold, a pause / emergency command is output. The optimal tube removal parameters calculated by the model are converted into electrical control signals that can be recognized by the execution unit.

[0083] An execution unit, which is communicatively connected to the control unit, is used to receive control commands sent by the control unit and perform adjustment operations on the pipe pulling speed, pipe pulling height, and pipe pulling lifting force to achieve coordinated adaptation between the pipe pulling process and the dynamic pouring process.

[0084] This device, upon receiving control commands, drives the hydraulic system, variable frequency motor, and torque control device to convert electrical signals into mechanical displacement and force. The pipe extraction speed controls the lifting height per unit time to match the concrete setting rate; the extraction height controls each lifting stroke to ensure the correct extraction of the joint pipe; and the extraction lifting force controls the output pull force to prevent exceeding resistance, pipe jamming, or pipe breakage. The extraction rhythm strictly follows the concrete pouring speed, volume, and setting state to ensure the uncured area matches the extraction position, preventing hole collapse and pipe entanglement.

[0085] A data storage and feedback unit is communicatively connected to the data acquisition unit, the tube removal model construction unit, and the control unit. It stores historical data and provides data feedback support to each unit. Real-time writing of full-process data—parameters, model calculated values, control commands, execution status, abnormal events, and timestamps—forms a traceable database. Historical calibration data is provided to the acquisition unit to assist in sensor drift detection. Historical operating conditions and results are provided to the model unit for weight optimization and model iteration. Historical emergency cases are provided to the control unit to assist in abnormal decision-making. This enables data accumulation, model optimization, and more precise self-learning and adaptive control capabilities.

[0086] Furthermore, the above-mentioned tube removal model construction unit incorporates a multi-factor fusion tube removal resistance prediction model, which is used to accurately predict the total resistance during the tube removal process, providing data support for tube removal parameter optimization.

[0087] It should be noted that this resistance prediction model is not externally invoked or manually input, but is permanently integrated into the pipe-pulling model building unit. The model communicates directly with the data acquisition and control unit, with direct data flow and no intermediate conversion steps. This enables immediate calculation of the model upon data acquisition, ensuring real-time and continuous prediction. It guarantees low latency, high reliability, and integrated resistance calculation, meeting the dynamic control requirements of the construction site.

[0088] The resistance to pipe extraction is not determined by a single factor, but rather by the combined effects of temperature gradient, heat of hydration, geology, environment, mud condition, and concrete state. The model normalizes and weights these parameters with different dimensions and physical meanings, forming a unified calculation relationship. Each factor is assigned a weight according to its actual impact, and this weight can be dynamically adjusted according to geological / environmental conditions. This overcomes the problems of large errors and poor adaptability in traditional single-factor models, making the resistance calculation comprehensive and closely reflecting real-world working conditions.

[0089] The tube extraction resistance prediction model is based on mechanical mechanisms and data fitting, and establishes a mathematical mapping relationship between the total tube extraction resistance and multiple influencing factors.

[0090] The calculation formula is:

[0091]

[0092] in, : Predict the total resistance during tube removal, kN; : Basic tube pulling resistance, kN; Temperature gradient, °C / m: : Heat of hydration release, kJ / kg; G: Gravel content, %; ΔT: Diurnal temperature range, °C; Mud density, g / cm³; Concrete setting coefficient; Weighting coefficients for each factor (adjusted according to geological dynamics).

[0093] This multi-factor integrated pipe-pulling resistance prediction model can comprehensively consider multiple factors such as temperature gradient, heat of hydration, geological conditions, ambient temperature difference, mud properties, and concrete setting state to accurately predict the total pipe-pulling resistance in real time, significantly improving the safety, controllability, and adaptability of pipe-pulling operations. It can provide reliable data support for the dynamic optimization of parameters such as optimal pipe-pulling speed and lifting force, enabling proactive resistance prediction and control, effectively avoiding construction risks such as pipe jamming, pipe solidification, over-stretching, and borehole collapse. The model weights can be dynamically adjusted according to geology and environment, making it highly versatile and able to significantly improve the forming quality and construction efficiency of the anti-seepage wall, while reducing project risks and costs.

[0094] Furthermore, the above-mentioned tube removal model construction unit also has a built-in optimal tube removal speed calculation model, which is used to calculate the optimal tube removal speed based on the tube removal resistance prediction results and environmental parameters.

[0095] The optimal pipe extraction speed calculation model and the pipe extraction resistance prediction model are integrated into the same unit, forming part of the same model system. Data from the two models can be directly exchanged without intermediate steps or delays; resistance prediction results can be directly input into the speed model for calculation. The model is embedded within the pipe extraction model construction unit, starting, running, and updating synchronously with the construction progress. This achieves integrated and continuous computation of resistance prediction and speed calculation, ensuring the real-time performance, consistency, and stability of pipe extraction control.

[0096] The above-mentioned optimal pipe extraction speed calculation model is based on mechanical mechanisms, concrete hydration laws, and construction technology, establishing a mathematical calculation model between pipe extraction speed and influencing factors. Using a base speed as a benchmark, the model achieves dynamic speed calculation through exponential decay, linear compensation, and function correction. The speed output by the model is the safest, most reasonable, and most efficient pipe extraction speed under the current working conditions.

[0097] Based on the predicted resistance of the tube extraction resistance, the predicted total resistance output by the tube extraction resistance prediction model is directly used as the core input condition.

[0098] The greater the predicted resistance, the lower the allowable tube extraction speed; the smaller the predicted resistance, the higher the allowable extraction speed.

[0099] When the resistance approaches the safety threshold, the model automatically limits the speed, forces deceleration, or even stops.

[0100] By strongly linking and constraining the tube pulling speed with the resistance, we can fundamentally prevent tube pulling due to excessive resistance, tube jamming, tube condensation, and equipment damage.

[0101] With the optimization goals of preventing borehole collapse, pipe condensation, pipe jamming, and maximizing efficiency, a unique optimal speed value is calculated. This ensures matching of concrete setting rate, borehole stability and safety, reasonable equipment stress, and continuous and efficient construction. The calculation results are output to the control unit in real time for speed adjustment of the actuator.

[0102] Furthermore, the aforementioned data acquisition unit includes a depth temperature detection subunit, which is used to acquire temperature distribution data at different depths of the connector tube in real time, construct temperature gradient curves, and provide temperature field parameters for the tube pulling model. The depth temperature detection subunit adopts a distributed temperature sensor array, with a temperature sensor arranged every 0.5m to 1.0m along the axial direction of the connector tube to monitor temperature changes in the depth direction in real time.

[0103] In this embodiment, the aforementioned depth temperature detection subunit uses a distributed temperature sensor array densely arranged at intervals of 0.5m–1.0m along the axial direction of the joint pipe to collect the temperature distribution across the entire depth in real time. Based on the collected data, a temperature gradient curve is calculated and constructed to form complete temperature field parameters. The temperature field parameters are input into the pipe pulling model for resistance prediction and speed optimization, thereby accurately reflecting the setting differences of concrete along the depth and making the pipe pulling operation safer, more accurate, and more in line with real working conditions.

[0104] Furthermore, the data acquisition unit includes a hydration heat monitoring subunit, which is used to monitor the hydration heat released during the cement hardening process in real time, including the hydration heat release rate, cumulative hydration heat, and peak hydration heat temperature.

[0105] The hydration heat monitoring subunit calculates the degree of influence of hydration heat on the setting state of concrete by combining temperature sensors and heat flow sensors with concrete mix proportion parameters.

[0106] In this embodiment, the aforementioned hydration heat monitoring subunit, as a component of the data acquisition unit, monitors the concrete cement hydration process in real time through a combination of temperature and heat flow sensors, acquiring the release rate, cumulative heat, and peak temperature. It is then corrected by combining concrete mix proportion parameters to quantitatively calculate the degree of influence of hydration heat on the setting state, providing a core basis for concrete hardening for predicting tube removal resistance and calculating the optimal tube removal speed, thus enabling accurate judgment of the tube removal timing.

[0107] Furthermore, the data acquisition unit includes a geological environment parameter acquisition subunit, used to collect soil type, gravel distribution, freeze-thaw state and groundwater level parameters of the construction area;

[0108] The geological environment parameter acquisition subunit establishes a geological environment parameter database by combining geological exploration data, on-site sampling analysis, and sensor monitoring, providing geological condition correction parameters for the pipe-pulling model.

[0109] This geological environment parameter acquisition subunit is a component module of the data acquisition unit. It is specifically responsible for collecting and organizing the geological and environmental conditions of the construction area. Together with subunits such as temperature, heat of hydration, concrete, and mud, it forms a complete sensing system, providing a basis for regional and geological-level corrections to the pipe-pulling model.

[0110] Collect soil type, gravel distribution, freeze-thaw conditions, and groundwater level parameters of the construction area.

[0111] Specifically:

[0112] Soil type determines the hardness and friction characteristics of the strata, which in turn determines the resistance to pipe pulling. Higher gravel content results in greater frictional resistance to the pipe wall, making it easier for the pipe to get stuck. The large difference in strength between frozen and thawed soil directly affects the stability of the trench and the resistance to pipe pulling. Groundwater level affects the pressure of mud slurry wall protection and the risk of trench deformation.

[0113] The above parameters together determine the extent to which geology affects the resistance to pipe extraction.

[0114] Secondly, a combination of geological exploration data, on-site sampling analysis, and sensor monitoring is used.

[0115] Specifically, geological exploration data obtains stratigraphic profiles and soil types from previous explorations, providing a macroscopic geological background.

[0116] On-site sampling and analysis involves particle analysis and sieving tests to measure the content of soil and gravel, ensuring the accuracy of the data.

[0117] Sensor monitoring is used to monitor ground temperature, water level, and freeze-thaw depth in real time, dynamically reflecting on-site geological changes.

[0118] The combination of these three elements achieves a comprehensive and reliable integration of preliminary data, on-site measurements, and real-time monitoring.

[0119] The system stores various types of geological information, such as soil, gravel, freeze-thaw cycles, and water levels, in a structured manner to form a database that can be queried, accessed, and corrected. This database serves as a fixed regional input condition for the pipe-pulling model, enabling the system to have regional adaptive capabilities.

[0120] The database converts geological parameters into correction coefficients that the model can recognize, and adjusts the pipe pulling resistance prediction model and the optimal speed model in real time: more gravel can increase the resistance weight, thereby reducing the pipe pulling speed; frozen soil can increase the resistance threshold, thereby strengthening the safety protection of the trench; high groundwater level is used to enhance mud monitoring, thereby controlling the pipe pulling rhythm, so that the model can automatically adapt to the geology and greatly improve the control accuracy under complex working conditions.

[0121] Furthermore, the data acquisition unit includes a concrete condition monitoring subunit, which is used to monitor the initial setting time, final setting time, slump, and pouring speed parameters of the concrete in real time. The concrete condition monitoring subunit evaluates the concrete setting state in real time through a combination of a penetration resistance meter, a temperature sensor, and a flow sensor, providing a basis for determining the timing of pipe removal.

[0122] In this embodiment, the concrete condition monitoring subunit, as an important component of the data acquisition unit, uses a combination of penetration resistance meter, temperature sensor, and flow sensor to monitor and acquire key parameters such as initial setting time, final setting time, slump, and pouring speed of concrete in real time. Based on these parameters, the concrete setting process and working status are evaluated in real time, providing the most direct basis for judging the timing of pipe pulling for the pipe pulling model, ensuring that the pipe pulling operation is always in a safe, reasonable state that matches the concrete hardening rhythm.

[0123] Furthermore, the data acquisition unit includes a slot and mud monitoring subunit, used to monitor in real time the liquid level height, borehole wall stability, mud density, mud viscosity, and mud sand content parameters in the slot; the slot and mud monitoring subunit uses a combination of a liquid level sensor, a borehole wall inclinometer, and a mud performance tester to evaluate the stability of the slot in real time, providing a guarantee for the safety of pipe pulling.

[0124] In this embodiment, the concrete condition monitoring subunit is a module in the data acquisition unit that directly determines the feasibility of pipe extraction. It collects data in parallel with and complements the depth temperature, hydration heat, geology, and mud subunits, forming a complete working condition perception system. This provides the most critical and direct basis for intelligent pipe extraction.

[0125] By acquiring key parameters such as the initial setting time, final setting time, slump, and pouring speed of concrete in real time, and comprehensively evaluating the concrete setting process and workability based on multi-source monitoring data, the system provides the most direct basis for judging the timing of pipe removal for the pipe removal model. This enables dynamic matching between the pipe removal operation and the concrete hardening rate, ensuring that the pipe removal process is safe, reasonable, and controllable, and effectively improving the construction quality and operational safety of the anti-seepage wall.

[0126] Furthermore, the data acquisition adopts a dual mode of real-time acquisition and manual verification. Every 30 minutes, key data such as the burial depth of the guide pipe, the lifting force of the pipe, the initial setting state of the concrete, the depth temperature distribution, and the hydration heat parameters are manually sampled and verified. The verified data is compared with the data acquired by the sensor. If the deviation exceeds the allowable range, the sensor and pipe pulling model parameters are immediately calibrated.

[0127] In this embodiment, a dual-protection mode of real-time automatic data acquisition and timed manual verification is adopted: sensors are used to achieve uninterrupted data acquisition to ensure the continuity of construction; every 30 minutes, manual sampling and verification of key data such as guide pipe burial depth, pipe pulling force, initial concrete setting, depth temperature, and heat of hydration are performed; the manual measured values ​​are compared with the sensor-acquired values, and if the deviation exceeds the limit, the sensor is immediately calibrated and the pipe pulling model parameters are corrected, thereby continuously ensuring data accuracy, model accuracy, and control reliability, and adapting to the complex environment of strong vibration, humidity, and multiple interferences at the construction site.

[0128] Example 2

[0129] Please refer to Figure 2 Based on the above-mentioned intelligent pipe-pulling control system for cutoff walls based on dynamic casting, this embodiment provides an intelligent pipe-pulling control method for cutoff walls based on dynamic casting, including the following steps:

[0130] S101: The data acquisition unit collects real-time parameters such as pipe pulling parameters, concrete state parameters, trench and mud parameters, depth temperature distribution parameters, and regional adaptation parameters. Through multiple sensor arrays, the data acquisition unit continuously, synchronously, and in multiple dimensions collects data on the mechanical state, concrete performance, trench safety, temperature field, and geological environment throughout the pipe pulling operation. It converts on-site physical quantities into digital signals, providing real, complete, and real-time raw input data for subsequent model calculations.

[0131] S102: Based on the collected multi-dimensional parameters, the pipe-pulling model construction unit comprehensively considers factors such as temperature gradients at different depths, hydration heat generated by cement hardening, concrete setting state, geological conditions, ambient temperature and freeze-thaw state, mud parameters, and trench stability to calculate the optimal pipe-pulling parameters. The pipe-pulling model construction unit receives the collected data, performs data preprocessing and feature extraction, and uses a multi-factor fusion algorithm to weight and couple multiple factors such as temperature gradient, hydration heat, geological conditions, environmental changes, mud properties, and trench stability to dynamically calculate the safest and most reasonable optimal pipe-pulling speed, pipe-pulling resistance, lifting force, and other key parameters under the current working conditions.

[0132] S103: The control unit compares and analyzes the real-time data with the model output to generate a tube removal control command; the control unit uses the optimal tube removal parameters output by the model as the target value and the real-time data collected on site as the feedback value to perform difference comparison and deviation judgment; it outputs a stable operation command within the normal range, an early warning command when approaching the threshold, and an emergency command when exceeding the threshold, ultimately forming a standard control signal that can be recognized by the execution unit.

[0133] S104: The actuator performs the adjustment operations of tube pulling speed, tube pulling height, and tube pulling lifting force. The actuator receives instructions from the control unit, drives the hydraulic system, frequency conversion mechanism, and torque adjustment device, converts electrical signals into mechanical actions, and precisely adjusts the tube pulling speed, tube pulling stroke, and lifting force to make the tube pulling process match and coordinate with the concrete pouring speed and setting rate in real time.

[0134] S105: When the initial setting time of concrete is less than 6 hours or the pouring interruption time exceeds 40 minutes, stop pulling the pipe and start the concrete insulation and mixing device. Resume pulling the pipe after the concrete condition returns to the preset threshold. When the deformation of the trench wall exceeds the allowable range, start the mud circulation reinforcement device, add curing agent to ensure the stability of the trench wall, and continue pulling the pipe. When the predicted value of the pipe pulling resistance exceeds the safety threshold, reduce the pipe pulling speed or suspend pipe pulling. Resume work after the resistance returns to normal.

[0135] This step utilizes a three-level security protection mechanism:

[0136] 1. Concrete abnormalities: If the concrete sets too quickly or the pouring is interrupted, stop the pouring immediately and improve the concrete condition to prevent the pipe from solidifying or getting stuck.

[0137] 2. Slot instability: If the deformation of the slot wall exceeds the standard, initiate wall reinforcement to prevent slot collapse and pipe burial;

[0138] 3. Excessive resistance: If the predicted resistance exceeds the limit, force the machine to slow down or stop to avoid excessive force causing breakage or equipment damage.

[0139] All emergency actions are automatically triggered and proactively handled.

[0140] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A smart pipe-pulling control system for a seepage-proof wall based on dynamic casting, characterized in that, include: The data acquisition unit is used to collect in real time the pipe extraction parameters, concrete state parameters, trench and mud parameters, depth temperature distribution parameters and regional adaptation parameters during the pipe extraction process. The pipe-pulling model construction unit is communicatively connected to the data acquisition unit and is used to receive real-time data transmitted by the data acquisition unit. Based on multi-dimensional parameters, a multi-factor fusion pipe-pulling model is constructed, which integrates temperature gradients at different depths, hydration heat generated by cement hardening, concrete setting state, geological conditions, ambient temperature, freeze-thaw state, mud parameters and trench stability, and dynamically calculates the optimal pipe-pulling parameters. The control unit is communicatively connected to the tube removal model construction unit, and is used to receive the optimal tube removal parameters output by the tube removal model construction unit, compare and analyze the real-time data with the model output, and generate corresponding tube removal control commands. An execution unit, which is communicatively connected to the control unit, is used to receive control commands sent by the control unit and perform adjustment operations on the pipe pulling speed, pipe pulling height, and pipe pulling lifting force to achieve coordinated adaptation between the pipe pulling process and the dynamic pouring process. The data storage and feedback unit is communicatively connected to the data acquisition unit, the tube removal model construction unit, and the control unit, respectively, and is used to store historical data and provide data feedback support to each unit.

2. The intelligent pipe-pulling control system for the seepage-proof wall based on dynamic casting as described in claim 1, characterized in that, The tube removal model construction unit incorporates a multi-factor fusion tube removal resistance prediction model to predict the total resistance during the tube removal process.

3. The intelligent pipe-pulling control system for the seepage-proof wall based on dynamic casting as described in claim 2, characterized in that, The tube removal model construction unit also has a built-in optimal tube removal speed calculation model, which is used to calculate the optimal tube removal speed based on the tube removal resistance prediction results and environmental parameters.

4. The intelligent pipe-pulling control system for seepage-proof walls based on dynamic casting as described in claim 1, characterized in that, The data acquisition unit includes a depth temperature detection subunit, which is used to collect temperature distribution data at different depths of the connector tube in real time, construct temperature gradient curves, and provide temperature field parameters for the tube pulling model. The depth temperature detection subunit adopts a distributed temperature sensor array, with a temperature sensor arranged every 0.5m to 1.0m along the axial direction of the connector tube to monitor temperature changes in the depth direction in real time.

5. The intelligent pipe-pulling control system for seepage-proof walls based on dynamic casting as described in claim 1, characterized in that, The data acquisition unit includes a hydration heat monitoring subunit, which is used to monitor the hydration heat released during the cement hardening process in real time, including the hydration heat release rate, cumulative hydration heat, and peak hydration heat temperature. The hydration heat monitoring subunit calculates the degree of influence of hydration heat on the setting state of concrete by combining temperature sensors and heat flow sensors with concrete mix proportion parameters.

6. The intelligent pipe-pulling control system for the seepage-proof wall based on dynamic casting according to claim 1, characterized in that, The data acquisition unit includes a geological environment parameter acquisition subunit, which is used to collect soil type, gravel distribution, freeze-thaw state and groundwater level parameters of the construction area. The geological environment parameter acquisition subunit establishes a geological environment parameter database by combining geological exploration data, on-site sampling analysis, and sensor monitoring, providing geological condition correction parameters for the pipe-pulling model.

7. The intelligent pipe-pulling control system for seepage-proof walls based on dynamic casting as described in claim 1, characterized in that, The data acquisition unit includes a concrete condition monitoring subunit, which is used to monitor the initial setting time, final setting time, slump, and pouring speed parameters of the concrete in real time. The concrete condition monitoring subunit uses a combination of a penetration resistance meter, a temperature sensor, and a flow sensor to evaluate the concrete setting state and provide a basis for determining the timing of pipe removal.

8. The intelligent pipe-pulling control system for seepage-proof walls based on dynamic casting as described in claim 1, characterized in that, The data acquisition unit includes a slot and mud monitoring subunit, which is used to monitor the liquid level height, borehole wall stability, mud density, mud viscosity and mud sand content parameters in real time. The slot and mud monitoring subunit is used to evaluate the stability of the slot by combining a liquid level sensor, a borehole wall inclinometer and a mud performance tester.

9. The intelligent pipe-pulling control system for seepage-proof walls based on dynamic casting as described in claim 1, characterized in that, The data acquisition adopts a dual mode of real-time acquisition and manual verification. Every 30 minutes, key data such as duct burial depth, duct pulling force, initial setting state of concrete, depth temperature distribution, and hydration heat parameters are manually sampled and verified. The verified data is compared with the data acquired by the sensor. If the deviation exceeds the allowable range, the sensor and duct pulling model parameters are immediately calibrated.

10. A method for intelligent pipe pulling control of a seepage-proof wall based on dynamic casting, employing the system described in any one of claims 1 to 9, characterized in that, Includes the following steps: S101: Real-time acquisition of pipe pulling parameters, concrete state parameters, trench and mud parameters, depth temperature distribution parameters, and regional adaptation parameters through the data acquisition unit. S102: The unit for constructing the tube extraction model is based on the collected multi-dimensional parameters, and comprehensively considers factors such as temperature gradient at different depths, heat of hydration generated by cement hardening, concrete setting state, geological conditions, ambient temperature and freeze-thaw state, mud parameters and slot stability to calculate the optimal tube extraction parameters. S103: The control unit compares and analyzes real-time data with model output to generate tube removal control commands; S104: The actuator performs adjustment operations on the tube extraction speed, tube extraction height, and tube extraction lifting force. S105: When the initial setting time of concrete is detected to be less than 6 hours or the pouring interruption time exceeds 40 minutes, stop pulling the pipe and start the concrete insulation and mixing device. Wait until the concrete condition returns to the preset threshold before pulling the pipe. When the deformation of the slot wall exceeds the allowable range, start the mud circulation reinforcement device, add solidifying agent to ensure the slot wall is stable before continuing to pull the pipe; when the predicted value of the pipe pulling resistance exceeds the safety threshold, reduce the pipe pulling speed or stop the pipe pulling, and continue the operation after the resistance returns to normal.

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