A method, device and medium for self-walking and overlapping of a water-proof cement blanket

Abstract

The application relates to the technical field of cement blanket lap joint, and discloses a water-impermeable cement blanket self-walking lap joint method, equipment and medium, which comprises the following steps: determining construction parameters of water-impermeable cement blanket lap joint according to on-site working conditions and pre-set construction conditions of water-impermeable cement blanket lap joint; inputting the construction parameters into a pre-constructed self-walking path model and a binding strategy model to generate a self-walking path and a self-binding execution frequency; setting the water-impermeable cement blanket lap joint equipment to move along the self-walking path and dynamically determining a lap joint position according to the self-binding execution frequency, the self-walking path and the real-time position of the water-impermeable cement blanket lap joint equipment; when the equipment moves to the corresponding lap joint position, performing a self-binding operation on the water-impermeable cement blanket through a binding needle; detecting the binding needles that have completed binding one by one based on pre-set detection indexes to obtain a binding quality; and if the binding quality of any binding needle does not reach a pre-set threshold value, performing a corresponding supplementary binding operation.

Description

Technical Field

[0001] This application relates to the field of cement blanket overlapping technology, and in particular to a self-propelled overlapping method, equipment and medium for impermeable cement blankets. Background Technology

[0002] Impermeable cement blankets are flexible geosynthetic materials made of cement-based composite materials filled with a three-dimensional fiber structure. They possess waterproof, impermeable, durable, and rapid-forming properties, and have been widely used in engineering fields such as river management, landfill seepage prevention, tunnel lining, and agricultural irrigation channels in recent years. During the laying of impermeable cement blankets, reliable overlap treatment must be carried out between adjacent blankets to prevent the joints from becoming seepage channels.

[0003] Currently, the overlapping of impermeable cement blankets is mainly completed manually or semi-mechanized: workers first align the overlapping areas of the two cement blankets, and then use a handheld binding machine or a simple nail gun to shoot metal needles into the overlapping area so that the upper and lower layers of blankets form a mechanical lock.

[0004] However, manual overlapping relies heavily on the operator's skill and experience. Key parameters such as binding depth, stitch spacing, and needle tip bending angle are difficult to keep consistent, which can easily lead to problems such as shallow binding in some areas, incomplete closure of stitches, or poor surface flatness, thereby affecting the overall impermeability of the overlapping area. Summary of the Invention

[0005] This specification provides one or more embodiments of a self-propelled overlapping method, equipment, and medium for impermeable cement blankets, which are used to solve the technical problems mentioned in the background art.

[0006] One or more embodiments of this specification employ the following technical solutions: This specification provides one or more embodiments of a self-propelled overlapping method for impermeable cement blankets, the method comprising: Based on the on-site working conditions and the pre-set construction conditions for the overlapping of the impermeable cement blanket, determine the construction parameters for the overlapping of the impermeable cement blanket. The construction parameters are input into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency. The anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device. When the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding. The binding quality is obtained by inspecting each binding needle that has been bound based on pre-set inspection indicators, including binding depth, needle tip closure and surface flatness. If the binding quality of any binding needle is found to be below the preset threshold, a corresponding rebinding operation will be performed.

[0007] It should be noted that this method automatically generates a self-propelled path and binding strategy through on-site working condition parameters. As the equipment moves along the path, it dynamically determines the overlap position based on its real-time location and performs self-binding. Subsequently, the depth, closure, and flatness of each binding pin are individually inspected, and any non-compliance is immediately corrected. This method eliminates the reliance on operator experience for manual binding, removes human factors such as inconsistent binding parameters, omissions, and incorrect binding, and achieves closed-loop control throughout the entire process from path planning to quality feedback. This ensures that the binding quality of each overlap point meets preset standards without additional human intervention, fundamentally guaranteeing the reliable and consistent overall impermeability of the waterproof cement blanket overlap area.

[0008] Furthermore, the construction parameters also include unit grid division information; the method further includes: The entire work area is divided into multiple unit areas according to the preset grid size; Within each unit area, the waterproof cement blanket overlapping device is controlled to move along the self-propelled path and sequentially complete the self-binding operation, binding quality inspection, and re-binding operation within that unit area. After all the binding pins in the current unit area have passed the inspection and been refilled, the anti-seepage cement blanket overlapping equipment is controlled to move to the next unit area until all unit areas have been completed.

[0009] It should be noted that this method divides the entire work area into multiple unit zones, allowing the equipment to sequentially complete all processes of self-binding, quality inspection, and re-binding within each zone. Only after all binding pins in a zone meet the standards does the equipment move to the next zone. This avoids process confusion and quality risks caused by cross-zone operations, ensuring that the overlap quality of each zone is verified as qualified before moving to the next area. This zone-by-zone closed-loop control method guarantees the uniformity and reliability of the overlap effect throughout the entire work area, achieving full-area quality control without the need for repeated manual inspections.

[0010] Furthermore, the binding quality is obtained by inspecting each binding pin individually based on pre-set detection indicators, including: Along the direction of travel of the self-propelled path, each row of binding needles is inspected in groups; After each row of binding needles is inspected, the binding quality of that row is generated.

[0011] It should be noted that this method performs grouped inspections of the binding needles along the self-propelled path, generating a binding quality report for each completed row. This row-by-row grouping and simultaneous inspection and output approach can quickly pinpoint the precise row number where the quality anomaly occurs, providing clear guidance for subsequent targeted rebinding within that row.

[0012] Furthermore, if the binding quality of any binding needle is detected to be below a preset threshold, a corresponding rebinding operation is performed, including: If the binding quality of any binding needle is found to be below the preset threshold, the binding parameters during rebinding are adaptively adjusted according to the defect type of the non-compliant binding needle. The binding parameters include the binding depth compensation, the needle tip bending angle, and the impact force of the pressure blade. Control the anti-seepage cement blanket overlapping device to return to the overlapping position corresponding to the binding needle, and perform secondary binding according to the adjusted binding parameters; After the second binding is completed, the binding needle is tested until its binding quality reaches the preset threshold.

[0013] It should be noted that this method, upon detecting defective binding needles, adaptively adjusts parameters such as binding depth compensation, needle tip bending angle, and pressure blade impact force based on the specific defect type (e.g., insufficient depth, incomplete bending). It then returns to its original position for a second binding, continuously monitoring until the standard is met. This method of dynamically optimizing binding parameters based on defect type avoids repeated failures caused by fixed parameters in traditional binding methods. It ensures that each binding precisely corrects the original defect, significantly improving the first-time repair success rate of defective binding needles without adding extra steps, and ensuring that the final quality of all binding points in the overlapping area meets requirements.

[0014] Furthermore, before inputting the construction parameters into the pre-built self-walking path model and binding strategy model, the process also includes: Collect topographic point cloud data of the construction site and extract topographic feature parameters, including slope, unevenness and soil bearing capacity. The terrain feature parameters and the construction parameters are input into the self-walking path model and the binding strategy model to ensure that the generated self-walking path avoids terrain obstacles and matches ground undulations. The self-binding execution frequency is adjusted according to the terrain feature parameters to increase binding density in complex terrain areas and decrease binding density in flat terrain areas.

[0015] It should be noted that this method collects terrain point cloud data and extracts features such as slope, unevenness, and soil bearing capacity before modeling. These features, along with construction parameters, are input into the path and binding strategy model. As a result, the generated self-propelled path can actively avoid obstacles and conform to ground undulations. Simultaneously, it adaptively adjusts the binding density according to terrain complexity, increasing binding density in rugged areas to ensure stability and decreasing binding density in flat areas to avoid waste. This differentiated strategy based on actual terrain enables the overlapping operation to maintain stable binding quality under complex conditions, while improving efficiency and saving materials under simple conditions, achieving a dual optimization of quality and cost.

[0016] Furthermore, the dynamic determination of the overlap position includes: Obtain the real-time position coordinates and attitude angles of the waterproof cement blanket overlapping device; Based on the planned trajectory of the self-walking path, determine the lateral and longitudinal deviations between the real-time position coordinates and the target position; If the lateral or longitudinal deviation exceeds the allowable range, the forward direction and speed of the anti-seepage cement blanket overlapping device are adjusted by a pre-trained path correction algorithm so that the anti-seepage cement blanket overlapping device returns to the planned path. When the anti-seepage cement blanket overlapping equipment reaches the target position within the error radius, the current position is determined as the overlapping position.

[0017] It should be noted that this method acquires the equipment's position and attitude in real time, calculates the lateral and longitudinal deviations from the target position, and automatically adjusts the forward direction and speed using a path correction algorithm when the deviation exceeds the limit, allowing the equipment to return to the planned path and accurately determine the overlap point when it reaches the target position within the error radius. Therefore, even in complex terrain or under motion disturbances, the equipment can automatically correct its course and accurately position itself at the predetermined overlap position, avoiding overlap offsets or omissions caused by inaccurate positioning. This ensures that each binding is performed in the correct position, significantly improving the consistency of the overlap position and the overall construction accuracy.

[0018] Furthermore, the construction parameters include terrain conditions, cement blanket overlap positions, overlap lengths, and overlap depths.

[0019] It should be noted that the construction parameters of this method specifically include terrain conditions, cement blanket overlap positions, overlap lengths, and overlap depths. These parameters enable the subsequently constructed self-propelled path model and binding strategy model to perform accurate calculations based on these key parameters. Terrain conditions determine the equipment's travel resistance and obstacle avoidance requirements; overlap positions and lengths define the target binding area; and overlap depth directly affects the insertion force and bending angle of the binding needle. Therefore, the path and binding strategy generated by the model are no longer general templates but customized solutions for actual working conditions. This ensures the rationality of the self-propelled path and the adaptability of the self-binding operation, laying a reliable data foundation for the smooth execution of subsequent processes.

[0020] Furthermore, the binding needle is a U-shaped needle, which includes an arc-shaped top and needle bodies on both sides; the self-binding operation includes: The U-shaped needle is fed to the needle outlet via the needle feed track; The pressing element drives the pressing blade to insert the U-shaped needle into the overlap area of ​​the waterproof cement blanket; The U-shaped needle is bent by the slot on the base so that it fits the lower surface of the lower impermeable cement blanket.

[0021] It should be noted that this method uses a U-shaped needle with an arc-shaped top and two side needle bodies, completing the self-binding process in three steps: needle feeding, insertion, and bending. The needle feeding track ensures that the U-shaped needle is accurately positioned at the needle outlet, the pressure blade inserts it vertically into the overlap area, and the base slot bends the needle body to fit against the lower surface of the underlying blanket. This mechanical locking method of first inserting and then bending creates a stable hook connection between the upper and lower cement blankets, preventing the needle body from springing back and ensuring a tight fit at the overlap interface. This achieves reliable and durable mechanical fixation without relying on adhesives, significantly improving the tensile strength of the overlap area and the overall sealing performance.

[0022] This specification provides one or more embodiments of a self-propelled overlapping device for waterproof cement blankets, comprising: At least one processor and bus; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Based on the on-site working conditions and the pre-set construction conditions for the overlapping of the impermeable cement blanket, determine the construction parameters for the overlapping of the impermeable cement blanket. The construction parameters are input into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency. The anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device. When the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding. The binding quality is obtained by inspecting each binding needle that has been bound based on pre-set inspection indicators, including binding depth, needle tip closure and surface flatness. If the binding quality of any binding needle is found to be below the preset threshold, a corresponding rebinding operation will be performed.

[0023] This specification provides one or more embodiments of a non-volatile computer storage medium storing computer-executable instructions, which, when executed by a computer, can perform the following: Based on the on-site working conditions and the pre-set construction conditions for the overlapping of the impermeable cement blanket, determine the construction parameters for the overlapping of the impermeable cement blanket. The construction parameters are input into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency. The anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device. When the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding. The binding quality is obtained by inspecting each binding needle that has been bound based on pre-set inspection indicators, including binding depth, needle tip closure and surface flatness. If the binding quality of any binding needle is found to be below the preset threshold, a corresponding rebinding operation will be performed.

[0024] The above-described at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects: This method automatically generates a self-propelled path and binding strategy through on-site working condition parameter modeling. As the equipment moves along the path, it dynamically determines the overlap position based on its real-time location and performs self-binding. Subsequently, the depth, closure, and flatness of each binding pin are individually inspected, and any non-compliance is immediately corrected. This method eliminates the reliance on operator experience for manual binding, removes human factors such as inconsistent binding parameters, omissions, and incorrect binding, and achieves closed-loop control throughout the entire process from path planning to quality feedback. This ensures that the binding quality of each overlap point meets preset standards without additional human intervention, fundamentally guaranteeing the reliable and consistent overall impermeability performance of the waterproof cement blanket overlap area. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 A schematic flowchart illustrating a self-propelled overlapping method for an impermeable cement blanket provided for one or more embodiments of this specification; Figure 2 This is a structural schematic diagram of a self-propelled overlapping device for waterproof cement blankets provided in one or more embodiments of this specification. Detailed Implementation

[0026] This specification provides an embodiment of a self-propelled overlapping method, equipment, and medium for waterproof cement blankets.

[0027] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0028] Figure 1 This diagram illustrates a process for a self-propelled overlapping method for geotextile blankets, provided in one or more embodiments of this specification. This process can be executed by a self-propelled overlapping system for geotextile blankets. Certain input parameters or intermediate results in the process can be manually adjusted to help improve accuracy.

[0029] The method flow steps of the embodiments in this specification are as follows: S101. Based on the on-site working conditions and the pre-set construction conditions for the overlap of the impermeable cement blanket, determine the construction parameters for the overlap of the impermeable cement blanket.

[0030] In the embodiments described in this specification, terrain conditions (including slope, unevenness, and soil bearing capacity), cement blanket overlap positions, overlap lengths, and overlap depths are obtained through on-site surveys or sensor data collection. Simultaneously, the entire work area is divided into multiple unit grids according to preset dimensions. These parameters are input into the construction parameter input system, allowing for manual verification and adjustment to ensure accuracy.

[0031] S102, input the construction parameters into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency.

[0032] In the embodiments described in this specification, construction parameters, along with terrain feature parameters, are input into a pre-constructed self-walking path model and a binding strategy model. The self-walking path model can generate a walking path that avoids obstacles and conforms to ground undulations based on terrain conditions and overlap positions; the binding strategy model can output the self-binding execution frequency based on overlap length, depth, and terrain complexity, enabling the equipment to increase binding density in complex areas and decrease binding density in flat areas. Both models support manual intervention for fine-tuning.

[0033] S103, the anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device.

[0034] In the embodiments described in this specification, the waterproof cement blanket overlapping device moves along a generated self-propelled path, acquiring its own position coordinates and attitude angles in real time. The controller compares the planned trajectory with the actual position, calculating the lateral and longitudinal deviations between the current position and the next target overlapping position. If the deviation exceeds the allowable range, the device's forward direction and speed are adjusted through a path correction algorithm to return it to the planned path. When the device enters the error radius of the target position, that position is determined as the actual overlapping position.

[0035] S104, when the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding.

[0036] In the embodiments described in this specification, the binding mechanism is activated after the device reaches the overlapping position. The binding needle can be a U-shaped needle with an arc-shaped top and two needle bodies on both sides. First, the U-shaped needle is fed to the needle outlet through the needle feeding track. Then, the pressing component drives the pressing blade to insert the U-shaped needle into the overlapping area of ​​the impermeable cement blanket. Finally, the U-shaped needle is bent by the slot on the base so that it fits the lower surface of the lower impermeable cement blanket, completing the self-binding.

[0037] S105, each binding needle that has been bound is inspected based on a pre-set inspection index to obtain the binding quality. The inspection index includes binding depth, needle tip closure and surface flatness.

[0038] In the embodiments described in this specification, the detection device performs group detection on each row of binding needles along the traveling direction of the self-propelled path. The binding depth, needle tip closure, and surface flatness of each binding needle are measured one by one by the sensors. After each row is detected, the binding quality result of that row is generated to determine whether it meets the standard.

[0039] S106 If it is detected that the binding quality of any binding needle does not reach the preset threshold, then the corresponding rebinding operation is performed.

[0040] In the embodiments described in this specification, if the binding quality of a binding needle fails to meet a preset threshold, the system adaptively adjusts the binding parameters according to its specific defect type (such as insufficient depth or incomplete bending), including the binding depth compensation, needle tip bending angle, and pressure blade impact force. The control device then returns to the original overlapping position of the binding needle, performs a second binding according to the adjusted parameters, and checks again after completion until the binding quality of the needle meets the standard.

[0041] It should be noted that this method automatically generates a self-propelled path and binding strategy through on-site working condition parameters. As the equipment moves along the path, it dynamically determines the overlap position based on its real-time location and performs self-binding. Subsequently, the depth, closure, and flatness of each binding pin are individually inspected, and any non-compliance is immediately corrected. This method eliminates the reliance on operator experience for manual binding, removes human factors such as inconsistent binding parameters, omissions, and incorrect binding, and achieves closed-loop control throughout the entire process from path planning to quality feedback. This ensures that the binding quality of each overlap point meets preset standards without additional human intervention, fundamentally guaranteeing the reliable and consistent overall impermeability of the waterproof cement blanket overlap area.

[0042] Furthermore, the construction parameters also include unit grid division information. The method flow steps of this embodiment are as follows: S201 divides the entire work area into multiple unit areas according to the preset grid size.

[0043] In the embodiments described in this specification, during the stage of determining construction parameters, the entire work area can be divided into multiple unit grids according to preset grid sizes. The grid sizes can be preset according to the complexity of the terrain, the overlap length, and the operating range of the equipment, and can be manually adjusted. Each unit grid corresponds to a continuous overlap area of ​​the impermeable cement blanket, serving as the basic management unit for subsequent operations.

[0044] S202, within each unit area, the anti-seepage cement blanket overlapping device is controlled to move along the self-propelled path and sequentially complete the self-binding operation, binding quality inspection and re-binding operation within that unit area.

[0045] In the embodiments described in this specification, within each unit cell, the waterproof cement blanket overlapping device moves along a previously generated self-propelled path and sequentially performs the self-binding operation, binding quality inspection, and re-binding operation within that cell. The self-binding operation follows steps S104 (needle feeding, insertion, and bending); the binding quality inspection follows steps S105 (inspecting binding depth, needle tip closure, and surface flatness by row); and the re-binding operation follows steps S106 (adjusting parameters according to the defect type and then re-binding). The entire process is completed in a closed loop within a single cell, ensuring that all binding needles within that cell are inspected and re-binded as necessary.

[0046] S203, after all the binding pins in the current unit area have passed the inspection and been re-installed, control the anti-seepage cement blanket overlapping equipment to enter the next unit area, until all unit areas have completed the operation.

[0047] In the embodiments described in this specification, within the current cell, the system only stops the operation of the current cell and moves to the next cell according to the guidance of the self-walking path after all the binding needles have passed the detection (i.e., the binding quality has reached the preset threshold) and the necessary rebinding has been completed. This process S202 is repeated until all cell cells have completed their operations. The transition between cells is automatically planned by the path model, requiring no manual intervention.

[0048] It should be noted that this method divides the entire work area into multiple unit zones, allowing the equipment to sequentially complete all processes of self-binding, quality inspection, and re-binding within each zone. Only after all binding pins in a zone meet the standards does the equipment move to the next zone. This avoids process confusion and quality risks caused by cross-zone operations, ensuring that the overlap quality of each zone is verified as qualified before moving to the next area. This zone-by-zone closed-loop control method guarantees the uniformity and reliability of the overlap effect throughout the entire work area, achieving full-area quality control without the need for repeated manual inspections.

[0049] Furthermore, in the process of inspecting each binding needle based on pre-set detection indicators to obtain the binding quality, the method flow steps of this embodiment are as follows: S301, along the travel direction of the self-propelled path, group and detect each row of binding needles.

[0050] In the embodiments described in this specification, after the anti-seepage cement blanket overlapping equipment completes the self-binding operation, the detection device moves along the traveling direction of the self-propelled path and groups the bound needles according to their arrangement. Each group corresponds to a row of binding needles, and the detection device scans each binding needle in that row sequentially, measuring its binding depth, needle tip closure, and surface flatness. During the measurement process, the detection device moves synchronously with the equipment to ensure no omissions or duplications.

[0051] S302 generates the binding quality of each row after each row of binding needles has been inspected.

[0052] In the embodiments described in this specification, after the detection device completes the measurement of each binding needle in a row, it can summarize the results of the three detection indicators for all binding needles in that row to generate a binding quality record for that row. This record includes the measured status of the binding depth, needle tip closure, and surface flatness of each binding needle in that row, used to subsequently determine whether a preset threshold has been reached. After generation, the detection device continues its detection process along the direction of travel to the next row of binding needles.

[0053] It should be noted that this method performs grouped inspections of the binding needles along the self-propelled path, generating a binding quality report for each completed row. This row-by-row grouping and simultaneous inspection and output approach can quickly pinpoint the precise row number where the quality anomaly occurs, providing clear guidance for subsequent targeted rebinding within that row.

[0054] Furthermore, in the process of performing a corresponding re-stitching operation if the stitching quality of any stitch is detected to be below a preset threshold, the method flow steps of this embodiment are as follows: S401, if it is detected that the binding quality of any binding needle does not meet the preset threshold, the binding parameters during rebinding are adaptively adjusted according to the defect type of the non-compliant binding needle. The binding parameters include the binding depth compensation amount, the needle tip bending angle and the impact force of the pressure blade.

[0055] In the embodiments of this specification, during the binding quality inspection process, if the binding depth, tip closure, or surface flatness of a binding needle fails to meet a preset threshold, the system first identifies the specific defect type of the binding needle. For example, insufficient binding depth, inadequate tip bending angle, or uneven surface protrusion. Then, the system automatically adjusts the binding parameters for rebinding based on the defect type: increasing the binding depth compensation for insufficient depth, adjusting the tip bending angle for incomplete bending, and increasing the impact force of the pressure blade for insufficient pressing force. The adjusted parameters are temporarily stored for use in this rebinding process.

[0056] S402, control the anti-seepage cement blanket overlapping device to return to the overlapping position corresponding to the binding needle, and perform secondary binding according to the adjusted binding parameters.

[0057] In the embodiments described in this specification, the system controls the anti-seepage cement blanket overlapping device to move in the opposite direction along the self-propelled path, or returns to the original overlapping position corresponding to the unqualified binding needle through path planning. After the device arrives, the binding mechanism performs a binding operation again according to the binding parameters adjusted in S401, that is, the new U-shaped needle is sent to the needle outlet through the needle feeding track, and the pressure blade inserts it with the adjusted impact force, and the base slot completes the bending at the adjusted bending angle to achieve secondary binding.

[0058] S403 After the second binding is completed, the binding needle is tested until its binding quality reaches the preset threshold.

[0059] In the embodiments described in this specification, after the secondary binding is completed, the detection device immediately detects the binding needle again, measuring its binding depth, needle tip closure, and surface flatness. If all three indicators reach the preset threshold, the rebinding operation of the binding needle ends, and the equipment continues subsequent operations. If it still does not meet the standard, the process from S401 to S403 is repeated, that is, the defect type is identified again, the parameters are adjusted, and the binding and detection are performed three times until the binding quality of the binding needle reaches the preset threshold.

[0060] It should be noted that this method, upon detecting defective binding needles, adaptively adjusts parameters such as binding depth compensation, needle tip bending angle, and pressure blade impact force based on the specific defect type (e.g., insufficient depth, incomplete bending). It then returns to its original position for a second binding, continuously monitoring until the standard is met. This method of dynamically optimizing binding parameters based on defect type avoids repeated failures caused by fixed parameters in traditional binding methods. It ensures that each binding precisely corrects the original defect, significantly improving the first-time repair success rate of defective binding needles without adding extra steps, and ensuring that the final quality of all binding points in the overlapping area meets requirements.

[0061] Furthermore, before inputting the construction parameters into the pre-built self-walking path model and binding strategy model, the method flow steps of this embodiment are as follows: S501, Collect topographic point cloud data of the construction site and extract topographic feature parameters, including slope, unevenness and soil bearing capacity.

[0062] In the embodiments described in this specification, before modeling begins, the construction site is scanned by on-site surveying equipment (such as LiDAR or depth cameras) to collect topographic point cloud data of the entire work area. The point cloud data contains the spatial coordinate information of each point on the ground surface. The system processes this point cloud data to extract topographic feature parameters: slope reflects the degree of inclination of the ground, unevenness reflects the undulation of the ground, and soil bearing capacity reflects the foundation's ability to support equipment movement and assembly operations. These parameters serve as the basic data for subsequent model input and allow for manual verification and correction.

[0063] S502, the terrain feature parameters and the construction parameters are input into the self-walking path model and the binding strategy model, so that the generated self-walking path avoids terrain obstacles and matches the ground undulations, and the self-binding execution frequency is adjusted according to the terrain feature parameters, so as to increase the binding density in complex terrain areas and reduce the binding density in flat terrain areas.

[0064] In this embodiment, the terrain feature parameters extracted in S501 and the construction parameters determined in S101 (including terrain conditions, cement blanket overlap position, overlap length, overlap depth, and unit grid division information) are input together into the self-walking path model and the binding strategy model. The self-walking path model utilizes the slope and unevenness information in the terrain feature parameters to actively avoid obstacles such as steep slopes and potholes when generating the path, and ensures the path trajectory conforms to the actual ground undulations, preventing the equipment from being suspended or excessively bumpy during movement. The binding strategy model, based on the slope and unevenness in the terrain feature parameters and combined with soil bearing capacity, automatically adjusts the self-binding execution frequency: increasing the binding density in complex terrain areas (such as areas with large slopes or uneven surfaces) to enhance the fixing strength of the overlap area; and reducing the binding density in flat terrain areas to improve work efficiency and save materials. The output results of the two models are the final self-walking path and self-binding execution frequency.

[0065] It should be noted that this method collects terrain point cloud data and extracts features such as slope, unevenness, and soil bearing capacity before modeling. These features, along with construction parameters, are input into the path and binding strategy model. As a result, the generated self-propelled path can actively avoid obstacles and conform to ground undulations. Simultaneously, it adaptively adjusts the binding density according to terrain complexity, increasing binding density in rugged areas to ensure stability and decreasing binding density in flat areas to avoid waste. This differentiated strategy based on actual terrain enables the overlapping operation to maintain stable binding quality under complex conditions, while improving efficiency and saving materials under simple conditions, achieving a dual optimization of quality and cost.

[0066] Furthermore, in the process of dynamically determining the overlap position, the method flow steps of this embodiment are as follows: S601, obtain the real-time position coordinates and attitude angle of the anti-seepage cement blanket overlapping device.

[0067] In the embodiments described in this specification, as the anti-seepage cement blanket overlapping equipment moves along its self-propelled path, the positioning module on the equipment continuously acquires its current position coordinates, while the inertial measurement unit collects the equipment's attitude angles in real time. The position coordinates reflect the equipment's spatial position within the work area, and the attitude angles reflect the equipment's tilt and orientation relative to the horizontal plane. These data are updated at a fixed frequency for subsequent deviation calculations.

[0068] S602, based on the planned trajectory of the self-walking path, determine the lateral and longitudinal deviations between the real-time position coordinates and the target position.

[0069] In the embodiments described in this specification, the system compares the acquired real-time location coordinates with a pre-generated planned trajectory in the self-propelled path model. The planned trajectory contains a series of sequentially arranged target location points. The system identifies the next target location closest to the real-time location and calculates the lateral deviation (offset perpendicular to the path direction) and longitudinal deviation (distance difference along the path direction) between the two. These two deviation values ​​together describe the degree to which the device currently deviates from the planned path.

[0070] S603, if the lateral or longitudinal deviation exceeds the allowable range, the forward direction and speed of the anti-seepage cement blanket overlapping device are adjusted by a pre-trained path correction algorithm so that the anti-seepage cement blanket overlapping device returns to the planned path.

[0071] In the embodiments described in this specification, the system pre-sets an allowable range for lateral and longitudinal deviations. If the calculated lateral or longitudinal deviation exceeds this allowable range, a pre-trained path correction algorithm is invoked. This algorithm calculates the necessary adjustment of the forward direction and speed based on the current deviation value and attitude angle, and sends commands to the equipment's drive control system to cause the equipment to turn and accelerate or decelerate, gradually reducing the deviation and ultimately returning to the planned path. During the correction process, the system continuously monitors the position and attitude to ensure smooth adjustment.

[0072] S604, when the anti-seepage cement blanket overlapping device reaches the target position within the error radius, the current position is determined as the overlapping position.

[0073] In the embodiments described in this specification, as the device gradually approaches the target position on the planned trajectory after correction, the system determines whether the distance between the real-time position and the target position falls within a preset error radius. Once it is confirmed that the device has entered the error radius, the system determines the real-time position of the device as the actual overlapping position and triggers the subsequent self-stitching operation. The setting of this error radius takes into account both positioning accuracy and work efficiency, ensuring that the stapling needle can accurately act on the predetermined overlapping area.

[0074] It should be noted that this method acquires the equipment's position and attitude in real time, calculates the lateral and longitudinal deviations from the target position, and automatically adjusts the forward direction and speed using a path correction algorithm when the deviation exceeds the limit, allowing the equipment to return to the planned path and accurately determine the overlap point when it reaches the target position within the error radius. Therefore, even in complex terrain or under motion disturbances, the equipment can automatically correct its course and accurately position itself at the predetermined overlap position, avoiding overlap offsets or omissions caused by inaccurate positioning. This ensures that each binding is performed in the correct position, significantly improving the consistency of the overlap position and the overall construction accuracy.

[0075] Furthermore, the construction parameters include terrain conditions, cement blanket overlap positions, overlap lengths, and overlap depths.

[0076] It should be noted that the construction parameters of this method specifically include terrain conditions, cement blanket overlap positions, overlap lengths, and overlap depths. These parameters enable the subsequently constructed self-propelled path model and binding strategy model to perform accurate calculations based on these key parameters. Terrain conditions determine the equipment's travel resistance and obstacle avoidance requirements; overlap positions and lengths define the target binding area; and overlap depth directly affects the insertion force and bending angle of the binding needle. Therefore, the path and binding strategy generated by the model are no longer general templates but customized solutions for actual working conditions. This ensures the rationality of the self-propelled path and the adaptability of the self-binding operation, laying a reliable data foundation for the smooth execution of subsequent processes.

[0077] Furthermore, the binding needle is a U-shaped needle, which includes an arc-shaped top and needle bodies on both sides; the self-binding operation includes: feeding the U-shaped needle to the needle outlet through the needle feeding track; driving the pressing blade through the pressing component to insert the U-shaped needle into the overlap area of ​​the impermeable cement blanket; bending the U-shaped needle through the slot on the base so that the U-shaped needle fits against the lower surface of the lower impermeable cement blanket.

[0078] It should be noted that this method uses a U-shaped needle with an arc-shaped top and two side needle bodies, completing the self-binding process in three steps: needle feeding, insertion, and bending. The needle feeding track ensures that the U-shaped needle is accurately positioned at the needle outlet, the pressure blade inserts it vertically into the overlap area, and the base slot bends the needle body to fit against the lower surface of the underlying blanket. This mechanical locking method of first inserting and then bending creates a stable hook connection between the upper and lower cement blankets, preventing the needle body from springing back and ensuring a tight fit at the overlap interface. This achieves reliable and durable mechanical fixation without relying on adhesives, significantly improving the tensile strength of the overlap area and the overall sealing performance.

[0079] Figure 2 A structural schematic diagram of a self-propelled overlapping device for impermeable cement blankets provided for one or more embodiments of this specification includes: At least one processor and bus; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Based on the on-site working conditions and the pre-set construction conditions for the overlapping of the impermeable cement blanket, determine the construction parameters for the overlapping of the impermeable cement blanket. The construction parameters are input into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency. The anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device. When the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding. The binding quality is obtained by inspecting each binding needle that has been bound based on pre-set inspection indicators, including binding depth, needle tip closure and surface flatness. If the binding quality of any binding needle is found to be below the preset threshold, a corresponding rebinding operation will be performed.

[0080] This specification provides one or more embodiments of a non-volatile computer storage medium storing computer-executable instructions, which, when executed by a computer, can perform the following: Based on the on-site working conditions and the pre-set construction conditions for the overlapping of the impermeable cement blanket, determine the construction parameters for the overlapping of the impermeable cement blanket. The construction parameters are input into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency. The anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device. When the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding. The binding quality is obtained by inspecting each binding needle that has been bound based on pre-set inspection indicators, including binding depth, needle tip closure and surface flatness. If the binding quality of any binding needle is found to be below the preset threshold, a corresponding rebinding operation will be performed.

[0081] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0082] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0083] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0084] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0085] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0086] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The aforementioned units can be implemented in hardware or software.

[0087] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0088] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A self-propelled overlapping method for impermeable cement blankets, characterized in that, The method includes: Based on the on-site working conditions and the pre-set construction conditions for the overlapping of the impermeable cement blanket, determine the construction parameters for the overlapping of the impermeable cement blanket. The construction parameters are input into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency. The anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device. When the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding. The binding quality is obtained by inspecting each binding needle that has been bound based on pre-set inspection indicators, including binding depth, needle tip closure and surface flatness. If the binding quality of any binding needle is found to be below the preset threshold, a corresponding rebinding operation will be performed.

2. The method according to claim 1, characterized in that, The construction parameters also include unit grid division information; the method further includes: The entire work area is divided into multiple unit areas according to the preset grid size; Within each unit area, the waterproof cement blanket overlapping device is controlled to move along the self-propelled path and sequentially complete the self-binding operation, binding quality inspection, and re-binding operation within that unit area. After all the binding pins in the current unit area have been bound, the anti-seepage cement blanket overlapping device is controlled to move to the next unit area until all unit areas have been completed.

3. The method according to claim 1, characterized in that, The binding quality is obtained by inspecting each binding pin individually based on pre-set detection indicators, including: Along the direction of travel of the self-propelled path, each row of binding needles is inspected in groups; After each row of binding needles is inspected, the binding quality of that row is generated.

4. The method according to claim 1, characterized in that, If the binding quality of any binding needle is found to be below a preset threshold, a corresponding rebinding operation is performed, including: If the binding quality of any binding needle is found to be below the preset threshold, the binding parameters during rebinding are adaptively adjusted according to the defect type of the non-compliant binding needle. The binding parameters include the binding depth compensation, the needle tip bending angle, and the impact force of the pressure blade. Control the anti-seepage cement blanket overlapping device to return to the overlapping position corresponding to the binding needle, and perform secondary binding according to the adjusted binding parameters; After the second binding is completed, the binding needle is tested until its binding quality reaches the preset threshold.

5. The method according to claim 1, characterized in that, Before inputting the construction parameters into the pre-built self-walking path model and binding strategy model, the process also includes: Collect topographic point cloud data of the construction site and extract topographic feature parameters, including slope, unevenness and soil bearing capacity. The terrain feature parameters and the construction parameters are input into the self-walking path model and the binding strategy model to ensure that the generated self-walking path avoids terrain obstacles and matches ground undulations. The self-binding execution frequency is adjusted according to the terrain feature parameters to increase binding density in complex terrain areas and decrease binding density in flat terrain areas.

6. The method according to claim 1, characterized in that, The dynamic determination of the overlap position includes: Obtain the real-time position coordinates and attitude angles of the waterproof cement blanket overlapping device; Based on the planned trajectory of the self-walking path, determine the lateral and longitudinal deviations between the real-time position coordinates and the target position; If the lateral or longitudinal deviation exceeds the allowable range, the forward direction and speed of the anti-seepage cement blanket overlapping device are adjusted by a pre-trained path correction algorithm so that the anti-seepage cement blanket overlapping device returns to the planned path. When the anti-seepage cement blanket overlapping equipment reaches the target position within the error radius, the current position is determined as the overlapping position.

7. The method according to claim 1, characterized in that, The construction parameters include terrain conditions, cement blanket overlap positions, overlap lengths, and overlap depths.

8. The method according to claim 1, characterized in that, The binding needle is a U-shaped needle, which includes an arc-shaped top and needle bodies on both sides; the self-binding operation includes: The U-shaped needle is fed to the needle outlet via the needle feed track; The pressing element drives the pressing blade to insert the U-shaped needle into the overlap area of ​​the waterproof cement blanket; The U-shaped needle is bent by the slot on the base so that it fits the lower surface of the lower impermeable cement blanket.

9. A self-propelled overlapping device for impermeable cement blankets, characterized in that, include: At least one processor and bus; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Based on the on-site working conditions and the pre-set construction conditions for the overlapping of the impermeable cement blanket, determine the construction parameters for the overlapping of the impermeable cement blanket. The construction parameters are input into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency. The anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device. When the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding. The binding quality is obtained by inspecting each binding needle that has been bound based on pre-set inspection indicators, including binding depth, needle tip closure and surface flatness. If the binding quality of any binding needle is found to be below the preset threshold, a corresponding rebinding operation will be performed.

10. A non-volatile computer storage medium, characterized in that, It stores computer-executable instructions, which, when executed by a computer, can achieve the following: Based on the on-site working conditions and the pre-set construction conditions for the overlapping of the impermeable cement blanket, determine the construction parameters for the overlapping of the impermeable cement blanket. The construction parameters are input into the pre-built self-walking path model and binding strategy model to generate the self-walking path and self-binding execution frequency. The anti-seepage cement blanket overlapping device is set to move along the self-walking path, and the overlapping position is dynamically determined according to the self-binding execution frequency, the self-walking path and the real-time position of the anti-seepage cement blanket overlapping device. When the equipment moves to the corresponding overlapping position, it performs a self-binding operation on the impermeable cement blanket by binding. The binding quality is obtained by inspecting each binding needle that has been bound based on pre-set inspection indicators, including binding depth, needle tip closure and surface flatness. If the binding quality of any binding needle is found to be below the preset threshold, a corresponding rebinding operation will be performed.

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