CN117420810B

CN117420810B - Multi-mode data processing method and device for high-pressure jet grouting pile control

Info

Publication number: CN117420810B
Application number: CN202311743236.XA
Authority: CN
Inventors: 陈世超; 孙廷鑫; 牛洪强; 张晓鹏; 巫祖伟; 吴琛; 杨明; 朱晨; 程海玲
Original assignee: China Railway No 3 Engineering Group Co Ltd; Guangdong Construction Engineering Co Ltd of China Railway No 3 Engineering Group Co Ltd
Current assignee: China Railway No 3 Engineering Group Co Ltd; Guangdong Construction Engineering Co Ltd of China Railway No 3 Engineering Group Co Ltd
Priority date: 2023-12-19
Filing date: 2023-12-19
Publication date: 2024-03-12
Anticipated expiration: 2043-12-19
Also published as: CN117420810A

Abstract

The invention discloses a multi-mode data processing method and a device for controlling a high-pressure jet grouting pile, wherein the method comprises the following steps: when the rotary jet grouting equipment works, slurry sensing data, pipeline pressure data, infrared ranging data, image data and ultrasonic crossing data of the rotary jet grouting equipment are obtained in real time; determining the working condition of the rotary jet grouting equipment according to the slurry sensing data, the pipeline pressure data, the infrared ranging data, the image data and the working time length of the rotary jet grouting equipment; determining a control instruction of the jet grouting equipment according to the working condition; and predicting the completion time and the completion quality of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic crossing data and the working condition. Therefore, the invention can realize more comprehensive and intelligent monitoring and pre-judging of the jet grouting pile engineering, improves the engineering intelligent degree by utilizing data processing, improves the efficiency and reduces errors.

Description

Multi-mode data processing method and device for high-pressure jet grouting pile control

Technical Field

The invention relates to the technical field of data processing, in particular to a multi-mode data processing method and device for controlling a high-pressure jet grouting pile.

Background

The construction technology of high-pressure jet grouting pile is first proposed in Japan in the 70 s, and is developed by introducing hydraulic coal mining technology on the basis of static pressure grouting, cutting and stirring stratum by utilizing jet flow effect, changing the structure and composition of original stratum, and simultaneously pouring cement slurry or composite slurry to form a condensate so as to achieve the purposes of reinforcing foundation and preventing water seepage.

The existing control technology for the construction of the high-pressure jet grouting pile generally still adopts manual observation and recording of a construction site, and adjusts the construction according to an observation result and a preset operation manual, and does not consider the monitoring of the construction and the prediction of the construction effect by using multi-mode sensing data. It can be seen that the prior art has defects and needs to be solved.

Disclosure of Invention

The technical problem to be solved by the invention is to provide the multi-mode data processing method and the device for controlling the high-pressure jet grouting pile, which can realize more comprehensive and intelligent monitoring and pre-judging of the jet grouting pile engineering, improve the engineering intelligent degree by utilizing data processing, improve the efficiency and reduce the error.

To solve the above technical problems, a first aspect of the present invention discloses a multi-mode data processing method for controlling a high-pressure jet grouting pile, the method comprising:

when the rotary jet grouting equipment works, slurry sensing data, pipeline pressure data, infrared ranging data, image data and ultrasonic crossing data of the rotary jet grouting equipment are obtained in real time;

determining the working condition of the rotary jet grouting equipment according to the slurry sensing data, the pipeline pressure data, the infrared ranging data, the image data and the working time length of the rotary jet grouting equipment;

determining a control instruction of the rotary jet grouting equipment according to the working condition, and sending the control instruction to the rotary jet grouting equipment;

and predicting the completion time and the completion quality of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic crossing data and the working condition.

As an alternative embodiment, in the first aspect of the present invention, the slurry sensing data is obtained by a sensor provided in a slurry tank of the rotary jet grouting apparatus; the slurry sensing data includes at least one of slurry temperature, slurry humidity, slurry image, and slurry ultrasonic traversal data; and determining the working condition of the rotary jet grouting device according to the slurry sensing data, the pipeline pressure data, the infrared ranging data, the image data and the working time length of the rotary jet grouting device, wherein the working condition comprises the following steps:

Determining slurry coagulation degree parameters corresponding to the rotary jet grouting equipment according to the slurry sensing data and a preset mathematical correspondence model of the sensing data and coagulation degree;

and determining the working condition of the rotary jet grouting equipment according to the slurry coagulation degree parameter, the pipeline pressure data, the infrared ranging data, the image data and the working time length of the rotary jet grouting equipment.

In a first aspect of the present invention, the image data is top view image data and side view image data obtained by recording a process of grouting holes by the rotary jet grouting device through a camera arranged above the rotary jet grouting device; the pipeline pressure data are obtained through a pressure sensor arranged in a conveying pipeline of the jet grouting equipment; the infrared ranging data comprise a vertical distance between the bottom of a grouting pipe of the rotary jet grouting device and the bottom of the grouting hole and a horizontal distance between any nozzle of the grouting pipe and the inner wall of the grouting hole;

and determining the working condition of the rotary jet grouting device according to the slurry coagulation degree parameter, the pipeline pressure data, the infrared ranging data and the image data and the working time length of the rotary jet grouting device, wherein the working condition comprises the following steps:

Judging whether the slurry coagulation degree parameter is larger than a preset coagulation threshold value or not so as to judge whether the slurry coagulation abnormal condition exists in the jet grouting equipment or not; the coagulation threshold value is calculated according to the mathematical correspondence between the working time length of the jet grouting equipment and the preset normal coagulation degree and time length;

judging whether the distance difference between the infrared distance measurement data and a preset distance reference value is larger than a preset first difference threshold value or not so as to judge whether the lifting abnormal condition exists in the jet grouting equipment or not; the distance reference value is calculated according to the mathematical correspondence between the working time length and the preset normal distance and time length;

judging whether the pressure difference between the pipeline pressure data and a preset pressure reference value is larger than a preset second difference threshold value or not so as to judge whether the spin grouting equipment has pressure abnormality or not; the pressure reference value is according to the mathematical correspondence between the working time length and the preset normal pressure and time length;

and judging whether the jet grouting equipment has abnormal slurry overflow conditions according to the image data and a preset image analysis algorithm.

In an optional implementation manner, in a first aspect of the present invention, the determining, according to the image data and a preset image analysis algorithm, whether the grouting device has a grouting anomaly includes:

Inputting the overlook image data and the side view image data into a trained slurry spraying image segmentation model to obtain overlook slurry spraying images and side view slurry spraying images corresponding to the overlook image data and the side view image data;

calculating a slurry spraying range according to the overlooking slurry spraying image;

calculating slurry spraying height according to the side-view slurry spraying image;

calculating the product of the slurry spraying range and the slurry spraying height to obtain the current slurry spraying parameters corresponding to the rotary spraying grouting equipment;

calculating a current slurry overflow threshold according to the mathematical corresponding relation between the working time length, the preset time length and the slurry overflow degree;

judging whether the current slurry spraying parameter is larger than the current slurry overflow threshold, if yes, judging that the slurry overflow abnormal condition exists in the rotary spraying grouting equipment, otherwise, judging that the slurry overflow abnormal condition does not exist in the rotary spraying grouting equipment.

As an optional implementation manner, in the first aspect of the present invention, the determining, according to the working condition, a control instruction of the jet grouting device includes:

determining a control instruction of the jet grouting equipment according to the following rule:

When judging that the grouting abnormal condition exists in the grouting equipment, determining a control instruction of the grouting equipment as the operation of all components is stopped immediately and sending an alarm instruction to a monitoring terminal;

when the abnormal lifting condition of the rotary jet grouting equipment is judged, determining a control instruction of the rotary jet grouting equipment as a sum of the current speed and a first parameter value of the lifting speed of a lifting part; the sign of the first parameter value is the same as the distance difference value; the absolute value of the first parameter value is proportional to the absolute value of the distance difference;

when judging that the pressure abnormality exists in the rotary jet grouting equipment, determining a control instruction of the rotary jet grouting equipment as a second parameter value for controlling the pump power of the grouting pump component to be reduced; the magnitude of the second parameter value is in direct proportion to the pressure difference value, and when the pressure difference value is larger than a third difference value threshold value, a control instruction of the jet grouting equipment is determined to control the grouting pump component to stop working;

when judging that the grouting equipment has abnormal grouting conditions, determining the control instruction of the grouting equipment comprises the following steps: controlling the lifting speed of the lifting component to increase a third parameter value; controlling the rotational speed of the rotating member to increase the fourth parameter value; controlling the diameter of a nozzle of the jet grouting equipment to reduce a fifth parameter value; controlling the pump power of the grouting pump part to increase by a sixth parameter value; the third parameter value, the fourth parameter value, the fifth parameter value, and the sixth parameter value are all proportional to a slip value; the slip differential is the differential between the current slip spray parameter and the current slip threshold.

In a first aspect of the present invention, predicting the completion time and the completion quality of the jet grouting pile project corresponding to the jet grouting apparatus according to the ultrasonic wave crossing data and the working condition includes:

determining the solidification progress and abnormal solidification conditions of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic crossing data and the working time length of the jet grouting equipment;

and predicting the completion time and the completion quality of the jet grouting pile engineering according to the solidification progress, the solidification abnormality and the working condition.

As an optional implementation manner, in the first aspect of the present invention, the ultrasonic wave crossing data is ultrasonic wave data received by a receiver disposed above the rotary jet grouting device and sent by a transmitter disposed at the bottom of the grouting pipe; and determining the solidification progress and the solidification abnormality of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic crossing data and the working time of the jet grouting equipment, wherein the method comprises the following steps of:

inputting the ultrasonic crossing data into a trained solidification progress prediction neural network to obtain the solidification progress of the jet grouting pile engineering corresponding to the jet grouting equipment; the solidification progress prediction neural network is obtained through training a training data set comprising a plurality of training ultrasonic crossing data and corresponding solidification progress marks;

Obtaining a solidification progress reference value corresponding to the jet grouting pile engineering according to the mathematical correspondence between the working time length of the jet grouting equipment and the preset time length and solidification progress;

and judging whether the difference value of the solidification progress of the jet grouting pile engineering and the solidification progress reference value is larger than a preset progress difference threshold value or not so as to determine whether the jet grouting pile engineering has solidification abnormality or not.

As an optional implementation manner, in the first aspect of the present invention, the predicting the completion time and the completion quality of the jet grouting pile engineering according to the solidification progress and the abnormal solidification condition, and the working condition includes:

inputting the solidification progress and the progress difference value into a trained residual engineering duration prediction neural network to obtain residual engineering duration of the jet grouting pile engineering; the residual engineering time length is obtained through training of a training data set comprising a plurality of training solidification progress and training progress difference values and corresponding residual engineering time length;

calculating the sum of the residual engineering time length and the current time to obtain the completion time of the jet grouting pile engineering;

calculating the sum of the residual engineering time length and the working time length to obtain the estimated total completion time;

Calculating the time difference between the estimated total time of completion and the estimated time corresponding to the jet grouting pile engineering;

and calculating the progress difference value, the time difference value, the distance difference value, the pressure difference value and the weighted sum value of the slurry overflow difference value to obtain the corresponding completion quality parameter of the jet grouting pile engineering.

In a second aspect, the invention discloses a multi-modal data processing apparatus for high pressure jet grouting pile control, the apparatus comprising:

the acquisition module is used for acquiring slurry sensing data, pipeline pressure data, infrared ranging data, image data and ultrasonic crossing data of the rotary jet grouting equipment in real time when the rotary jet grouting equipment works;

the first determining module is used for determining the working condition of the rotary jet grouting equipment according to the slurry sensing data, the pipeline pressure data, the infrared ranging data, the image data and the working time length of the rotary jet grouting equipment;

the second determining module is used for determining a control instruction of the rotary jet grouting equipment according to the working condition and sending the control instruction to the rotary jet grouting equipment;

and the prediction module is used for predicting the completion time and the completion quality of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic crossing data and the working condition.

As an alternative embodiment, in the second aspect of the present invention, the slurry sensing data is acquired by a sensor provided in a slurry tank of the rotary jet grouting apparatus; the slurry sensing data includes at least one of slurry temperature, slurry humidity, slurry image, and slurry ultrasonic traversal data; and the first determining module determines a specific mode of the working condition of the rotary jet grouting device according to the slurry sensing data, the pipeline pressure data, the infrared ranging data, the image data and the working time length of the rotary jet grouting device, and the specific mode comprises the following steps:

In a second aspect of the present invention, the image data is top view image data and side view image data obtained by recording a process of grouting holes by the rotary jet grouting device through a camera arranged above the rotary jet grouting device; the pipeline pressure data are obtained through a pressure sensor arranged in a conveying pipeline of the jet grouting equipment; the infrared ranging data comprise a vertical distance between the bottom of a grouting pipe of the rotary jet grouting device and the bottom of the grouting hole and a horizontal distance between any nozzle of the grouting pipe and the inner wall of the grouting hole;

And the first determining module determines a specific mode of the working condition of the rotary jet grouting device according to the slurry coagulation degree parameter, the pipeline pressure data, the infrared ranging data, the image data and the working time length of the rotary jet grouting device, and the specific mode comprises the following steps:

In a second aspect of the present invention, the determining, by the first determining module, whether the grouting device has a concrete mode of grouting abnormality according to the image data and a preset image analysis algorithm includes:

In a second aspect of the present invention, the second determining module determines, according to the working condition, a specific manner of the control instruction of the jet grouting apparatus, including:

In a second aspect of the present invention, the predicting module predicts, according to the ultrasonic wave crossing data and the working condition, a completion time and a specific manner of a completion quality of a jet grouting pile project corresponding to the jet grouting apparatus, including:

In a second aspect of the present invention, the ultrasonic pass data is ultrasonic data received by a receiver disposed above the jet grouting apparatus and transmitted by a transmitter disposed at the bottom of the grouting pipe; and the prediction module determines concrete modes of the solidification progress and the solidification abnormality of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic wave crossing data and the working time length of the jet grouting equipment, and the concrete modes comprise:

As an optional implementation manner, in the second aspect of the present invention, the predicting module predicts the completion time and the completion quality of the jet grouting pile engineering according to the solidification progress and the abnormal solidification condition, and the working condition, and the specific manner includes:

In a third aspect, the invention discloses another multi-modal data processing apparatus for high pressure jet grouting pile control, the apparatus comprising:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to perform some or all of the steps in the multi-modal data processing method for high pressure jet grouting control disclosed in the first aspect of the present invention.

Compared with the prior art, the invention has the following beneficial effects:

therefore, the embodiment of the invention can monitor the working condition of grouting equipment by using sensing data of multiple modes, and adjust the control quality of grouting equipment and predict the completion time and quality of engineering by using the sensing data, so that the monitoring and the prejudgment of the jet grouting pile engineering can be realized more comprehensively and intelligently, the intelligent degree of the engineering is improved by using data processing, the efficiency is improved, and the error is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow diagram of a multi-modal data processing method for high pressure jet grouting pile control in accordance with an embodiment of the present invention.

FIG. 2 is a schematic diagram of a multi-modal data processing apparatus for high pressure jet grouting pile control in accordance with an embodiment of the present invention.

FIG. 3 is a schematic diagram of another embodiment of a multi-modal data processing apparatus for high pressure jet grouting pile control according to the present invention.

Fig. 4 is a schematic structural view of a rotary spraying apparatus according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms "second," "second," and the like in the description and in the claims and in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or elements is not limited to the list of steps or elements but may, in the alternative, include other steps or elements not expressly listed or inherent to such process, method, article, or device.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The invention discloses a multi-mode data processing method and device for high-pressure jet grouting pile control, which can monitor the working condition of grouting equipment by utilizing sensing data of multiple modes, and adjust the control quality of the grouting equipment and predict the completion time and quality of engineering according to the working condition, so that the jet grouting pile engineering can be monitored and predicted more comprehensively and intelligently, the engineering intelligent degree is improved by utilizing data processing, the efficiency is improved, and the errors are reduced. The following will describe in detail.

Referring to fig. 1, fig. 1 is a flow chart of a multi-mode data processing method for controlling a high-pressure jet grouting pile according to an embodiment of the present invention. The multi-mode data processing method for high-pressure jet grouting pile control described in fig. 1 is applied to a data processing chip, a processing terminal or a processing server (wherein the processing server can be a local server or a cloud server). As shown in fig. 1, the multi-modal data processing method for high pressure jet grouting pile control may include the following operations:

101. And when the rotary jet grouting equipment works, slurry sensing data, pipeline pressure data, infrared ranging data, image data and ultrasonic crossing data of the rotary jet grouting equipment are obtained in real time.

102. And determining the working condition of the rotary jet grouting equipment according to the slurry sensing data, the pipeline pressure data, the infrared ranging data and the image data and the working time length of the rotary jet grouting equipment.

103. And determining a control instruction of the rotary jet grouting equipment according to the working condition, and sending the control instruction to the rotary jet grouting equipment.

104. And predicting the completion time and the completion quality of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic crossing data and the working condition.

Specifically, an example of a jet grouting apparatus may be seen in fig. 4, which includes a drilling machine, a high-pressure slurry pump, an air compressor, a grouting pipe, a nozzle, a grouting barrel, and the like, and may be used to drill into a target area by the drilling machine to form a grouting hole, and then to rotate and spray grouting by the nozzle to form a jet grouting consolidation body, and to lift along with the drilling machine to finally form a jet grouting pile. In general, the steps of construction using a jet grouting apparatus include:

(1) when the grouting is performed by rotary spraying, the equipment starting sequence is to be noted, the air compressor is started in an idle mode firstly, the high-pressure pump is started in an idle mode after the normal operation is performed, air and water are supplied into the hole at the same time, the air quantity and the pump pressure are gradually increased to the specified values, the grouting pump is started after the air and the water are smooth, grouting is started after the pump quantity is normal, and the grouting pipe is lifted after the cement slurry flows out of the spray head, so that grouting is performed from bottom to top.

(2) When deep rotary spraying, slurry spraying is performed first, then rotary spraying and lifting are performed, and the pile end has a sitting spraying time so as to ensure the quality of the pile end. When the grouting pipe needs to be dismantled in the injection grouting, lifting and rotation are stopped, slurry feeding is stopped, the air quantity is gradually reduced, and finally the machine is stopped. And when the disassembly is finished, the hole section for injecting the grouting is lapped with the front section to prevent the concretion from being disjointed.

(3) In the process of spin-spraying, the nozzle is partially or completely blocked, otherwise, spin-spraying is performed again after tube drawing and cleaning are performed.

(4) After the injection grouting operation is completed, the shrinkage of the slurry is generally different due to the water separation effect of the slurry, so that a concave cavity appears at the top of the consolidation body, and the cement slurry with the cement-water ratio of 1.0 needs to be filled in time.

In the above steps, various sensing data can be acquired and processed by the data processing method in the invention so as to control grouting equipment.

Optionally, the slurry sensing data is obtained by a sensor disposed in a slurry barrel of the rotary jet grouting device, and specifically, the slurry sensing data includes at least one of slurry temperature, slurry humidity, slurry image, and slurry ultrasonic crossing data. Accordingly, the sensors of the pulp bucket may also include at least one of a pulp temperature sensor, a pulp humidity sensor, a pulp image sensor, and a pulp ultrasonic pass-through sensor. Wherein the slurry ultrasonic traversing sensor can comprise a transmitter and a receiver disposed at both ends of the slurry tank and receive ultrasonic data transmitted by the transmitter through the receiver to obtain slurry ultrasonic traversing data that can be used to characterize the degree of coagulation and material properties of the slurry within the slurry tank.

Optionally, the image data is top view image data and side view image data obtained by recording the grouting process of the rotary spraying grouting device on the rotary spraying grouting device through a camera arranged above the rotary spraying grouting device, specifically, the camera can comprise two cameras, one camera is arranged to align with the grouting hole at a top view angle above the rotary spraying grouting device so as to obtain top view image data, the other camera is arranged above the side of the rotary spraying grouting device so as to align with the rotary spraying grouting device at a side view angle so as to obtain side view image data.

Alternatively, the pipeline pressure data is obtained by pressure sensors provided in the conveying pipeline of the jet grouting device, such as in the conveying pipeline provided in the slurry barrel and the high-pressure slurry pump and the grouting pipe in fig. 4.

Optionally, the infrared ranging data includes a vertical distance between the bottom of the grouting pipe and the bottom of the grouting hole of the rotary jet grouting device and a horizontal distance between any nozzle of the grouting pipe and the inner wall of the grouting hole, and specifically, the vertical distance may be obtained by a plurality of sensors arranged on the grouting pipe, for example, an infrared sensor arranged at the bottom of the grouting pipe and aligned with the bottom of the grouting hole, or the horizontal distance may be obtained by an infrared sensor arranged near the nozzle at the side of the grouting pipe and aligned with the inner wall of the grouting hole.

Optionally, the ultrasonic crossing data is ultrasonic data received by a receiver arranged above the rotary jet grouting device and sent by a transmitter arranged at the bottom of the grouting pipe, the specific ultrasonic data can be an acoustic value of ultrasonic or a calculated sound velocity value and a distance value between the receiver and the transmitter, and the data can effectively represent the material characteristics of the consolidated body of the rotary jet grouting engineering so as to facilitate the subsequent determination of the solidification degree of the consolidated body by using an algorithm.

Therefore, the embodiment of the invention can monitor the working condition of grouting equipment by using sensing data of multiple modes, and adjust the control quality of grouting equipment and predict the completion time and quality of engineering according to the working condition, so that the monitoring and pre-judging of the jet grouting pile engineering can be realized more comprehensively and intelligently, the intelligent degree of the engineering is improved by using data processing, the efficiency is improved, and errors are reduced.

As an optional embodiment, in the step, determining the working condition of the rotary jet grouting device according to the slurry sensing data, the pipeline pressure data, the infrared ranging data and the image data, and the working time length of the rotary jet grouting device includes:

determining slurry coagulation degree parameters corresponding to the rotary jet grouting equipment according to slurry sensing data and a preset mathematical correspondence model of the sensing data and coagulation degree;

And determining the working condition of the rotary jet grouting equipment according to the slurry coagulation degree parameter, the pipeline pressure data, the infrared ranging data and the image data and the working time length of the rotary jet grouting equipment.

Alternatively, the mathematical correspondence or mathematical correspondence model in the present invention may be obtained by an operator analyzing according to historical data, empirical data or experimental data, and may be a correspondence table between specific numerical values, a polynomial mathematical relationship obtained by fitting according to a dynamic programming algorithm, or a neural network prediction model obtained by training according to data.

Therefore, through the alternative embodiment, the slurry coagulation degree parameter corresponding to the rotary jet grouting equipment can be determined according to the mathematical correspondence model of the sensing data and the coagulation degree, so that the working condition is determined based on the slurry coagulation degree parameter, the monitoring and the prejudgment of the rotary jet grouting pile engineering can be realized more comprehensively and intelligently, the engineering intelligence degree is improved by utilizing data processing, the efficiency is improved, and the errors are reduced.

As an optional embodiment, in the step, determining the working condition of the rotary jet grouting device according to the slurry coagulation degree parameter, the pipeline pressure data, the infrared ranging data and the image data, and the working time length of the rotary jet grouting device includes:

Judging whether the slurry coagulation degree parameter is larger than a preset coagulation threshold value or not so as to judge whether slurry coagulation abnormal conditions exist in the jet grouting equipment or not; the coagulation threshold value is calculated according to the mathematical correspondence between the working time length of the jet grouting equipment and the preset normal coagulation degree and time length;

judging whether a distance difference value between the infrared distance measurement data and a preset distance reference value is larger than a preset first difference value threshold value or not so as to judge whether lifting abnormal conditions exist in the jet grouting equipment or not; the distance reference value is calculated according to the mathematical correspondence between the working time length and the preset normal distance and time length;

judging whether the jet grouting equipment has abnormal slurry overflow conditions or not according to the image data and a preset image analysis algorithm.

It can be seen that through this optional embodiment, whether the abnormal condition exists in the grouting equipment can be confirmed respectively according to thick liquid coagulation degree parameter, pipeline pressure data, infrared ranging data and image data to comprehensive monitoring operating condition helps realizing more comprehensively and intelligently to monitor and prejudge the stake engineering soon, utilizes data processing to improve engineering intelligent degree, raises the efficiency, reduces the mistake.

As an optional embodiment, in the step, according to the image data and a preset image analysis algorithm, determining whether the grouting device has a grouting anomaly includes:

inputting overlook image data and side view image data into a trained slurry spraying image segmentation model to obtain overlook slurry spraying images and side view slurry spraying images corresponding to the overlook image data and the side view image data;

judging whether the current slurry spraying parameter is larger than the current slurry overflow threshold, if so, judging that the slurry overflow abnormal condition exists in the rotary spraying grouting equipment, otherwise, judging that the slurry overflow abnormal condition does not exist in the rotary spraying grouting equipment.

Alternatively, the slurry spray image segmentation model may be implemented by an image segmentation algorithm, for example, in combination with a neural network algorithm and a threshold judgment algorithm, which may segment out portions of the image data that belong to the slurry image.

Alternatively, the slurry spraying range or the slurry spraying height can be calculated directly by calculating the proportion of the spraying image relative to the original image and the corresponding relation between the proportion corresponding to the original image and the real scale.

One of the purposes of the above-mentioned arrangement is that in the construction of jet grouting pile engineering, the slurry overflow condition of the jet grouting equipment during grouting needs to be effectively monitored, in general, the slurry overflow amount needs to be maintained at a certain level, when the slurry overflow amount is far greater than the preset slurry amount, the problems of too slow lifting speed, too small grouting pressure and the like of the operation of the jet grouting equipment can be determined, and the problems of damaged engineering quality or serious slurry waste and the like are required to be solved as soon as possible, so that the condition is monitored by combining an algorithm model.

Therefore, through the optional embodiment, whether the slurry overflow abnormal condition exists in the rotary jet grouting equipment or not can be determined through calculation of the current slurry spraying parameter and the current slurry overflow threshold value and judgment of the current slurry overflow parameter and the current slurry overflow threshold value, so that the working condition is comprehensively monitored, the monitoring and the prejudgment of the rotary jet grouting pile engineering can be realized more comprehensively and intelligently, the engineering intelligent degree is improved by utilizing data processing, the efficiency is improved, and the errors are reduced.

As an optional embodiment, in the step, determining a control instruction of the rotary jet grouting device according to the working condition includes:

when judging that the grouting abnormal condition exists in the rotary jet grouting equipment, determining that the control instruction of the rotary jet grouting equipment is to immediately stop the work of all the components and sending an alarm instruction to a monitoring terminal;

when the abnormal lifting condition of the rotary jet grouting equipment is judged, determining a control instruction of the rotary jet grouting equipment as a control instruction for controlling the lifting speed of the lifting component to be the sum of the current speed and the first parameter value; the positive and negative signs of the first parameter value are the same as the distance difference value; the absolute value of the first parameter value is proportional to the absolute value of the distance difference;

when the condition that the pressure of the rotary jet grouting equipment is abnormal is judged, determining a control instruction of the rotary jet grouting equipment as a second parameter value for controlling the pump power of the grouting pump component to be reduced; the magnitude of the second parameter value is in direct proportion to the pressure difference value, and when the pressure difference value is larger than a third difference value threshold value, a control instruction of the rotary jet grouting equipment is determined to control the grouting pump component to stop working;

when judging that the grouting equipment has abnormal grouting conditions, determining the control instruction of the grouting equipment comprises the following steps: controlling the lifting speed of the lifting part to increase the third parameter value; controlling the rotational speed of the rotating member to increase the fourth parameter value; controlling the diameter of a nozzle of the jet grouting equipment to reduce a fifth parameter value; controlling the pump power of the grouting pump part to increase the sixth parameter value; the third parameter value, the fourth parameter value, the fifth parameter value and the sixth parameter value are all proportional to the syrup overflow value; the slip differential is the difference between the current slip spray parameter and the current slip threshold.

The calculation of the parameter values may be performed by an operator according to an experience or experimental result to set a specific proportional relation and a calculation formula, and any calculation formula satisfying the proportional relation should be considered to be included in the scope of the present invention.

More specifically, in the above-mentioned judging cases, some cases may coexist, and when the cases coexist, the combination calculation is performed on the calculated parameter value and the parameter rule, while some cases are not allowed to coexist if the indicating device stops working, and when these cases occur, the working should be stopped immediately and the judgment or calculation of other cases should be stopped.

Therefore, through the optional embodiment, the working parameters of the equipment parts can be determined according to different abnormal conditions of the rotary jet grouting equipment, so that the work of the equipment is comprehensively controlled, the control of the rotary jet grouting pile engineering can be realized more comprehensively and intelligently, the engineering intelligence degree is improved by utilizing data processing, the efficiency is improved, and errors are reduced.

As an optional embodiment, in the step, according to the ultrasonic crossing data and the working condition, predicting the completion time and the completion quality of the jet grouting pile project corresponding to the jet grouting device includes:

According to the ultrasonic wave crossing data and the working time of the jet grouting equipment, determining the solidification progress and solidification abnormality of the jet grouting pile engineering corresponding to the jet grouting equipment;

and predicting the completion time and the completion quality of the jet grouting pile engineering according to the solidification progress, the abnormal solidification condition and the working condition.

Therefore, through the optional embodiment, the condition of the jet grouting pile engineering can be determined according to the ultrasonic wave crossing data and the working time length of the jet grouting equipment, so that the completion condition is further predicted, the monitoring and the prejudging of the jet grouting pile engineering can be realized more comprehensively and intelligently, the intelligent degree of the engineering is improved by utilizing data processing, the efficiency is improved, and the error is reduced.

As an optional embodiment, in the step, according to the ultrasonic wave crossing data and the working time length of the jet grouting device, determining the solidification progress and the solidification abnormality of the jet grouting pile project corresponding to the jet grouting device includes:

inputting ultrasonic wave crossing data into a trained solidification progress prediction neural network to obtain solidification progress of a jet grouting pile project corresponding to jet grouting equipment; the solidification progress prediction neural network is obtained through training a training data set comprising a plurality of training ultrasonic crossing data and corresponding solidification progress marks;

and judging whether the difference value between the solidification progress of the jet grouting pile engineering and the solidification progress reference value is larger than a preset progress difference threshold value or not so as to determine whether the jet grouting pile engineering has solidification abnormality or not.

Alternatively, the neural network model in the present invention may be a neural network model of a CNN structure, an RNN structure, or an LTSM structure, which may be trained by a gradient descent algorithm and a corresponding preset loss function until convergence.

Therefore, according to the alternative embodiment, the solidification progress and the solidification abnormality of the jet grouting pile engineering can be determined according to the solidification progress prediction neural network and the threshold judgment rule, so that the completion condition is further predicted, the jet grouting pile engineering can be monitored and predicted more comprehensively and intelligently, the engineering intelligent degree is improved by utilizing data processing, the efficiency is improved, and errors are reduced.

As an alternative embodiment, in the above steps, predicting the completion time and the completion quality of the jet grouting pile engineering according to the solidification progress and the abnormal solidification condition, and the working condition includes:

calculating the time difference between the predicted total time of completion and the predicted time corresponding to the jet grouting pile engineering;

and calculating a weighted sum value of the progress difference value, the time difference value, the distance difference value, the pressure difference value and the slurry overflow difference value, and obtaining a finished quality parameter corresponding to the jet grouting pile engineering.

Therefore, according to the alternative embodiment, the completion time and the completion quality parameters of the jet grouting pile project can be predicted according to the prediction neural network and the difference value or the weighted summation calculation of the residual project duration, and the calculation results are helpful for project personnel to prejudge the project, engineering planning adjustment or engineering constructor training to change the bad completion quality prediction results by a construction unit, so that the jet grouting pile project can be monitored and prejudged more comprehensively and intelligently, the project intelligence degree is improved by utilizing data processing, the efficiency is improved, and errors are reduced.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a multi-mode data processing device for controlling a high-pressure jet grouting pile according to an embodiment of the present invention. The multi-mode data processing device for high-pressure jet grouting pile control described in fig. 2 is applied to a data processing chip, a processing terminal or a processing server (wherein the processing server can be a local server or a cloud server). As shown in fig. 2, the multi-modal data processing apparatus for high pressure jet grouting pile control may include:

the acquisition module 201 is configured to acquire slurry sensing data, pipeline pressure data, infrared ranging data, image data and ultrasonic crossing data of the rotary jet grouting device in real time when the rotary jet grouting device is in operation;

a first determining module 202, configured to determine an operating condition of the rotary jet grouting device according to slurry sensing data, pipeline pressure data, infrared ranging data, image data, and an already operating time period of the rotary jet grouting device;

the second determining module 203 is configured to determine a control instruction of the rotary jet grouting device according to the working condition, and send the control instruction to the rotary jet grouting device;

and the prediction module 204 is used for predicting the completion time and the completion quality of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic crossing data and the working condition.

As an alternative embodiment, the slurry sensing data is obtained by a sensor disposed in the slurry barrel of the jet grouting apparatus; the slurry sensing data includes at least one of slurry temperature, slurry humidity, slurry image, and slurry ultrasonic traversal data; and, the first determining module 202 determines a specific mode of the working condition of the rotary jet grouting device according to the slurry sensing data, the pipeline pressure data, the infrared ranging data and the image data and the working time length of the rotary jet grouting device, including:

As an alternative embodiment, the image data is top view image data and side view image data obtained by recording the grouting process of the rotary jet grouting device by a camera arranged above the rotary jet grouting device; pipeline pressure data are obtained through a pressure sensor arranged in a conveying pipeline of the jet grouting equipment; the infrared ranging data comprise the vertical distance between the bottom of a grouting pipe and the bottom of a grouting hole of the rotary spraying grouting equipment and the horizontal distance between any nozzle of the grouting pipe and the inner wall of the grouting hole;

And, the first determining module 202 determines a specific mode of the working condition of the rotary jet grouting device according to the slurry coagulation degree parameter, the pipeline pressure data, the infrared ranging data and the image data and the working time length of the rotary jet grouting device, including:

As an optional embodiment, the first determining module 202 determines, according to the image data and a preset image analysis algorithm, whether the grouting device has a concrete mode of abnormal grouting, including:

As an optional embodiment, the second determining module 203 determines, according to the working condition, a specific manner of a control instruction of the jet grouting apparatus, including:

As an optional embodiment, the predicting module 204 predicts the completion time and the specific manner of the completion quality of the jet grouting pile project corresponding to the jet grouting device according to the ultrasonic crossing data and the working condition, including:

As an alternative embodiment, the ultrasonic crossing data is ultrasonic data received by a receiver arranged above the rotary jet grouting device and sent by a transmitter arranged at the bottom of the grouting pipe; and, the prediction module 204 determines a concrete mode of the solidification progress and the solidification abnormality of the jet grouting pile engineering corresponding to the jet grouting equipment according to the ultrasonic wave crossing data and the working time of the jet grouting equipment, including:

As an alternative embodiment, the prediction module 204 predicts the completion time and the specific manner of the completion quality of the jet grouting pile engineering according to the solidification progress and the abnormal solidification condition, and the working condition, including:

Specific technical details and technical effects of the modules and steps in the above embodiment may refer to corresponding expressions in the first embodiment, and are not described herein.

Referring to fig. 3, fig. 3 is a schematic diagram illustrating a multi-mode data processing apparatus for controlling a high pressure jet grouting pile according to another embodiment of the present invention. The multi-modal data processing apparatus for high pressure jet grouting control depicted in fig. 3 is applied to a data processing chip, a processing terminal or a processing server (wherein the processing server may be a local server or a cloud server). As shown in fig. 3, the multi-modal data processing apparatus for high pressure jet grouting pile control may include:

a memory 301 storing executable program code;

a processor 302 coupled with the memory 301;

wherein processor 302 invokes executable program code stored in memory 301 for performing the steps of the multi-modal data processing method for high pressure jet grouting control described in embodiment one.

In a fourth embodiment, the present invention discloses a computer-readable storage medium storing a computer program for electronic data exchange, where the computer program causes a computer to execute the steps of the multi-modal data processing method for high pressure jet grouting pile control described in the first embodiment.

In a fifth embodiment, the present invention discloses a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps of the multi-modal data processing method for high pressure jet grouting control described in embodiment one.

The foregoing describes certain embodiments of the present disclosure, other embodiments being within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. Furthermore, the processes depicted in the accompanying drawings do not necessarily have to be in the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, devices, non-transitory computer readable storage medium embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to portions of the description of method embodiments being relevant.

The apparatus, the device, the nonvolatile computer readable storage medium and the method provided in the embodiments of the present disclosure correspond to each other, and therefore, the apparatus, the device, and the nonvolatile computer storage medium also have similar advantageous technical effects as those of the corresponding method, and since the advantageous technical effects of the method have been described in detail above, the advantageous technical effects of the corresponding apparatus, device, and nonvolatile computer storage medium are not described herein again.

In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., a field programmable gate array (Field Programmable gate array, FPGA)) is an integrated circuit whose logic function is determined by the user programming the device. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware DescriptionLanguage), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (RubyHardware Description Language), etc., VHDL (Very-High-SpeedIntegrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.

It will be appreciated by those skilled in the art that the present description may be provided as a method, system, or computer program product. Accordingly, the present specification embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description embodiments may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

Finally, it should be noted that: the embodiment of the invention discloses a multi-mode data processing method and device for controlling a high-pressure jet grouting pile, which are disclosed by the embodiment of the invention only as a preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A multi-modal data processing method for high pressure jet grouting pile control, the method comprising:

When the rotary jet grouting equipment works, slurry sensing data, pipeline pressure data, infrared ranging data, image data and ultrasonic crossing data of the rotary jet grouting equipment are obtained in real time; the ultrasonic crossing data are ultrasonic data received by a receiver arranged above the rotary jet grouting equipment and sent by a transmitter arranged at the bottom of the grouting pipe;

judging whether the jet grouting equipment has abnormal slurry overflow conditions or not according to the image data and a preset image analysis algorithm;

When judging that the grouting equipment has abnormal grouting conditions, determining the control instruction of the grouting equipment comprises the following steps: controlling the lifting speed of the lifting component to increase a third parameter value; controlling the rotational speed of the rotating member to increase the fourth parameter value; controlling the diameter of a nozzle of the jet grouting equipment to reduce a fifth parameter value; controlling the pump power of the grouting pump part to increase by a sixth parameter value; the third parameter value, the fourth parameter value, the fifth parameter value, and the sixth parameter value are all proportional to a slip value; the slurry overflow difference value is the difference value between the current slurry spraying parameter and the current slurry overflow threshold value;

Judging whether the difference value between the solidification progress of the jet grouting pile engineering and the solidification progress reference value is larger than a preset progress difference threshold value or not so as to determine whether the jet grouting pile engineering has solidification abnormality or not;

2. The multi-modal data processing method for high-pressure jet grouting pile control according to claim 1, wherein the slurry sensing data is acquired by a sensor provided in a slurry barrel of the jet grouting apparatus; the slurry sensing data includes at least one of slurry temperature, slurry humidity, slurry image, and slurry ultrasonic traversal data.

3. The multi-mode data processing method for high-pressure jet grouting pile control according to claim 2, wherein the image data is top view image data and side view image data obtained by recording a process of grouting a grouting hole by the jet grouting device through a camera arranged above the jet grouting device; the pipeline pressure data are obtained through a pressure sensor arranged in a conveying pipeline of the jet grouting equipment; the infrared ranging data comprise the vertical distance between the bottom of the grouting pipe of the rotary jet grouting device and the bottom of the grouting hole and the horizontal distance between any nozzle of the grouting pipe and the inner wall of the grouting hole.

4. The multi-mode data processing method for controlling a high-pressure jet grouting pile according to claim 3, wherein the judging whether the jet grouting device has a slurry overflow abnormal condition according to the image data and a preset image analysis algorithm comprises the following steps:

5. A multi-modal data processing apparatus for high pressure jet grouting pile control, the apparatus comprising:

the acquisition module is used for acquiring slurry sensing data, pipeline pressure data, infrared ranging data, image data and ultrasonic crossing data of the rotary jet grouting equipment in real time when the rotary jet grouting equipment works; the ultrasonic crossing data are ultrasonic data received by a receiver arranged above the rotary jet grouting equipment and sent by a transmitter arranged at the bottom of the grouting pipe;

The first determining module is configured to determine a working condition of the rotary jet grouting device according to the slurry sensing data, the pipeline pressure data, the infrared ranging data, the image data, and the working time of the rotary jet grouting device, and specifically includes:

the second determining module is configured to determine a control instruction of the rotary jet grouting device according to the working condition, and send the control instruction to the rotary jet grouting device, and specifically includes:

the prediction module is used for predicting the completion time and the completion quality of the jet grouting pile project corresponding to the jet grouting equipment according to the ultrasonic crossing data and the working condition, and specifically comprises the following steps:

6. A multi-modal data processing apparatus for high pressure jet grouting pile control, the apparatus comprising:

a memory storing executable program code;

a processor coupled to the memory; the processor invokes the executable program code stored in the memory to perform the multi-modal data processing method for high pressure jet grouting control as claimed in any one of claims 1 to 4.