In-situ engineering rock mass information advanced sensing system

Abstract

The invention relates to the technical field of rock-soil and deep underground space engineering monitoring, in particular to an in-situ engineering rock mass information advanced sensing system which comprises a sensing pipe which is of a tubular structure and used for stretching into a hole to sense and monitor the hole. The sensing pipe comprises a power excitation mechanism, an in-situ echo elastic wave acquisition mechanism, an autonomous walking mechanism and a visual sensing mechanism; the power excitation mechanism comprises a first driving unit and an excitation unit, and when the excitation unit abuts against the inner wall of the hole, the excitation unit can knock the inner wall of the hole and is used for providing an impact signal with adjustable power for the inner wall of the hole; according to the invention, sound waves generated by the power excitation mechanism are utilized to test and analyze rock and soil materials, so that the problems that the existing device is single in test index and cannot comprehensively monitor and evaluate internal information of a rock mass are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of rock, soil and deep underground space engineering monitoring, and in particular to an in-situ engineering rock mass information advance sensing system. Background Art

[0002] As one of the most complex materials in nature, the accurate determination of its mechanical parameters is crucial for the stability analysis and design of geotechnical and deep underground space engineering. In engineering survey, commonly used technical means include drilling and geophysical exploration. The drilling method can directly and accurately reflect the geological structure of the in-situ engineering rock mass, while the geophysical exploration method monitors the rock mass structure surface, rock mass properties, groundwater and other geological conditions by emitting electromagnetic waves, elastic waves or infrared radiation. However, these methods still have certain limitations in practical applications.

[0003] Although the traditional drilling method can obtain intuitive information about the rock mass, the test indicators are relatively simple and the operating efficiency is low. At the same time, due to the complexity and heterogeneity of the rock mass, a single drilling result is often difficult to fully reflect the overall mechanical properties of the rock mass. Although the geophysical method can provide some supplementary information, its test results tend to be qualitative and cannot meet the quantitative requirements of engineering rock mass mechanical parameters.

[0004] In addition, most existing testing methods are only applicable to surface rock mass testing after damage, deformation or even destruction, and there are great difficulties in measuring the internal mechanical parameters of in-situ engineering rock mass. Moreover, it is not only cumbersome and complicated to measure multiple testing technologies separately, but it is also difficult to ensure the accuracy and consistency of the test results.

[0005] Therefore, in view of this, the inventor proposes an in-situ engineering rock mass information advance perception system to solve the above technical problems. Summary of the invention

[0006] The purpose of the present invention is to provide an in-situ engineering rock mass information advance perception system to solve the problem that the existing device has a single test index and cannot comprehensively monitor and evaluate the internal information of the rock mass.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows: An in-situ engineering rock mass information advance sensing system comprises a sensing tube, which is a tubular structure and is used to extend into a hole to sense and monitor the hole; The sensing tube includes a dynamic excitation mechanism, an in-situ echo elastic wave collection mechanism, an autonomous walking mechanism and a visual sensing mechanism; The dynamic excitation mechanism includes a first driving unit and an excitation unit. The first driving unit can drive the excitation unit to extend or shorten along the radial direction of the sensing tube. When the excitation unit abuts against the inner wall of the hole, the excitation unit can knock on the inner wall of the hole to provide a power-adjustable impact signal to the inner wall of the hole. The in-situ echo elastic wave collection mechanism comprises a second driving unit and a detector, wherein the second driving unit can drive the detector to extend or shorten along the radial direction of the sensing tube, and the detector is used to collect the impact signal generated by the excitation unit; The autonomous walking mechanism is used to drive the sensing tube to move along the axial direction of the hole.

[0008] Furthermore, the excitation unit includes an impact shell, an impact rod and an electromagnetic excitation source. The impact rod is arranged in the impact shell and can slide in the impact shell. One end of the electromagnetic excitation source extends into the impact shell to drive the impact rod to collide in the impact shell.

[0009] According to the above technical solution, when the system needs to generate an excitation signal, the electromagnetic excitation source starts working. One end of the electromagnetic excitation source is located in the impact shell. The impact rod is driven to slide in the impact shell through the action of the electromagnetic excitation source. During this process, the impact rod will continuously collide with the inner wall of the impact shell, thereby generating an excitation signal. Since the impact shell abuts against the inner wall of the hole, the energy generated by this collision will propagate in the rock mass in the form of elastic waves, and then be received by the in-situ echo elastic wave collection mechanism.

[0010] Further, the electromagnetic excitation source includes an excitation source base and an excitation source shell arranged on the excitation source base, an electromagnetic component and an armature are arranged in the excitation source shell, the electromagnetic component is arranged on the excitation source base, an elastic component is arranged between the electromagnetic component and the armature, and the elastic component has a tendency to drive the armature away from the electromagnetic component; A cavity is provided in the electromagnetic component, a column fixed in the cavity is arranged in the cavity, and an AC coil and a DC coil are sleeved on the column.

[0011] Furthermore, the first driving unit includes an excitation upper shell, an excitation lower shell, a first motor, a first connecting piece and a first lead screw. The excitation upper shell and the excitation lower shell are detachably connected. The first motor is arranged in the excitation lower shell, and the output shaft of the first motor is coaxially connected to the first lead screw. A first excitation slot and a second excitation slot are provided in the excitation upper shell, the first lead screw is rotatably connected in the excitation slot, the excitation unit is slidably arranged in the second excitation slot, a first connecting piece is threadedly connected to the first lead screw, and the first connecting piece is connected to the excitation unit.

[0012] According to the above technical solution, the excitation upper shell and the excitation lower shell are combined together in a detachable connection manner to form a closed space for accommodating and protecting the internal mechanical components. The first motor is arranged in the excitation lower shell, and its output shaft is coaxially connected to the first lead screw, so that the rotational motion of the first motor can be converted into the rotational motion of the lead screw. The first excitation slot and the second excitation slot are provided in the excitation upper shell, and the first excitation slot and the second excitation slot are used to guide and constrain the movement of the first lead screw and the excitation unit. When in use, when the first motor starts and rotates, it drives the first lead screw to rotate, and the first lead screw drives the first connecting member to move along the axial direction of the lead screw, driving the excitation unit to abut against the inner wall of the hole, so that the generated wave is transmitted to the inner wall of the hole.

[0013] Furthermore, a curved patch is provided on the top of the detector, and the outer surface of the curved patch fits with the inner wall of the hole.

[0014] According to the above technical solution, the outer surface of the arc patch fits the diameter of the inner wall of the hole, so that the arc patch and the inner wall of the hole have sufficient contact area and can fit tightly, realizing the collection and transmission of the full waveform information of the dynamic response, and then reasonably reflecting the dynamic response characteristics and dynamic mechanical parameters of the rock mass.

[0015] Furthermore, the second driving unit comprises a signal acquisition upper housing, a signal acquisition lower housing, a second motor and a second lead screw, the signal acquisition upper housing is detachably connected to the signal acquisition lower housing, the second motor is arranged in the signal acquisition lower housing, and the output shaft of the second motor is coaxially connected to the second lead screw; The signal acquisition upper shell is provided with a first signal acquisition slot and a second signal acquisition slot, the second lead screw is rotatably connected in the first signal acquisition slot, the detector is slidably arranged in the second signal acquisition slot, the second lead screw is threadedly connected with a second connecting piece, and the second connecting piece is fixed on the detector.

[0016] According to the above technical solution, the first signal collection slot is used to accommodate and constrain the rotation of the second lead screw, the second signal collection slot is used to guide and constrain the sliding of the detector, the second lead screw is rotatably connected in the first signal collection slot, so that the rotation of the lead screw can be converted into linear motion along the slot direction, the detector is used to receive and collect signals, when the second motor starts and rotates, it drives the second lead screw to rotate, and transmits it to the second connecting member through a threaded connection, so that the connecting member moves along the axial direction of the second lead screw, and the movement of the second connecting member will drive the detector to slide in the second signal collection slot, when the arc-shaped patch above the detector fits the inner wall of the hole, the second motor is turned off, and the detector starts collecting signals.

[0017] Furthermore, the autonomous walking mechanism includes a driving housing, a driving motor disposed in the driving housing, and at least two driving members, each of the driving members is evenly distributed on the circumference of the driving housing, and the driving motor is used to drive each of the driving members to rotate.

[0018] Further, the driving member comprises a wheel frame hinged on the driving housing, one end of the wheel frame is rotatably connected to a worm wheel, the other end of the wheel frame is rotatably connected to a caster, and a synchronous belt is connected between the worm wheel and the caster; A worm is connected to the output shaft of the driving motor, and each of the worm wheels is meshed with the worm; A tension spring is arranged on each wheel frame, and each tension spring is connected to the driving shell. The tension spring has a tendency to drive the caster away from the driving shell.

[0019] According to the above technical solution, the wheel frame is a bracket connecting the worm wheel and the caster, which is connected to the driving housing by a hinged manner. The worm wheel is meshed with the worm on the output shaft of the driving motor. When the driving motor rotates, the worm drives the worm wheel to rotate. The worm wheel and the caster are connected by a synchronous belt. When the worm wheel rotates, it drives the synchronous belt and the caster to rotate together.

[0020] When the driving motor starts, it will drive the worm to rotate. When the worm rotates, it will drive the worm wheel meshing with it to rotate. When the worm wheel rotates, it will drive the caster to rotate through the synchronous belt. Since a tension spring is arranged on the wheel frame, the caster will be supported by a certain elasticity when rotating, so that the caster can better contact with the inner wall of the hole and provide a certain elastic support. Through the coordinated work of at least two driving parts, the autonomous walking mechanism can realize stable forward or backward movement in the hole, which is convenient for real-time monitoring of different positions inside the rock mass, realizing multi-point and multi-position testing, and avoiding the qualitative test results.

[0021] Furthermore, the visual perception mechanism includes a front camera and a side camera, the front camera is arranged inside the perception tube, and the side camera is rotatably connected inside the perception tube and connected to the worm gear.

[0022] According to the above technical solution, the front camera can determine the fracture state of the rock mass on the hole wall in front of the borehole, and provide real-time positioning information for the autonomous walking mechanism to stop and perform in-situ echo and elastic wave tests. The lateral camera is used to collect annular continuous image information of the inner wall of the hole. The lateral camera is connected to the worm gear. In addition to being able to drive the sensing tube to move, it can also drive the lateral camera to rotate through the worm gear. Connecting the camera to the worm gear and using a single power source of the drive motor can reduce the complexity of the system, thereby avoiding additional transmission mechanisms or complex wiring and reducing the failure rate.

[0023] Furthermore, it also includes a main control mechanism, which includes a main console, a control host arranged on the main console, and a multi-channel data acquisition instrument, the control host is connected to the multi-channel data acquisition instrument, and the multi-channel data acquisition instrument is used to connect to the sensing tube.

[0024] Beneficial effects of the present invention: According to the above technical scheme, the combination of the dynamic excitation mechanism and the in-situ echo elastic wave collection mechanism realizes the active excitation and signal collection of the inner wall of the hole. The first driving unit drives the excitation unit to extend radially, closely abut against the inner wall of the hole, and knocks it to generate a dynamic adjustable impact signal; in this process, the excitation unit, as a signal emission source, emits sound waves, which can accurately act on the rock mass and excite elastic waves inside it; then, the second driving unit drives the detector to extend radially to abut against the inner wall of the hole, and collects the impact signal generated by the excitation unit and the echo signal reflected back. This combination not only improves the accuracy of signal collection, but also ensures the integrity and reliability of the signal; Secondly, the addition of the autonomous walking mechanism enables the sensing tube to move along the axial direction of the hole, realizing continuous monitoring of the entire hole. The autonomous walking mechanism can drive the sensing tube to move forward steadily in the hole, ensuring that the excitation unit and the detector can act on different positions of the hole in turn, which not only improves the monitoring efficiency, but also avoids the errors and safety hazards that may be caused by manual operation.

[0025] Furthermore, the setting of the visual perception mechanism provides the system with an intuitive monitoring method. The front camera and the side camera can capture the image information inside the hole in real time, providing the operator with a clear field of vision. This not only helps to promptly discover and deal with abnormal situations, but also provides an important reference for subsequent engineering design and construction.

[0026] Finally, various mechanisms are integrated and combined, and a complete and efficient monitoring and perception system is formed through precise design and coordinated cooperation among various mechanisms. Compared with traditional drilling and geophysical exploration designs, this device has a compact structure and solves the problem that the existing devices have a single test indicator and cannot comprehensively monitor and evaluate the internal information of the rock mass.

[0027] Other advantages, objectives and features of the present application will be described to some extent in the subsequent description, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present application. The objectives and other advantages of the present application can be achieved and obtained through the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1It is a schematic diagram of the overall structure of the in-situ engineering rock mass information advance perception system of the present invention; Figure 2 It is a schematic diagram of the explosion structure of the dynamic excitation mechanism in the in-situ engineering rock mass information advance perception system of the present invention; Figure 3 A cross-sectional view of the electromagnetic excitation source of the in-situ engineering rock mass information advance sensing system of the present invention; Figure 4 It is a structural schematic diagram of the in-situ echo elastic wave acquisition mechanism in the in-situ engineering rock mass information advance perception system of the present invention; Figure 5 It is a structural schematic diagram of the autonomous walking mechanism in the in-situ engineering rock mass information advance perception system of the present invention; Figure 6 It is a structural schematic diagram of the visual perception mechanism in the in-situ engineering rock mass information advance perception system of the present invention; Figure 7 It is a schematic diagram of the structure of the main control mechanism in the in-situ engineering rock mass information advance perception system of the present invention.

[0029] Among them, the sensing tube 1, the dynamic excitation mechanism 2, the first driving unit 21, the excitation upper shell 211, the first excitation chute 2111, the second excitation chute 2112, the excitation lower shell 212, the first motor 213, the first connecting piece 214, the first lead screw 215, the excitation unit 22, the impact shell 221, the impact rod 222, the electromagnetic excitation source 223, the excitation source base 2231, the excitation source shell 2232, the electromagnetic part 2233, the armature 2234, the elastic part 2235, the DC coil 2236, the AC coil 2237, the in-situ echo elastic wave acquisition mechanism 3, the second driving Unit 31, signal acquisition upper shell 311, first signal acquisition slot 3111, second signal acquisition slot 3112, signal acquisition lower shell 312, second motor 313, second lead screw 314, second connecting piece 315, detector 32, arc patch 321, autonomous walking mechanism 4, drive motor 41, drive piece 42, wheel frame 421, worm gear 422, caster 423, synchronous belt 424, worm 43, tension spring 44, visual perception mechanism 5, front camera 51, side camera 52, main control mechanism 6, main console 61, control host 62, multi-channel data acquisition instrument 63. DETAILED DESCRIPTION

[0030] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0031] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0032] This embodiment proposes an in-situ engineering rock mass information advance perception system, such as Figures 1 to 7 As shown, it includes a sensing tube 1, which is a long tubular structure and is used to extend into the hole of the rock mass to sense and monitor the hole; Figure 1 As shown, the sensing tube 1 includes a dynamic excitation mechanism 2, an in-situ echo elastic wave collection mechanism 3, an autonomous walking mechanism 4 and a visual perception mechanism 5; wherein the visual perception mechanism 5 is arranged at the front end position of the sensing tube 1.

[0033] like Figure 1 and Figure 2 As shown, the dynamic excitation mechanism 2 includes a first driving unit 21 and an excitation unit 22. The first driving unit 21 can drive the excitation unit 22 to extend or shorten along the radial direction of the sensing tube 1. When the excitation unit 22 is working, it can knock on the inner wall of the hole to provide a power-adjustable impact signal to the inner wall of the hole. like Figure 4 As shown, the in-situ echo elastic wave collection mechanism 3 includes a second driving unit 31 and a detector 32. The second driving unit 31 can drive the detector 32 to extend or shorten along the radial direction of the sensing tube 1. The detector 32 is used to collect the impact signal generated by the excitation unit 22; the autonomous walking mechanism 4 is used to drive the sensing tube 1 to move along the axial direction of the hole.

[0034] As a preferred embodiment, Figure 2As shown, the excitation unit 22 includes an impact shell 221, an impact rod 222 and an electromagnetic excitation source 223. The impact rod 222 is arranged in the impact shell 221 and can slide in the impact shell 221. One end of the electromagnetic excitation source 223 extends into the impact shell 221 to drive the impact rod 222 to collide in the impact shell 221. When the sensing system needs to generate an excitation signal, the electromagnetic excitation source 223 starts to work, driving the impact rod 222 to slide in the impact shell 221. During this process, the impact rod 222 will continuously collide with the inner wall of the impact shell 221, thereby generating an acoustic excitation signal. When in use, since the impact shell 221 abuts against the inner wall of the hole in the rock mass, this collision will generate stress waves and elastic waves, which will then propagate in the rock mass and be received by the in-situ echo elastic wave acquisition mechanism 3.

[0035] As a preferred embodiment, the first driving unit 21 includes an excitation upper shell 211, an excitation lower shell 212, a first motor 213, a first connecting piece 214 and a first lead screw 215. The excitation upper shell 211 and the excitation lower shell 212 are detachably connected, and the excitation upper shell 211 and the excitation lower shell 212 are detachably combined together by bolts or snap-fitting to form a closed space for accommodating and protecting internal mechanical components; wherein the first motor 213 is arranged in the excitation lower shell 212, and the output shaft of the first motor 213 is coaxially connected to the first lead screw 215; a first excitation slot 2111 and a second excitation slot 2112 are provided in the excitation upper shell 211, the first lead screw 215 is rotatably connected in the first excitation slot 2111, the excitation unit 22 is slidably arranged in the second excitation slot 2112, the first connecting piece 214 is threadedly connected to the first lead screw 215, and the first connecting piece 214 is connected to the excitation unit 22. The first motor 213 is arranged in the lower excitation housing 212, and its output shaft is coaxially connected with the first lead screw 215, so that the rotational motion of the first motor 213 can be converted into the rotational motion of the lead screw. The first excitation chute 2111 and the second excitation chute 2112 are provided in the upper excitation housing 211, and the first excitation chute 2111 and the second excitation chute 2112 are used to guide and constrain the movement of the first lead screw 215 and the excitation unit 22. When in use, when the first motor 213 is started and rotated, it drives the first lead screw 215 to rotate, and the first lead screw 215 drives the first connecting member 214 to move along the axial direction of the lead screw, driving the excitation unit 22 to rise until the excitation unit 22 abuts against the inner wall of the hole in the rock mass, so that the generated stress wave and elastic wave can be transmitted to the inner wall of the hole.

[0036] Furthermore, if Figure 3As shown, the electromagnetic excitation source 223 includes an excitation source base 2231 and an excitation source shell 2232 arranged on the excitation source base 2231, an electromagnetic component 2233 and an armature 2234 are arranged in the excitation source shell 2232, the electromagnetic component 2233 is arranged on the excitation source base 2231, an elastic component 2235 is arranged between the electromagnetic component 2233 and the armature 2234, and the elastic component 2235 has a tendency to drive the armature 2234 away from the electromagnetic component 2233; in this embodiment, the elastic component 2235 is preferably a spring. The electromagnetic part 2233 has a cavity in it, and a column fixed in the cavity is arranged in the cavity, and an AC coil 2237 and a DC coil 2236 are sleeved on the column, wherein the AC coil 2237 is arranged below the DC coil 2236, and the magnetic field generated by the DC coil 2236 is relatively stable, and its rate of change is low, so the electromagnetic interference generated is relatively small, and the AC coil 2237 is arranged below the DC coil 2236, which can reduce the influence of the electromagnetic interference generated by the AC coil 2237 when it is working on the generated stress wave and elastic wave. When the excitation source is working, the AC coil 2237 and the DC coil 2236 can be energized separately or simultaneously. When the DC coil 2236 is energized alone, a constant magnetic field will be generated between the column and the armature 2234 when the current passes through, and a constant electromagnetic attraction will be generated on the armature 2234, trying to pull the armature 2234 toward the electromagnetic part 2233; however, due to the presence of the elastic part 2235 (such as a spring), it will generate an opposite force on the armature 2234, causing it to tend to move away from the electromagnetic part 2233. Therefore, under the action of the DC coil 2236, the armature 2234 will be in a relatively stable equilibrium position and be affected by a constant electromagnetic force. This embodiment achieves the excitation effect by switching the current of the DC coil 2236 and the AC coil 2237. For the AC coil 2237, when a single AC current passes through, it will generate an alternating magnetic field between the column and the armature 2234. The alternating magnetic field will produce an alternating electromagnetic attraction on the armature 2234. When a high-frequency excitation signal is required in an application, the AC coil 2237 can be used to generate an excitation force, so that the armature 2234 can reciprocate under the combined action of the electromagnetic force and the elastic force, thereby achieving the excitation effect. When the DC coil 2236 and the AC coil 2237 work at the same time, the armature 2234 will be affected by a superimposed or weakened electromagnetic force, which contains both a constant component (generated by the DC coil 2236) and an alternating component (generated by the AC coil 2237); therefore, the magnitude and phase of the DC and AC currents can be adjusted as needed to accurately control the movement trajectory and the magnitude of the exciting force of the armature 2234, thereby driving the impact rod 222 to strike the excitation source shell 2232, which is transmitted to the inner wall of the hole in the rock mass through the excitation source shell 2232 to achieve the excitation effect. The movement of the armature 2234 will become more complex and diverse, which is convenient for perception and monitoring research.For the convenience of review and understanding, when the DC coil 2236 and the AC coil 2237 work at the same time, the armature 2234 will be subjected to a superimposed or weakened electromagnetic force. When the DC current passes through, it will generate a constant magnetic field around the column. The direction of this magnetic field depends on the direction of the current and follows the right-hand screw rule. When the AC coil 2237 is energized, it will generate an alternating magnetic field around the column. The direction and magnitude of this magnetic field will change with the cycle of the AC current. Under certain conditions, such as when the AC current reaches a certain peak value (positive or negative), the magnetic field it generates may be opposite to the magnetic field generated by the DC current and have similar magnitudes. In this case, the two magnetic fields will cancel each other out, causing the synthetic magnetic field around the column to weaken or even disappear. Similarly, the two magnetic fields can be superimposed on each other, resulting in the superposition and enhancement of the synthetic magnetic field around the column. This can be achieved by controlling the current direction, magnitude, relative position relationship of the two coils and the environment in which they are located, meeting multiple rock mass testing technology requirements to truly reflect the in-situ engineering rock mass mechanical parameters.

[0037] Furthermore, an arc patch 321 is provided on the top of the detector 32, and the outer surface of the arc patch 321 is in contact with the inner wall of the hole, so that the arc patch 321 has a sufficient contact area with the inner wall of the hole, thereby facilitating the collection and transmission of the full waveform information of the dynamic response, and further reasonably reflecting the dynamic response characteristics and dynamic mechanical parameters of the rock mass.

[0038] As a preferred embodiment, Figure 4As shown, the second driving unit 31 includes a signal acquisition upper shell 311, a signal acquisition lower shell 312, a second motor 313 and a second lead screw 314. The signal acquisition upper shell 311 and the signal acquisition lower shell 312 are detachably connected, specifically in the form of a snap-on or bolted connection; the second motor 313 is arranged in the signal acquisition lower shell 312, and the output shaft of the second motor 313 is coaxially connected to the second lead screw 314; the signal acquisition upper shell 311 is provided with a first signal acquisition slot 3111 and a second signal acquisition slot 3112, the second lead screw 314 is rotatably connected in the first signal acquisition slot 3111, the detector 32 is slidably arranged in the second signal acquisition slot 3112, and the second lead screw 314 is threadedly connected with a second connecting piece 315, and the other end of the second connecting piece 315 is fixed on the detector 32. The first signal collection slot 3111 is used to accommodate and constrain the position of the second lead screw 314, and the second signal collection slot 3112 is used to guide and constrain the sliding of the detector 32. The detector 32 is used to receive and collect signals. When the second motor 313 starts and rotates, it drives the second lead screw 314 to rotate, and transmits it to the second connecting member 315 through a threaded connection, so that the second connecting member 315 moves along the axial direction of the second lead screw 314. The movement of the second connecting member 315 will drive the detector 32 to slide in the second signal collection slot 3112. When the arc-shaped patch 321 above the detector 32 fits with the inner wall of the hole, the second motor 313 is turned off, and the detector 32 starts to collect signals.

[0039] As a preferred embodiment, Figure 1 and Figure 5 As shown, the autonomous walking mechanism 4 includes a driving housing (not shown), a driving motor 41 disposed in the driving housing, and at least two driving members 42, each of which is evenly distributed on the circumference of the driving housing, and the driving motor 41 is used to drive each of the driving members 42 to rotate. In this embodiment, the number of the driving members 42 is three, which are evenly disposed on the outer circumference of the driving housing.

[0040] Furthermore, if Figure 5 As shown, the driving member 42 includes a wheel frame 421 hinged on the driving housing, one end of the wheel frame 421 is rotatably connected to a worm gear 422, the other end of the wheel frame 421 is rotatably connected to a caster 423, a synchronous belt 424 is connected between the worm gear 422 and the caster 423, and the rotation of the worm gear 422 can drive the caster 423 to rotate through the synchronous belt 424.

[0041] A worm 43 is connected to the output shaft of the driving motor 41, and each worm wheel 422 is meshed with the worm 43; a tension spring 44 is provided on each wheel frame 421, and each tension spring 44 is connected to the driving housing. The tension spring 44 has a tendency to drive the caster 423 away from the driving housing (or the tension spring 44 has a tendency to drive the caster 423 to expand outward).

[0042] In this embodiment, the wheel frame 421 is a bracket connecting the worm wheel 422 and the caster 423, which is connected to the driving housing by an articulated manner. The worm wheel 422 is meshed with the worm 43 on the output shaft of the driving motor 41. When the driving motor 41 rotates, the worm 43 drives the worm wheel 422 to rotate, and then drives the caster 423 to rotate together through the synchronous belt 424. Since the tension spring 44 is provided on the wheel frame 421, the caster 423 is supported by a certain elasticity when rotating, so that the caster 423 can better contact the inner wall of the hole. In this embodiment, through the coordinated work of the three driving members 42, the driving motor 41 is a forward and reverse motor, and the autonomous walking mechanism 4 can move autonomously in the rock hole, thereby realizing comprehensive and detailed information perception of the rock mass, which not only improves the efficiency of information perception, but also ensures that the sensing tube 1 performs accurate measurement and monitoring at key positions by controlling the motion trajectory and speed of the walking mechanism, thereby obtaining more accurate and comprehensive rock mass information, realizing multi-point and multi-position testing, and avoiding the qualitative nature of the test results.

[0043] As a preferred embodiment, Figure 1 and Figure 6 As shown, the visual perception mechanism 5 includes a front camera 51 and a side camera 52. The front camera 51 is arranged inside the perception tube 1, and the side camera 52 is rotatably connected inside the perception tube 1 and connected to the worm 43. The front camera 51 can determine the fracture state of the rock hole in front of the borehole, and provide positioning information for the autonomous walking mechanism 4 to stop and perform in-situ echo and elastic wave tests in real time. The side camera 52 is used to collect annular continuous image information of the inner wall of the hole. The side camera 52 is connected to the worm 43. In addition to being able to drive the perception tube 1 to move, the drive motor 41 can also drive the side camera 52 to rotate through the worm 43. The camera is connected to the worm 43, and the single power source of the drive motor 41 is used to reduce the complexity of the system, thereby avoiding additional transmission mechanisms or complex wiring, and reducing the failure rate.

[0044] As a preferred embodiment, Figure 7As shown, the main control mechanism 6 is also included. The main control mechanism 6 includes a main control desk 61, a control host 62 arranged on the main control desk 61, and a multi-channel data acquisition instrument 63. The control host 62 is connected to the multi-channel data acquisition instrument 63, and the multi-channel data acquisition instrument 63 is used to connect with the sensing tube 1. In this embodiment, the control host 62 serves as the center of operation and control. It coordinates and controls the entire system through software programs, is responsible for sending instructions to the sensing tube 1, and controls the movement of the sensing tube 1 and the work of its various mechanisms. At the same time, the control host 62 also receives data from the multi-channel data acquisition instrument 63, and processes and analyzes the data. The multi-channel data acquisition instrument 63 is responsible for data collection and transmission. The multi-channel data acquisition instrument 63 has a strong data collection capability and can collect data sent back by multiple mechanisms at the same time. The collected data is processed and transmitted to the control host 62 for further analysis and processing, so as to achieve the purpose of comprehensive monitoring, analysis, and evaluation of the internal information of the rock mass.

[0045] In this embodiment, the in-situ echo elastic wave acquisition mechanism 3 mainly relies on the impact signal generated by the excitation unit 22. When the impact rod 222 of the excitation unit 22 applies impact force to the rock mass through the impact shell 221, stress waves and elastic waves are generated in the rock mass. These stress waves propagate in the rock mass and are reflected back when encountering an interface (such as rock property changes, cracks, etc.) to form an echo signal; these echo signals and elastic wave signals are captured by a highly sensitive detector 32, and digitally processed in conjunction with a multi-channel data acquisition instrument 63. By analyzing the arrival time, amplitude, frequency and other characteristics of the echo signal, the mechanical parameters of the rock mass, such as elastic modulus, Poisson's ratio, etc., as well as the internal structure and defect information of the rock mass can be inferred. By analyzing these waveform information, the elastic-plastic properties, degree of damage and crack development of the rock mass can be further understood.

[0046] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. An in-situ engineering rock mass information advance perception system, characterized in that: include: A sensing tube (1), the sensing tube (1) being a tubular structure and being used for extending into a hole to sense and monitor the hole; The sensing tube (1) comprises a dynamic excitation mechanism (2), an in-situ echo elastic wave collection mechanism (3), an autonomous walking mechanism (4) and a visual sensing mechanism (5); The dynamic vibration excitation mechanism (2) comprises a first driving unit (21) and an excitation unit (22); the first driving unit (21) can drive the excitation unit (22) to extend or shorten along the radial direction of the sensing tube (1); when the excitation unit (22) is working, it can strike the inner wall of the hole, so as to provide a power-adjustable impact signal to the inner wall of the hole; The in-situ echo elastic wave collection mechanism (3) comprises a second driving unit (31) and a detector (32); the second driving unit (31) can drive the detector (32) to extend or shorten along the radial direction of the sensing tube (1); the detector (32) is used to collect the impact signal generated by the excitation unit (22); The autonomous walking mechanism (4) is used to drive the sensing tube (1) to move along the axial direction of the hole.

2. The in-situ engineering rock mass information advance perception system according to claim 1 is characterized by: The excitation unit (22) comprises an impact shell (221), an impact rod (222) and an electromagnetic excitation source (223); the impact rod (222) is arranged in the impact shell (221) and can slide in the impact shell (221); one end of the electromagnetic excitation source (223) extends into the impact shell (221) to drive the impact rod (222) to collide in the impact shell (221).

3. The in-situ engineering rock mass information advance perception system according to claim 2 is characterized by: The electromagnetic excitation source (223) comprises an excitation source base (2231) and an excitation source housing (2232) arranged on the excitation source base (2231); an electromagnetic component (2233) and an armature (2234) are arranged in the excitation source housing (2232); the electromagnetic component (2233) is arranged on the excitation source base (2231); an elastic component (2235) is arranged between the electromagnetic component (2233) and the armature (2234); the elastic component (2235) has a tendency to drive the armature (2234) away from the electromagnetic component (2233); The electromagnetic component (2233) has a cavity formed therein, a column fixed in the cavity is disposed in the cavity, and an AC coil (2237) and a DC coil (2236) are sleeved on the column; Wherein, the AC coil (2237) is arranged below the DC coil (2236).

4. The in-situ engineering rock mass information advance perception system according to claim 3 is characterized by: The first driving unit (21) comprises an excitation upper shell (211), an excitation lower shell (212), a first motor (213), a first connecting piece (214) and a first lead screw (215); the excitation upper shell (211) and the excitation lower shell (212) are detachably connected; the first motor (213) is arranged in the excitation lower shell (212); the output shaft of the first motor (213) is coaxially connected to the first lead screw (215); a first excitation slot (2111) and a second excitation slot (2112) are provided in the excitation upper shell (211); the first lead screw (215) is rotatably connected in the first excitation slot (2111); the excitation unit (22) is slidably arranged in the second excitation slot (2112); a first connecting piece (214) is threadedly connected to the first lead screw (215); and the first connecting piece (214) is connected to the excitation unit (22).

5. The in-situ engineering rock mass information advance perception system according to claim 4 is characterized in that: The top of the detector (32) is provided with an arc-shaped patch (321), and the outer surface of the arc-shaped patch (321) is in contact with the inner wall of the hole.

6. The in-situ engineering rock mass information advance perception system according to claim 1, characterized in that: The second drive unit (31) comprises a signal acquisition upper shell (311), a signal acquisition lower shell (312), a second motor (313) and a second lead screw (314); the signal acquisition upper shell (311) and the signal acquisition lower shell (312) are detachably connected; the second motor (313) is arranged in the signal acquisition lower shell (312); and the output shaft of the second motor (313) is coaxially connected to the second lead screw (314); The signal collection upper shell (311) is provided with a first signal collection slot (3111) and a second signal collection slot (3112); the second lead screw (314) is rotatably connected in the first signal collection slot (3111); the detector (32) is slidably arranged in the second signal collection slot (3112); a second connecting member (315) is threadedly connected to the second lead screw (314); and the second connecting member (315) is fixed to the detector (32).

7. The in-situ engineering rock mass information advance perception system according to claim 1 is characterized by: The autonomous walking mechanism (4) comprises a driving housing, a driving motor (41) disposed in the driving housing, and at least two driving members (42), wherein the driving members (42) are evenly distributed on the circumference of the driving housing, and the driving motor (41) is used to drive the driving members (42) to rotate.

8. The in-situ engineering rock mass information advance perception system according to claim 7, characterized in that: The driving member (42) comprises a wheel frame (421) hinged on the driving housing, one end of the wheel frame (421) is rotatably connected to a worm wheel (422), the other end of the wheel frame (421) is rotatably connected to a caster (423), and a synchronous belt (424) is connected between the worm wheel (422) and the caster (423); A worm (43) is connected to the output shaft of the driving motor (41), and each of the worm wheels (422) is meshed with the worm (43); A tension spring (44) is provided on each wheel frame (421), and each tension spring (44) is connected to the drive housing. The tension spring (44) has a tendency to drive the caster (423) away from the drive housing.

9. The in-situ engineering rock mass information advance perception system according to claim 8, characterized in that: The visual perception mechanism (5) comprises a front camera (51) and a side camera (52); the front camera (51) is arranged inside the perception tube (1); and the side camera (52) is rotatably connected inside the perception tube (1) and connected to the worm (43).

10. The in-situ engineering rock mass information advance perception system according to claim 1, characterized in that: The device further comprises a main control mechanism (6), the main control mechanism (6) comprising a main control desk (61), a control host (62) arranged on the main control desk (61), and a multi-channel data acquisition instrument (63), the control host (62) being connected to the multi-channel data acquisition instrument (63), and the multi-channel data acquisition instrument (63) being used to connect to the sensing tube (1).

Images