An in-situ engineering rock mass information early perception system

Abstract

The present invention relates to the technical field of geotechnical and deep underground space engineering monitoring, and particularly relates to an in-situ engineering rock mass information advanced sensing system, which includes a sensing pipe. The sensing pipe has a tubular structure and is used to extend into a hole for sensing and monitoring the hole. The sensing pipe includes a dynamic excitation mechanism, an in-situ echo elastic wave acquisition mechanism, an autonomous walking mechanism, and a visual sensing mechanism. The dynamic excitation mechanism includes a first driving unit and an excitation unit. When the excitation unit abuts against the inner wall of the hole, the excitation unit can strike the inner wall of the hole to provide an impact signal with adjustable power to the inner wall of the hole. The autonomous walking mechanism is used to drive the sensing pipe to move along the axial direction of the hole. The present invention uses the dynamic excitation mechanism to generate sound waves to test and analyze the materials of the rock and soil, so as to solve the problem that the existing devices have a single test index and cannot comprehensively monitor and evaluate the internal information of the rock mass.

Description

Technical Field

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

[0002] As one of the extremely complex materials in nature, the accurate determination of the mechanical parameters of rock mass is crucial for the stability analysis and design of geotechnical and deep underground space engineering. In engineering exploration, common technical means include drilling method and geophysical prospecting method, etc. Among them, the drilling method can directly and accurately reflect the geological structure of the in-situ engineering rock mass, while the geophysical prospecting method monitors geological conditions such as rock mass discontinuity surfaces, rock mass properties, and groundwater by means of 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 of the rock mass, the test indexes are relatively single and the operation 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 comprehensively reflect the overall mechanical properties of the rock mass; while the geophysical prospecting method can provide some supplementary information, but its test results are rather qualitative and cannot meet the quantitative requirements of the mechanical parameters of the engineering rock mass.

[0004] In addition, most of the existing testing methods are only applicable to the testing of the surface rock mass after damage, deformation or even failure, and there are great difficulties in determining the internal mechanical parameters of the in-situ engineering rock mass. Moreover, the separate measurement of multiple testing technologies is not only cumbersome and complex, but 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 advanced sensing 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 advanced sensing 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 purpose, the technical solution adopted by the present invention is as follows:

[0008] An in-situ engineering rock mass information advanced sensing system includes a sensing tube, and the sensing tube has a tubular structure and is used to extend into a hole for sensing and monitoring the hole.

[0009] The sensing tube includes a dynamic excitation mechanism, an in-situ echo elastic wave acquisition mechanism, an autonomous walking mechanism, and a visual sensing mechanism.

[0010] The power excitation mechanism includes a first driving unit and an excitation unit. The first driving unit can drive the excitation unit to extend or contract radially along the sensing tube. When the excitation unit abuts against the inner wall of the hole, the excitation unit can strike the inner wall of the hole to provide an impact signal with adjustable power to the inner wall of the hole;

[0011] The in-situ echo elastic wave acquisition mechanism includes a second driving unit and a detector. The second driving unit can drive the detector to extend or contract radially along the sensing tube. The detector is used to acquire the impact signal generated by the excitation unit;

[0012] The autonomous walking mechanism is used to drive the sensing tube to move axially along the hole.

[0013] Further, the excitation unit includes an impact housing, an impact rod, and an electromagnetic excitation source. The impact rod is arranged inside the impact housing and can slide inside the impact housing. One end of the electromagnetic excitation source extends into the impact housing to drive the impact rod to collide inside the impact housing.

[0014] According to the above technical solution, when the system needs to generate an excitation signal, the electromagnetic excitation source starts to work. One end of the electromagnetic excitation source is located inside the impact housing. By the action of the electromagnetic excitation source, the impact rod is driven to slide inside the impact housing. During this process, the impact rod will continuously collide with the inner wall of the impact housing, thereby generating an excitation signal. Since the impact housing 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 acquisition mechanism.

[0015] Further, the electromagnetic excitation source includes an excitation source base and an excitation source housing arranged on the excitation source base. An electromagnetic component and an armature are arranged inside the excitation source housing. The electromagnetic component is arranged on the excitation source base. An elastic component is arranged between the electromagnetic component and the armature. The elastic component has a tendency to drive the armature away from the electromagnetic component;

[0016] A cavity is formed inside the electromagnetic component. A cylinder fixed inside the cavity is arranged inside the cavity. An AC coil and a DC coil are sleeved on the cylinder.

[0017] Further, the first driving unit includes a vibration excitation upper housing, a vibration excitation lower housing, a first motor, a first connecting member, and a first lead screw. The vibration excitation upper housing and the vibration excitation lower housing are detachably connected. The first motor is disposed within the vibration excitation lower housing, and an output shaft of the first motor is coaxially connected to the first lead screw. A first vibration excitation chute and a second vibration excitation chute are defined within the vibration excitation upper housing. The first lead screw is rotatably connected within the first vibration excitation chute, and the vibration excitation unit is slidably disposed within the second vibration excitation chute. A first connecting member is threadedly connected to the first lead screw, and the first connecting member is connected to the vibration excitation unit.

[0018] According to the above technical solution, the vibration excitation upper housing and the vibration excitation lower housing are combined together by a detachable connection method to form a closed space for accommodating and protecting internal mechanical components. The first motor is disposed within the vibration excitation lower housing, 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 vibration excitation chute and the second vibration excitation chute are defined within the vibration excitation upper housing, and the first vibration excitation chute and the second vibration excitation chute are used to guide and restrict the movement of the first lead screw and the vibration excitation unit. During use, when the first motor starts and rotates, it drives the first lead screw to rotate. The first lead screw drives the first connecting member to move along the axis of the lead screw, driving the vibration 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.

[0019] Further, an arc-shaped patch is disposed on the top of the geophone, and an outer surface of the arc-shaped patch is fitted to the inner wall of the hole.

[0020] According to the above technical solution, the outer surface of the arc-shaped patch is fitted to the diameter of the inner wall of the hole, so that the arc-shaped patch has sufficient contact area with the inner wall of the hole and can be closely fitted, realizing the acquisition and transmission of full waveform information of the dynamic response, and further reasonably reflecting the dynamic response characteristics and dynamic mechanical parameters of the rock mass.

[0021] Further, the second driving unit includes a signal acquisition upper housing, a signal acquisition lower housing, a second motor, and a second lead screw. The signal acquisition upper housing and the signal acquisition lower housing are detachably connected. The second motor is disposed within the signal acquisition lower housing, and an output shaft of the second motor is coaxially connected to the second lead screw.

[0022] The signal acquisition upper housing is provided with a first signal acquisition chute and a second signal acquisition chute. The second lead screw is rotatably connected within the first signal acquisition chute, and the geophone is slidably disposed within the second signal acquisition chute. A second connecting member is threadedly connected to the second lead screw, and the second connecting member is fixed to the geophone.

[0023] According to the above technical solution, the first signal acquisition groove is used to accommodate and restrict the rotation of the second lead screw, and the second signal acquisition groove is used to guide and restrict the sliding of the geophone. The second lead screw is rotatably connected inside the first signal acquisition groove. In this way, the rotation of the lead screw can be converted into a linear motion along the groove direction. The geophone is used to receive and collect signals. When the second motor starts and rotates, it drives the second lead screw to rotate, and transmits the rotation to the second connecting piece through a threaded connection, causing the connecting piece to move along the axis direction of the second lead screw. The movement of the second connecting piece will drive the geophone to slide in the second signal acquisition groove. When the arc-shaped patch above the geophone fits against the inner wall of the hole, the second motor is turned off, and the geophone starts to collect signals.

[0024] Further, the autonomous walking mechanism includes a driving housing, a driving motor disposed inside the driving housing, and at least two driving members. Each of the driving members is evenly distributed on the circumferential surface of the driving housing, and the driving motor is used to drive each of the driving members to rotate.

[0025] Further, each driving member includes a wheel frame hinged to the driving housing. One end of the wheel frame is rotatably connected with a worm gear, and the other end of the wheel frame is rotatably connected with a caster. A synchronous belt is connected between the worm gear and the caster.

[0026] A worm is connected to the output shaft of the driving motor, and each of the worm gears meshes with the worm.

[0027] A tension spring is disposed on each of the wheel frames, and each tension spring is connected to the driving housing. The tension spring has a tendency to drive the caster away from the driving housing.

[0028] According to the above technical solution, the wheel frame is a bracket connecting the worm gear and the caster, and is connected to the driving housing by a hinged manner. The worm gear meshes with the worm on the output shaft of the driving motor. When the driving motor rotates, the worm will drive the worm gear to rotate. The worm gear and the caster are connected by a synchronous belt. When the worm gear rotates, it will drive the synchronous belt and the caster to rotate together.

[0029] When the driving motor starts, it will drive the worm to rotate. When the worm rotates, it will drive the meshing worm gear to rotate. When the worm gear rotates, it will drive the caster to rotate through the synchronous belt. Since a tension spring is disposed on the wheel frame, the caster will be elastically supported to a certain extent during rotation, so that the caster can better contact the inner wall of the hole and provide a certain elastic support. Through the coordinated work of at least two driving members, the autonomous walking mechanism can move forward or backward stably in the hole, facilitating real-time monitoring of different positions inside the rock mass, realizing multi-point and multi-position testing, and avoiding the qualitative nature of the test results.

[0030] Furthermore, the visual perception mechanism includes a front camera and a side camera. The front camera is disposed inside the sensing tube, and the side camera is rotatably connected inside the sensing tube and connected to the worm.

[0031] According to the above technical solution, the front camera can judge the rupture state of the rock mass on the hole wall in front of the drill hole, and in real time provide positioning information for the in-situ echo and elastic wave tests when the autonomous walking mechanism stops. The side camera is used to collect the annular continuous image information of the inner wall of the hole. The side camera is connected to the worm. In addition to driving the sensing tube to move, it can also drive the side camera to rotate through the worm. Connecting the camera to the worm and using a single power source of the drive motor can reduce the complexity of the system, thus avoiding additional transmission mechanisms or complex wiring and reducing the failure rate.

[0032] Furthermore, it further includes a main control mechanism. The main control mechanism includes a main console, a control host and a multi-channel data collector disposed on the main console. The control host is connected to the multi-channel data collector, and the multi-channel data collector is used to connect to the sensing tube.

[0033] Advantages of the present invention:

[0034] According to the above technical solution, the combination of the dynamic excitation mechanism and the in-situ echo elastic wave acquisition mechanism realizes the active excitation and signal acquisition of the inner wall of the hole. The first driving unit drives the excitation unit to radially extend, tightly abut against the inner wall of the hole, and strike it to generate an impact signal with adjustable power; in this process, the excitation unit emits sound waves as the signal source, which can accurately act on the rock mass and excite the elastic waves inside it; Subsequently, the second driving unit drives the detector to radially extend and abut against the inner wall of the hole to collect the impact signal generated by the excitation unit and the echo signal reflected back. This combination method not only improves the accuracy of signal acquisition, but also ensures the integrity and reliability of the signal;

[0035] 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 stably in the hole, ensuring that the excitation unit and the detector can act on different positions of the hole in sequence, which not only improves the monitoring efficiency, but also avoids the errors and safety hazards that may be brought by manual operation.

[0036] Furthermore, the setting of the visual perception mechanism provides an intuitive monitoring means for the system. The front camera and the side camera can capture the image information inside the hole in real time, providing a clear vision for the operator. This not only helps to detect and handle abnormal situations in a timely manner, but also provides an important reference basis for subsequent engineering design and construction.

[0037] Finally, integrate and combine each mechanism. By virtue of the precise design and coordinated cooperation among the mechanisms, a complete and efficient monitoring and sensing system is formed. Compared with the traditional drilling method and geophysical prospecting method design, the structure of this device is compact, solving the problem that the existing device has a single test index and cannot comprehensively monitor and evaluate the internal information of the rock mass.

[0038] Other advantages, objectives, and features of this application will be elaborated to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be learned from the practice of this application. The objectives and other advantages of this application can be achieved and obtained through the following specific implementation manners. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the in-situ engineering rock mass information advanced sensing system of the present invention;

[0040] Figure 2 It is an exploded structure diagram of the dynamic excitation mechanism in the in-situ engineering rock mass information advanced sensing system of the present invention;

[0041] Figure 3 It is a sectional view of the electromagnetic excitation source of the in-situ engineering rock mass information advanced sensing system of the present invention;

[0042] Figure 4 It is a schematic diagram of the structure of the in-situ echo elastic wave acquisition mechanism in the in-situ engineering rock mass information advanced sensing system of the present invention;

[0043] Figure 5 It is a schematic diagram of the structure of the autonomous walking mechanism in the in-situ engineering rock mass information advanced sensing system of the present invention;

[0044] Figure 6 It is a schematic diagram of the structure of the visual sensing mechanism in the in-situ engineering rock mass information advanced sensing system of the present invention;

[0045] Figure 7 It is a schematic diagram of the structure of the main control mechanism in the in-situ engineering rock mass information advanced sensing system of the present invention.

[0046] Among them, the sensing tube 1, the dynamic excitation mechanism 2, the first driving unit 21, the excitation upper housing 211, the first excitation chute 2111, the second excitation chute 2112, the excitation lower housing 212, the first motor 213, the first connecting member 214, the first lead screw 215, the excitation unit 22, the impact housing 221, the impact rod 222, the electromagnetic excitation source 223, the excitation source base 2231, the excitation source housing 2232, the electromagnetic member 2233, the armature 2234, the elastic member 2235, the DC coil 2236, the AC coil 2237, the in-situ echo elastic wave acquisition mechanism 3, the second driving unit 31, the signal acquisition upper housing 311, the first signal acquisition chute 3111, the second signal acquisition chute 3112, the signal acquisition lower housing 312, the second motor 313, the second lead screw 314, the second connecting member 315, the detector 32, the arc-shaped patch 321, the autonomous walking mechanism 4, the driving motor 41, the driving member 42, the wheel frame 421, the worm gear 422, the caster 423, the synchronous belt 424, the worm 43, the tension spring 44, the visual sensing mechanism 5, the front camera 51, the side camera 52, the main control mechanism 6, the main control console 61, the control host 62, and the multi-channel data acquisition instrument 63. Detailed implementation manners

[0047] The following will describe the implementation manners of the present invention with reference to the drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific implementation manners. Various details in this specification can also be modified or changed 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 explaining the present invention and not for limiting the protection scope of the present invention.

[0048] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0049] This embodiment proposes an in-situ engineering rock mass information advanced sensing system, as Figures 1 to 7 shown, including a sensing tube 1. The sensing tube 1 is a long strip-shaped tubular structure and is used to extend into the holes of the rock mass to sense and monitor the holes; as Figure 1 shown, the sensing tube 1 includes a dynamic excitation mechanism 2, an in-situ echo elastic wave acquisition mechanism 3, an autonomous walking mechanism 4, and a visual sensing mechanism 5; among them, the visual sensing mechanism 5 is arranged at the front end position of the sensing tube 1.

[0050] As Figure 1 andFigure 2 As shown in the figure, 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 contract along the radial direction of the sensing pipe 1. When the excitation unit 22 works, it can strike the inner wall of the hole to provide an impact signal with adjustable power to the inner wall of the hole.

[0051] As Figure 4 shown in the figure, the in-situ echo elastic wave acquisition 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 contract along the radial direction of the sensing pipe 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 pipe 1 to move along the axial direction of the hole.

[0052] As a preferred implementation, as Figure 2 shown in the figure, the excitation unit 22 includes an impact housing 221, an impact rod 222 and an electromagnetic excitation source 223. The impact rod 222 is arranged in the impact housing 221 and can slide in the impact housing 221. One end of the electromagnetic excitation source 223 extends into the impact housing 221 to drive the impact rod 222 to collide in the impact housing 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 housing 221. During this process, the impact rod 222 will continuously collide with the inner wall of the impact housing 221, thereby generating an acoustic wave excitation signal. In use, since the impact housing 221 abuts against the inner wall of the rock hole, 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.

[0053] As a preferred embodiment, the first driving unit 21 includes an excitation upper housing 211, an excitation lower housing 212, a first motor 213, a first connecting member 214, and a first lead screw 215. The excitation upper housing 211 and the excitation lower housing 212 are detachably connected. The excitation upper housing 211 and the excitation lower housing 212 are detachably combined together in the form of bolts or snap-fitting to form a closed space for accommodating and protecting the internal mechanical components. Among them, the first motor 213 is arranged in the excitation lower housing 212, and the output shaft of the first motor 213 is coaxially connected to the first lead screw 215. A first excitation chute 2111 and a second excitation chute 2112 are provided in the excitation upper housing 211. The first lead screw 215 is rotatably connected in the first excitation chute 2111, and the excitation unit 22 is slidably arranged in the second excitation chute 2112. A first connecting member 214 is threadedly connected to the first lead screw 215, and the first connecting member 214 is connected to the excitation unit 22. The first motor 213 is arranged in the excitation lower housing 212, and its output shaft is coaxially connected to 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. A first excitation chute 2111 and a second excitation chute 2112 are provided in the excitation upper housing 211, and the first excitation chute 2111 and the second excitation chute 2112 are used to guide and restrict the movement of the first lead screw 215 and the excitation unit 22. During use, when the first motor 213 is started and rotates, it drives the first lead screw 215 to rotate. The first lead screw 215 drives the first connecting member 214 to move along the axis 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 waves and elastic waves can be transmitted to the inner wall of the hole.

[0054] Further, as Figure 3As shown, the electromagnetic excitation source 223 includes an excitation source base 2231 and an excitation source housing 2232 disposed on the excitation source base 2231. An electromagnetic member 2233 and an armature 2234 are provided inside the excitation source housing 2232. The electromagnetic member 2233 is disposed on the excitation source base 2231. An elastic member 2235 is provided between the electromagnetic member 2233 and the armature 2234. The elastic member 2235 has a tendency to drive the armature 2234 away from the electromagnetic member 2233. In this embodiment, preferably, the elastic member 2235 is a spring. A cavity is formed inside the electromagnetic member 2233. A cylinder fixed inside the cavity is provided inside the cavity. An AC coil 2237 and a DC coil 2236 are sleeved on the cylinder. Among them, the AC coil 2237 is disposed below the DC coil 2236. The magnetic field generated by the DC coil 2236 is relatively stable and its change rate is relatively low. Therefore, the electromagnetic interference generated is also relatively small. Disposing the AC coil 2237 below the DC coil 2236 can reduce the influence of the electromagnetic interference generated during the operation of the AC coil 2237 on the generated stress wave and elastic wave. When the excitation source works, the AC coil 2237 and the DC coil 2236 can be energized separately or simultaneously. When the DC coil 2236 is energized alone, when an electric current passes through, a constant magnetic field will be generated between the cylinder and the armature 2234, generating a constant electromagnetic suction force on the armature 2234, attempting to pull the armature 2234 towards the electromagnetic member 2233. However, due to the presence of the elastic member 2235 (such as a spring), it will generate an opposite force on the armature 2234, making it tend to move away from the electromagnetic member 2233. Therefore, under the action of the DC coil 2236, the armature 2234 will be in a relatively stable equilibrium position, subjected to a constant electromagnetic force. In this embodiment, the effect of excitation is achieved by turning on and off the currents of the DC coil 2236 and the AC coil 2237. For the AC coil 2237, when an alternating current passes through alone, it will generate an alternating magnetic field between the cylinder and the armature 2234. The alternating magnetic field will generate an alternating electromagnetic suction force on the armature 2234. In applications where a high-frequency excitation signal is required, the excitation force can be generated through the AC coil 2237, enabling the armature 2234 to perform reciprocating motion under the combined action of the electromagnetic force and the elastic force, achieving the effect of excitation. When the DC coil 2236 and the AC coil 2237 work simultaneously, the armature 2234 will be subjected to a superimposed or weakened electromagnetic force. This superimposed or weakened electromagnetic force includes 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 precisely control the movement trajectory of the armature 2234 and the magnitude of the excitation force, and then drive the impact rod 222 to strike the excitation source housing 2232, and transmit it to the inner wall of the hole in the rock mass through the excitation source housing 2232 to achieve the effect of excitation. The movement of the armature 2234 will become more complex and diverse, facilitating the development of sensing and monitoring research.For the convenience of review and understanding, when the DC coil 2236 and the AC coil 2237 work simultaneously, the armature 2234 will be subjected to a superimposed or weakened electromagnetic force. When a DC current passes through, it will generate a constant magnetic field around the cylinder. 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 cylinder, and the direction and magnitude of this magnetic field will change with the cycle of the alternating current. Under specific conditions, such as when the AC current reaches a certain peak value (positive or negative), the magnetic field it generates may be opposite in direction to the magnetic field generated by the DC current and similar in magnitude. In this case, the two magnetic fields will cancel each other out, resulting in a weakened or even disappeared resultant magnetic field around the cylinder. Similarly, the two magnetic fields can be superimposed on each other, resulting in an enhanced resultant magnetic field around the cylinder. 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 the requirements of multiple rock mass testing technologies to truly reflect the in-situ engineering rock mass mechanical parameters.

[0055] Furthermore, an arc-shaped patch 321 is provided at the top of the geophone 32, and the outer surface of the arc-shaped patch 321 is fitted to the inner wall of the hole. This enables the arc-shaped patch 321 to have sufficient contact area with the inner wall of the hole, thereby facilitating the acquisition and transmission of full waveform information of the dynamic response, and further reasonably reflecting the characteristics of the rock mass dynamic response and dynamic mechanical parameters.

[0056] As a preferred embodiment, as Figure 4As shown in the figure, the second driving unit 31 includes a signal acquisition upper housing 311, a signal acquisition lower housing 312, a second motor 313, and a second lead screw 314. The signal acquisition upper housing 311 is detachably connected to the signal acquisition lower housing 312, and specifically, it can adopt the form of snap connection or bolt connection. The second motor 313 is arranged inside the signal acquisition lower housing 312, and the output shaft of the second motor 313 is coaxially connected to the second lead screw 314. The signal acquisition upper housing 311 is provided with a first signal acquisition groove 3111 and a second signal acquisition groove 3112. The second lead screw 314 is rotatably connected inside the first signal acquisition groove 3111, and the detector 32 is slidably arranged inside the second signal acquisition groove 3112. A second connecting member 315 is threadedly connected to the second lead screw 314, and the other end of the second connecting member 315 is fixed to the detector 32. The first signal acquisition groove 3111 is used to accommodate and restrict the position of the second lead screw 314, the second signal acquisition groove 3112 is used to guide and restrict the sliding of the detector 32, and 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 the rotation to the second connecting member 315 through threaded connection, causing the second connecting member 315 to move 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 inside the second signal acquisition groove 3112. When the arc-shaped patch 321 above the detector 32 fits against the inner wall of the hole, the second motor 313 is turned off, and the detector 32 starts to collect signals.

[0057] As a preferred embodiment, as Figure 1 and Figure 5 shown, the autonomous walking mechanism 4 includes a driving housing (not shown), a driving motor 41 arranged inside the driving housing, and at least two driving members 42. Each driving member 42 is evenly distributed on the circumferential surface of the driving housing, and the driving motor 41 is used to drive each driving member 42 to rotate. In this embodiment, the number of driving members 42 is three, which are evenly arranged on the outer periphery of the driving housing.

[0058] Furthermore, as Figure 5 shown, the driving member 42 includes a wheel frame 421 hinged to the driving housing. One end of the wheel frame 421 is rotatably connected to a worm gear 422, and 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. When the worm gear 422 rotates, it can drive the caster 423 to rotate through the synchronous belt 424.

[0059] A worm 43 is connected to the output shaft of the driving motor 41, and each worm gear 422 meshes with the worm 43. A tension spring 44 is arranged 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 outwards).

[0060] In this embodiment, the wheel bracket 421 is a bracket connecting the worm gear 422 and the caster 423, and is connected to the driving housing by a hinged manner. The worm gear 422 meshes 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 gear 422 to rotate, and then drives the caster 423 to rotate together through the synchronous belt 424. Since a tension spring 44 is provided on the wheel bracket 421, the caster 423 will be elastically supported to a certain extent during rotation, so that the floor caster 423 can better contact the inner wall of the hole. Through the coordinated work of three driving members 42 in this embodiment, the driving motor 41 is a forward and reverse motor, and the autonomous walking mechanism 4 can move autonomously in the rock hole, so as to realize the comprehensive and detailed information perception of the rock mass. This not only improves the efficiency of information perception, but also can ensure the accurate measurement and monitoring of the sensing tube 1 at key positions by controlling the movement trajectory and speed of the walking mechanism, so as to obtain more accurate and comprehensive rock mass information, realize multi-point and multi-position testing, and avoid the quantification of test results.

[0061] As a preferred embodiment, as Figure 1 and Figure 6 shown, the visual perception mechanism 5 includes a front camera 51 and a side camera 52. The front camera 51 is arranged inside the sensing tube 1, and the side camera 52 is rotatably connected inside the sensing tube 1 and connected to the worm 43. The front camera 51 can judge the fracture state of the rock hole in front of the drill hole and provide positioning information for the in-situ echo and elastic wave tests when the autonomous walking mechanism 4 stops in real time. The side camera 52 is used to collect the annular continuous image information of the inner wall of the hole. The side camera 52 is connected to the worm 43. In addition to driving the sensing tube 1 to move, the driving motor 41 can also drive the side camera 52 to rotate through the worm 43. Connecting the camera to the worm 43 makes use of the single power source of the driving motor 41, which can reduce the complexity of the system, thus avoiding additional transmission mechanisms or complex wiring and reducing the failure rate.

[0062] As a preferred embodiment, as Figure 7As shown in the figure, it further includes a main control mechanism 6. The main control mechanism 6 includes a main console 61, a control host 62 disposed on the main console 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 to the sensing tube 1. In this embodiment, the control host 62 serves as the operation and control center, 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 operation 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 it. The multi-channel data acquisition instrument 63 is responsible for data acquisition and transmission. The multi-channel data acquisition instrument 63 has strong data acquisition capabilities and can simultaneously acquire data transmitted back by multiple mechanisms. The acquired data is processed and then transmitted to the control host 62 for further analysis and processing, so as to achieve the purpose of comprehensively monitoring, analyzing, and evaluating the internal information of the rock mass.

[0063] 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 an impact force to the rock mass through the impact housing 221, stress waves and elastic waves will be generated in the rock mass. These stress waves propagate in the rock mass and reflect back when encountering interfaces (such as lithology changes, fractures, etc.) to form echo signals. These echo signals and elastic wave signals are captured by highly sensitive detectors 32, coordinated with the multi-channel data acquisition instrument 63 and digitally processed. By analyzing the characteristics of the echo signals such as arrival time, amplitude, and frequency, 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 elastoplastic properties, damage degree, and fracture development of the rock mass can be further understood.

[0064] The above embodiments are only preferred embodiments given to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all 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; 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); 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, an AC coil (2237) and a DC coil (2236) are sleeved on the column, and the AC coil (2237) and the DC coil (2236) can be energized separately or simultaneously; Wherein, the AC coil (2237) is arranged below the DC coil (2236); When the DC coil (2236) and the AC coil (2237) work simultaneously, the armature (2234) is subjected to a superimposed or weakened electromagnetic force, and the superimposed or weakened electromagnetic force includes both a constant component and an alternating component; the magnitude and phase of the DC and AC currents can be adjusted as needed to accurately control the movement trajectory of the armature (2234) and the magnitude of the exciting force, thereby driving the impact rod (222) to strike the exciting source housing (2232), which is transmitted to the inner wall of the hole in the rock mass through the exciting source housing (2232), and the movement of the armature (2234) becomes more complex and diverse; 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 a circumferential surface of the driving housing, and the driving motor (41) is used to drive the driving members (42) to rotate; 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 disposed on each wheel frame (421), each tension spring (44) is connected to the drive housing, and the tension spring (44) has a tendency to drive the caster (423) away from the drive housing; 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); the side camera (52) is rotatably connected inside the perception tube (1) and connected to the worm (43); the drive motor (41) can not only drive the perception tube (1) to move, but can also drive the side camera (52) to rotate through the worm (43).

2. The in-situ engineering rock mass information advance perception system according to claim 1 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).

3. The in-situ engineering rock mass information advance perception system according to claim 2 is characterized by: 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.

4. The in-situ engineering rock mass information advance perception system according to claim 3 is characterized by: 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).

5. The in-situ engineering rock mass information advance perception system according to claim 1 is characterized by: 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).

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