A full-automatic ultrasonic scanning imaging device for large three-dimensional geological model

Abstract

A kind of full-automatic ultrasonic scanning imaging device for large three-dimensional geological model belongs to rock mass disaster process dynamic monitoring technical field, including body assembly, walking assembly and scanning assembly, the shell inside body assembly is equipped with power battery, main control board, memory and signal transceiver;The present application can be used for ultrasonic monitoring for similar materials such as rock inside tunnel, equipped with phased array wheel type ultrasonic probe, to non-invasive scanning mode dynamic real-time monitoring surrounding rock mass of tunnel, through variable-diameter adjustment realizes the adaptation to different aperture tunnels, through phased array wheel type ultrasonic probe realizes and the quick coupling and decoupling of cave wall, through the cooperation of the self rolling of phased array wheel type ultrasonic probe and the rotation around body realizes 360 ° omnidirectional scanning operation, improves scanning efficiency while improving ultrasonic data fidelity, with the characteristics of high monitoring accuracy, fast imaging speed, intelligent control, flexible and easy to operate, simple maintenance and disassembly, strong space adaptability, high operation reliability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of dynamic monitoring of rock mass disaster process, and particularly relates to a full-automatic ultrasonic scanning imaging device for a large three-dimensional geological model. BACKGROUND

[0002] Deep-buried tunnels and underground cavern groups are often in high-stress complex geological environments, and disasters such as rock burst, large deformation, collapse and the like often occur under excavation disturbance, thereby bringing great threat to the safe construction and efficient production of deep engineering. Therefore, the perception of the whole process of crack initiation and development in the rock mass and the revelation of the disaster incubation mechanism become increasingly important. For this reason, a large three-dimensional geological model emerges as the times require. The large three-dimensional geological model is printed from rock similar materials based on the similarity theory and by means of 3D printing technology. Based on the large three-dimensional geological model, the simulated excavation test of deep-buried tunnels and underground cavern groups can be carried out, the simulation of complex engineering environments can be realized, and the large three-dimensional geological model has the advantages of strong repeatability, flexibility, controllability and high monitoring precision, and is an important means for revealing the disaster incubation mechanism, disaster monitoring and early warning, risk assessment and prevention and control of deep-buried tunnels and underground cavern groups under excavation disturbance.

[0003] Rock mass failure often goes through crack initiation and development, and finally forms macroscopic cracks that can cause rock mass disaster. In order to reveal the disaster incubation mechanism of rock mass, the whole process of crack development in the rock mass needs to be monitored and tracked, and it is also a key means for early perception and early warning of disasters.

[0004] In the simulated excavation test of deep-buried tunnels and underground cavern groups, in order to realize the dynamic perception of the whole process of disaster incubation of the large three-dimensional geological model in the simulated excavation and fracture test, real-time perception, whole-process tracking and monitoring and high-precision three-dimensional positioning of the crack initiation and development in the whole region of the large three-dimensional geological model need to be realized. However, the current dynamic monitoring means and equipment for the disaster process of rock mass are difficult to meet the above requirements, mainly in the following aspects:

[0005] ① The monitoring range is limited, because most monitoring means focus on the local area of the rock mass, and it is difficult to realize the whole-area monitoring of the surrounding rock of the whole tunnel;

[0006] ② The monitoring real-time performance and dynamic response have limitations, and it is difficult to realize real-time feedback of the crack development and change in the rock mass, and there is a problem of insufficient real-time dynamic perception ability;

[0007] ③ The monitoring precision is not enough, and the perception ability of the small cracks in the rock mass is weak, and the positioning precision of the fracture source is insufficient;

[0008] ④ There is a lack of intuitive representation means, and the commonly used monitoring representation means are mainly one-dimensional or two-dimensional data charts, and the analysis is not intuitive enough, and the visualization degree is low.

[0009] 5. Lack of intelligent equipment based on ultrasonic technology for real-time monitoring of deep rock mass inside the tunnel.

[0010] At present, as a common monitoring means in deep engineering, the optical fiber sensing monitoring technology can accurately obtain the size, direction and three-dimensional strain change of the principal stress in the rock mass. However, the optical fiber sensor is usually linearly arranged in a certain depth range inside the rock mass. This arrangement not only destroys the integrity of the rock mass structure, but also is difficult to obtain the three-dimensional image of the complete rock mass. Moreover, due to the fragile characteristics of the optical fiber material, it is easy to be damaged under external disturbance or rock mass deformation and dislocation, resulting in poor stability of data acquisition and difficulty in meeting the real-time monitoring demand of the whole process of rock mass failure.

[0011] For acoustic emission monitoring technology, due to its high sensitivity and real-time dynamic monitoring characteristics, it is often used to monitor the process of micro crack initiation, expansion and failure inside the rock mass. However, in practical application, the acoustic emission sensor is usually arranged in the local area of the rock mass, which is difficult to realize the full coverage of the complete rock mass, and the monitoring range is limited, resulting in lack of global information and only reflecting the failure of local rock mass, which is difficult to build a three-dimensional transparent model of the whole rock mass. In addition, the acoustic emission sensor needs to passively receive acoustic emission signals, which is not sensitive enough to low energy events, and may not be able to capture the weak rock mass failure or early crack expansion, and is easy to be disturbed by external noise, resulting in false alarm or omission of rock mass failure events. In addition, although the acoustic emission monitoring technology can locate the approximate position of the rock mass internal failure source, the positioning accuracy is low, and it is easy to be disturbed by other factors, which is difficult to generate high-precision three-dimensional image.

[0012] For ultrasonic detection / monitoring technology, it has formed a mature application system in the fields of industrial nondestructive testing and medical imaging. In the industrial field, it mainly faces the internal defect identification of homogeneous material components such as metal, including crack positioning, pore detection and welding quality evaluation. In the medical field, it constructs tomographic images based on the difference of acoustic impedance of biological tissues, and provides morphological basis for clinical diagnosis. However, in the application of rock complex medium monitoring, ultrasonic detection / monitoring technology faces multiple physical mechanism constraints. First, there is a compatibility contradiction between the traditional coupling mode and the surface morphology of the rock mass. Air coupling mode or liquid coupling medium is generally used in industrial detection / monitoring, but it is easy to cause uneven thickness of coupling layer and medium leakage problem in rough and porous interface such as tunnel wall, resulting in energy transmission efficiency decline and signal distortion. Second, the propagation of high-frequency ultrasonic in rock medium is restricted by anisotropy and attenuation effect, and its penetration depth is significantly limited, which is difficult to meet the demand of deep damage detection of rock mass. In addition, through retrieval, it is found that most ultrasonic detection / monitoring equipment is generally used in the field of industrial nondestructive testing, and there is a lack of equipment that can be used for ultrasonic detection / monitoring of rock and similar materials inside the tunnel. SUMMARY

[0013] In order to solve the problems in the prior art, the present application provides a full-automatic ultrasonic scanning imaging device for a large three-dimensional geological model, which can be used for ultrasonic monitoring of rock and similar materials in a tunnel, is equipped with a phased array wheel type ultrasonic probe, and realizes dynamic real-time monitoring of the surrounding rock mass of the tunnel in a non-invasive scanning manner, can realize adaptation to different aperture tunnels through variable diameter adjustment, can realize rapid coupling and decoupling with the tunnel wall through the phased array wheel type ultrasonic probe, can realize 360° omnidirectional scanning operation through the cooperation of the self-rolling of the phased array wheel type ultrasonic probe and the rotation around the body, improves the scanning efficiency and the fidelity of the ultrasonic data, and has the characteristics of high monitoring accuracy, fast imaging speed, intelligent control, flexibility and easy operation, simple maintenance and disassembly, strong spatial adaptability, and high operation reliability.

[0014] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a full-automatic ultrasonic scanning imaging device for a large three-dimensional geological model, comprising a body assembly, a walking assembly and a scanning assembly; the body assembly adopts a dumbbell type structure, a power battery, a main control board, a memory and a signal transceiver are arranged inside the shell of the body assembly, the main control board, the memory and the signal transceiver are all powered by the power battery, and a wiring port is arranged at the center of the axial outer end face of each dumbbell counterweight shaped segment of the shell; the walking assembly adopts a three-legged structure, the number of walking assemblies is two, and two walking assemblies are arranged at the axial outer end faces of the two dumbbell counterweight shaped segments of the shell, and the two walking assemblies are mirror-symmetrically distributed relative to the center of the dumbbell holding shaped segment of the shell; the scanning assembly adopts a three-arm structure, and the scanning assembly is located at the dumbbell holding shaped segment of the shell, and the scanning assembly has a rotary degree of freedom and a radial lifting degree of freedom relative to the shell.

[0015] The walking assembly comprises three wheel type walking legs, and the three wheel type walking legs are uniformly distributed in the circumferential direction relative to the wiring port.

[0016] The wheel type walking leg comprises an electric walking wheel, a wheel leg supporting rod and a wheel leg swing driving cylinder; one end of the wheel leg supporting rod is hinged to the shell, and the electric walking wheel is arranged at the other end of the wheel leg supporting rod; one end of the wheel leg swing driving cylinder is hinged to the shell, and the other end of the wheel leg swing driving cylinder is hinged to the middle part of the wheel leg supporting rod.

[0017] The wheel leg supporting rod adopts an electric telescopic rod, the outer cylinder body root of the wheel leg supporting rod is hinged to the shell, and the electric walking wheel is mounted at the end of the inner rod body of the wheel leg supporting rod.

[0018] The scanning assembly comprises a rotating actuator, a radial lifting actuator and a scanning actuator; the rotating actuator is sleeved outside the dumbbell-shaped grip segment of the shell; the radial lifting actuator is arranged between the rotating actuator and the shell; and the scanning actuator is arranged on the radial lifting actuator.

[0019] The rotating actuator comprises first and second hollow shaft motors; the first and second hollow shaft motors are arranged side by side and are coaxially sleeved outside the dumbbell-shaped grip segment of the shell; annular gaps are left between the inner stator of the first hollow shaft motor and the dumbbell-shaped grip segment of the shell and between the inner stator of the second hollow shaft motor and the dumbbell-shaped grip segment of the shell; and the first and second hollow shaft motors are mirror-symmetrically distributed relative to the center of the shell.

[0020] The radial lifting actuator comprises a guide slide rod, first and second guide slide blocks, an electric push rod, first and second arm connecting rods; the guide slide rod is parallel to the central axis of the shell, and both ends of the guide slide rod are fixedly connected to the axial inner end faces of the two dumbbell-shaped weight segments of the shell; the guide slide rod passes through the annular gaps between the inner stators of the first and second hollow shaft motors and the dumbbell-shaped grip segment of the shell; the first guide slide block is located in the annular gap between the inner stator of the first hollow shaft motor and the dumbbell-shaped grip segment of the shell, is fixedly connected to the inner stator of the first hollow shaft motor, is sleeved on the guide slide rod and has a linear sliding freedom on the guide slide rod; the second guide slide block is located in the annular gap between the inner stator of the second hollow shaft motor and the dumbbell-shaped grip segment of the shell, is fixedly connected to the inner stator of the second hollow shaft motor, is sleeved on the guide slide rod and has a linear sliding freedom on the guide slide rod; the electric push rod is parallel to the central axis of the shell, one end of the electric push rod is fixedly connected to the outer rotor of the first hollow shaft motor, and the other end of the electric push rod is fixedly connected to the outer rotor of the second hollow shaft motor; a pressure sensor is installed at the transition of the electric push rod and the outer rotor of the first or second hollow shaft motor; one end of the first arm connecting rod is hingedly connected to the outer rotor of the first hollow shaft motor, and the other end of the first arm connecting rod is connected to the scanning actuator; one end of the second arm connecting rod is hingedly connected to the outer rotor of the second hollow shaft motor, and the other end of the second arm connecting rod is connected to the scanning actuator; the first and second arm connecting rods are mirror-symmetrically distributed relative to the center of the shell.

[0021] The number of guide sliding rods is several, and the several guide sliding rods are uniformly distributed along the circumferential direction of the shell; the number of first guide sliding blocks is several and is the same as the number of guide sliding rods, one first guide sliding block is sleeved on each guide sliding rod, and the several first guide sliding blocks are uniformly distributed along the circumferential direction of the inner stator of the first hollow shaft motor; the number of second guide sliding blocks is several and is the same as the number of guide sliding rods, one second guide sliding block is sleeved on each guide sliding rod, and the several second guide sliding blocks are uniformly distributed along the circumferential direction of the inner stator of the second hollow shaft motor; the number of electric push rods is several, and the several electric push rods are uniformly distributed along the circumferential direction of the shell.

[0022] The number of scanning actuators is three sets, the three sets of scanning actuators are uniformly distributed along the circumferential direction of the shell, and each set of scanning actuators is connected with a first arm link and a second arm link; the scanning actuator comprises a phased array wheel type ultrasonic probe and a probe bracket; the phased array wheel type ultrasonic probe is installed on the probe bracket, and the phased array wheel type ultrasonic probe has a rotary degree of freedom relative to the probe bracket; the first arm link is hinged to the probe bracket; and the second arm link is hinged to the probe bracket.

[0023] An outer layer of the phased array wheel type ultrasonic probe is provided with a flexible wear-resistant protective layer, and an inner side of the flexible wear-resistant protective layer is provided with a coupling liquid medium layer.

[0024] The beneficial effects of the present application are as follows:

[0025] The full-automatic ultrasonic scanning imaging device for large three-dimensional geological models can be used for ultrasonic monitoring of similar materials such as rocks inside a tunnel, is equipped with a phased array wheel type ultrasonic probe, realizes dynamic real-time monitoring of surrounding rock mass of the tunnel in a non-invasive scanning mode, can realize adaptation to different aperture tunnels through a variable-diameter adjustment mode, can realize rapid coupling and decoupling with a tunnel wall through the phased array wheel type ultrasonic probe, can realize 360° omnidirectional scanning operation through cooperation of self-rolling of the phased array wheel type ultrasonic probe and rotation around the machine body, improves scanning efficiency and improves fidelity of ultrasonic data, and has the characteristics of high monitoring accuracy, fast imaging speed, intelligent control, flexibility and easy operation, simple maintenance and disassembly, strong space adaptability, and high operation reliability. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 FIG. 1 is a structural schematic view of the full-automatic ultrasonic scanning imaging device for large three-dimensional geological models of the present application;

[0027] Fig. 2 FIG. 4 is a combined structure schematic view of the machine body assembly and the guide sliding rod of the present application;

[0028] Fig. 3 FIG. 6 is a wheel type walking foot structure schematic view of the walking assembly of the present application;

[0029] Fig. 4 This is a schematic diagram of the combined structure of the rotary actuator and the radial lifting actuator of the scanning component of the present invention.

[0030] Fig. 5 This is a schematic diagram of the scanning execution mechanism of the scanning component of the present invention;

[0031] In the diagram, 1—housing, 2—wiring port, 3—electric walking wheel, 4—wheel leg support rod, 5—wheel leg swing drive cylinder, 6—first hollow shaft motor, 7—second hollow shaft motor, 8—guide slide rod, 9—first guide slider, 10—second guide slider, 11—electric push rod, 12—first support arm connecting rod, 13—second support arm connecting rod, 14—phased array wheel-type ultrasonic probe, 15—probe bracket. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0033] like Figs. 1-5 As shown, a fully automated ultrasonic scanning imaging device for large three-dimensional geological models includes a body assembly, a walking assembly, and a scanning assembly. The body assembly adopts a dumbbell-shaped structure, and a power battery, a main control board, a memory, and a signal transceiver are installed inside the housing 1 of the body assembly. The main control board, memory, and signal transceiver are all powered by the power battery. A wiring port 2 is provided at the center of the axial outer end face of each of the two dumbbell counterweight sections of the housing 1. The walking assembly adopts a three-legged structure, and there are two sets of walking assemblies. The two sets of walking assemblies are respectively located at the axial outer end face of the two dumbbell counterweight sections of the housing 1, and the two sets of walking assemblies are distributed in a mirror symmetrical distribution with respect to the center of the dumbbell grip section of the housing 1. The scanning assembly adopts a three-arm structure, and the scanning assembly is located at the dumbbell grip section of the housing 1. The scanning assembly has rotational freedom and radial lifting freedom with respect to the housing 1.

[0034] The walking assembly includes three wheeled walking legs, which are evenly distributed along the circumference relative to the wiring port 2.

[0035] The wheeled walking foot includes an electric walking wheel 3, a wheel leg support rod 4, and a wheel leg swing drive cylinder 5; one end of the wheel leg support rod 4 is hinged to the housing 1, and the electric walking wheel 3 is located at the other end of the wheel leg support rod 4; one end of the wheel leg swing drive cylinder 5 is hinged to the housing 1, and the other end of the wheel leg swing drive cylinder 5 is hinged to the middle of the wheel leg support rod 4.

[0036] The wheel leg support rod 4 is an electric telescopic rod. The outer cylinder of the wheel leg support rod 4 is hinged to the housing 1 at its root. The electric walking wheel 3 is installed at the end of the inner rod of the wheel leg support rod 4.

[0037] In the embodiment, the middle part of the electric walking wheel 3 is a hub motor, a rubber tire is sleeved on the hub motor, and the surface of the rubber tire is provided with block patterns, transverse grooves and annular grooves, so as to enhance the gripping force and obstacle crossing ability, remove small rock particles and dust between the tire surface and the hole wall, increase the friction force and prevent the rubber tire from being stuck.

[0038] The scanning assembly comprises a rotary actuating mechanism, a radial lifting actuating mechanism and a scanning actuating mechanism; the rotary actuating mechanism is sleeved outside the dumbbell-shaped holding segment of the shell 1; the radial lifting actuating mechanism is arranged between the rotary actuating mechanism and the shell 1; and the scanning actuating mechanism is arranged on the radial lifting actuating mechanism.

[0039] The rotary actuating mechanism comprises a first hollow shaft motor 6 and a second hollow shaft motor 7; the first hollow shaft motor 6 and the second hollow shaft motor 7 are arranged side by side and coaxially sleeved outside the dumbbell-shaped holding segment of the shell 1, and annular gaps are left between the inner stator of the first hollow shaft motor 6 and the dumbbell-shaped holding segment of the shell 1 and between the inner stator of the second hollow shaft motor 7 and the dumbbell-shaped holding segment of the shell 1; and the first hollow shaft motor 6 and the second hollow shaft motor 7 are mirror-symmetrically distributed relative to the center of the shell 1.

[0040] The radial lifting actuating mechanism comprises a guide slide rod 8, a first guide slide block 9, a second guide slide block 10, an electric push rod 11, a first branch arm connecting rod 12 and a second branch arm connecting rod 13; the guide slide rod 8 is parallel to the central axis of the shell 1 and is fixedly connected to the axial inner end surface of the two dumbbell weight-shaped segments of the shell 1 at both ends of the guide slide rod 8, and the guide slide rod 8 passes through the annular gap between the inner stator of the first hollow shaft motor 6, the inner stator of the second hollow shaft motor 7 and the dumbbell holding-shaped segment of the shell 1; the first guide slide block 9 is located in the annular gap between the inner stator of the first hollow shaft motor 6 and the dumbbell holding-shaped segment of the shell 1, the first guide slide block 9 is fixedly connected to the inner stator of the first hollow shaft motor 6, the first guide slide block 9 is sleeved on the guide slide rod 8, and the first guide slide block 9 has a linear sliding freedom degree on the guide slide rod 8; the second guide slide block 10 is located in the annular gap between the inner stator of the second hollow shaft motor 7 and the dumbbell holding-shaped segment of the shell 1, the second guide slide block 10 is fixedly connected to the inner stator of the second hollow shaft motor 7, the second guide slide block 10 is sleeved on the guide slide rod 8, and the second guide slide block 10 has a linear sliding freedom degree on the guide slide rod 8; the electric push rod 11 is parallel to the central axis of the shell 1, one end of the electric push rod 11 is fixedly connected to the outer rotor of the first hollow shaft motor 6, the other end of the electric push rod 11 is fixedly connected to the outer rotor of the second hollow shaft motor 7, and a pressure sensor is installed at the transition of the electric push rod 11 and the outer rotor of the first hollow shaft motor 6 or the outer rotor of the second hollow shaft motor 7; one end of the first branch arm connecting rod 12 is hingedly connected to the outer rotor of the first hollow shaft motor 6, and the other end of the first branch arm connecting rod 12 is connected to the scanning actuating mechanism; one end of the second branch arm connecting rod 13 is hingedly connected to the outer rotor of the second hollow shaft motor 7, and the other end of the second branch arm connecting rod 13 is connected to the scanning actuating mechanism; the first branch arm connecting rod 12 and the second branch arm connecting rod 13 are mirror-symmetrically distributed relative to the center of the shell 1.

[0041] The number of guide slide rods 8 is several, and the several guide slide rods 8 are uniformly distributed along the circumferential direction of the shell 1; the number of first guide slide blocks 9 is several and is the same as the number of guide slide rods 8, one first guide slide block 9 is sleeved on each guide slide rod 8, and the several first guide slide blocks 9 are uniformly distributed along the circumferential direction of the inner stator of the first hollow shaft motor 6; the number of second guide slide blocks 10 is several and is the same as the number of guide slide rods 8, one second guide slide block 10 is sleeved on each guide slide rod 8, and the several second guide slide blocks 10 are uniformly distributed along the circumferential direction of the inner stator of the second hollow shaft motor 7; the number of electric push rods 11 is several, and the several electric push rods 11 are uniformly distributed along the circumferential direction of the shell 1.

[0042] In this embodiment, the number of guide slide rods 8 is four, the number of first guide slide blocks 9 is four, the number of second guide slide blocks 10 is four, and the number of electric push rods 11 is four.

[0043] The scanning execution mechanism is three sets, which are evenly distributed along the circumferential direction of the shell 1, and each set of scanning execution mechanism is connected with a first branch arm connecting rod 12 and a second branch arm connecting rod 13; the scanning execution mechanism includes a phased array wheel type ultrasonic probe 14 and a probe bracket 15; the phased array wheel type ultrasonic probe 14 is installed on the probe bracket 15, and the phased array wheel type ultrasonic probe 14 has a rotary degree of freedom relative to the probe bracket 15; the first branch arm connecting rod 12 is hinged with the probe bracket 15; the second branch arm connecting rod 13 is hinged with the probe bracket 15.

[0044] The outer layer of the phased array wheel type ultrasonic probe 14 is provided with a flexible wear-resistant protective layer, and a coupling liquid medium layer is arranged on the inner side of the flexible wear-resistant protective layer.

[0045] In the embodiment, the flexible wear-resistant protective layer is made of flexible rubber material, and the coupling liquid medium layer is made of a flexible capsule filled with ultrasonic coupling agent, so that the flexible wear-resistant protective layer and the coupling liquid medium layer have good deformation ability and can be fully attached to the uneven surface of the hole wall, thereby ensuring good ultrasonic monitoring quality.

[0046] The following describes a one-time use process of the application in combination with the drawings:

[0047] When the large three-dimensional geological model is constructed, the simulated excavation test of the deep buried tunnel and underground cavern group can be carried out, and when the simulated tunnel excavation is completed, the initial size of the full-automatic ultrasonic scanning imaging device is adjusted according to the size of the tunnel aperture, so that the radial size of the scanning assembly is in the minimum state, and the radial size of the walking assembly is smaller than the tunnel aperture, so as to facilitate the full-automatic ultrasonic scanning imaging device to be smoothly sent into the tunnel.

[0048] When the full-automatic ultrasonic scanning imaging device is sent into the tunnel, first, six wheel leg swing driving cylinders 5 in the two sets of walking assemblies are synchronously started, so that six wheel leg supporting rods 4 are synchronously increased in expansion angle until six electric walking wheels 3 in the two sets of walking assemblies are all in contact with the hole wall, the radial size of the walking assembly is adjusted, and the adaptation to the tunnel aperture is realized. In addition, the adaptation to the tunnel aperture can also be realized by adjusting the elongation of the wheel leg supporting rod 4 without changing the expansion angle.

[0049] When the radial size adjustment of the walking assembly is completed, six electric walking wheels 3 in the two sets of walking assemblies are synchronously started, the full-automatic ultrasonic scanning imaging device is moved to the first monitoring point in the tunnel, and then four electric push rods 11 are synchronously started, so that the first hollow shaft motor 6 and the second hollow shaft motor 7 are close to each other, and at this time, the first guide sliding block 9 and the second guide sliding block 10 change positions along the guide sliding rod 8.

[0050] With the first hollow shaft motor 6 and the second hollow shaft motor 7 approaching each other, the inclination angle of the first arm link 12 and the second arm link 13 is increased synchronously, and then the probe bracket 15 is gradually lifted along the radial direction until the phased array wheel type ultrasonic probe 14 contacts the tunnel wall, and the pressure value detected by the pressure sensor at the end of the electric push rod 11 reaches the set value, indicating that the intensity of the contact between the phased array wheel type ultrasonic probe 14 and the tunnel wall reaches the set requirement, so that the phased array wheel type ultrasonic probe 14 and the tunnel wall reach a fully coupled state, and the electric push rod 11 is closed and locked at this time.

[0051] When the phased array wheel type ultrasonic probe 14 completes the full coupling with the tunnel wall, the first hollow shaft motor 6 and the second hollow shaft motor 7 are started synchronously, so that the outer rotor of the first hollow shaft motor 6 and the outer rotor of the second hollow shaft motor 7 rotate at the same speed in the same direction, and then drive the three phased array wheel type ultrasonic probes 14 to rotate synchronously around the shell 1, and the three phased array wheel type ultrasonic probes 14 realize synchronous rolling themselves, and then the three phased array wheel type ultrasonic probes 14 cooperate to perform 360° omnidirectional scanning operation on the tunnel, and simultaneously generate scanning images on the monitoring device outside the tunnel.

[0052] When the omnidirectional scanning operation of the first monitoring point in the tunnel is completed, the four electric push rods 11 are started in the reverse direction synchronously, so that the first hollow shaft motor 6 and the second hollow shaft motor 7 move away from each other, and then the inclination angle of the first arm link 12 and the second arm link 13 is decreased synchronously, and then the probe bracket 15 is gradually lowered along the radial direction until the phased array wheel type ultrasonic probe 14 is lowered back to the initial position, and then the decoupling of the phased array wheel type ultrasonic probe 14 from the tunnel wall is completed.

[0053] When the phased array wheel type ultrasonic probe 14 is decoupled from the tunnel wall, the six electric walking wheels 3 in the two sets of walking assemblies are started synchronously again, and the full-automatic ultrasonic scanning imaging device is moved to the second monitoring point in the tunnel, and then the 360° omnidirectional scanning operation of the second monitoring point is completed according to the operation process of the first monitoring point. By analogy, the 360° omnidirectional scanning operation of other monitoring points in the tunnel is completed.

[0054] The scheme in the embodiment is not used to limit the protection scope of the present application, and any equivalent implementation or change without departing from the present application is included in the protection scope of the present application.

Claims

1. A fully automated ultrasonic scanning imaging device for large-scale three-dimensional geological models, characterized in that: The system includes a body assembly, a walking assembly, and a scanning assembly. The body assembly adopts a dumbbell-shaped structure, and a power battery, main control board, memory, and signal transceiver are housed inside the housing. The main control board, memory, and signal transceiver are all powered by the power battery. Wiring ports are located at the center of the axial outer end faces of the two dumbbell weight sections of the housing. The walking assembly adopts a three-legged structure, with two sets positioned at the axial outer end faces of the two dumbbell weight sections of the housing, and the two sets of walking assemblies are mirror-symmetrically distributed with respect to the center of the dumbbell grip section of the housing. The scanning assembly adopts a three-arm structure and is located at the dumbbell grip section of the housing. The scanning assembly has rotational and radial lifting freedom relative to the housing; there are three sets of scanning actuators, evenly distributed along the circumference of the housing, and each set of scanning actuators is connected to a first arm link and a second arm link; the scanning actuator includes a phased array wheel-type ultrasonic probe and a probe bracket; the phased array wheel-type ultrasonic probe is mounted on the probe bracket and has rotational freedom relative to the probe bracket; the first arm link is hinged to the probe bracket; the second arm link is hinged to the probe bracket; the outer layer of the phased array wheel-type ultrasonic probe is provided with a flexible wear-resistant protective layer, and a coupling liquid medium layer is provided on the inner side of the flexible wear-resistant protective layer; The scanning assembly includes a rotary actuator, a radial lifting actuator, and a scanning actuator; the rotary actuator is fitted onto the outside of the dumbbell-grip section of the housing; the radial lifting actuator is disposed between the rotary actuator and the housing; and the scanning actuator is disposed on the radial lifting actuator. The rotary actuator includes a first hollow shaft motor and a second hollow shaft motor; the first hollow shaft motor and the second hollow shaft motor are arranged side by side and coaxially mounted on the outside of the dumbbell grip shape section of the housing, with circumferential gaps between the inner stator of the first hollow shaft motor and the dumbbell grip shape section of the housing, and between the inner stator of the second hollow shaft motor and the dumbbell grip shape section of the housing; the first hollow shaft motor and the second hollow shaft motor are distributed in a mirror symmetrical manner with respect to the center of the housing; The radial lifting actuator includes a guide slide rod, a first guide slider, a second guide slider, an electric push rod, a first support arm connecting rod, and a second support arm connecting rod. The guide slide rod is parallel to the central axis of the housing, and its two ends are fixedly connected to the axial inner end faces of the two dumbbell counterweight sections of the housing. The guide slide rod passes through the circumferential gap between the inner stator of the first hollow shaft motor, the inner stator of the second hollow shaft motor, and the dumbbell grip section of the housing. The first guide slider is located within the circumferential gap between the inner stator of the first hollow shaft motor and the dumbbell grip section of the housing. The first guide slider is fixedly connected to the inner stator of the first hollow shaft motor and is fitted onto the guide slide rod, having linear sliding freedom on the guide slide rod. The second guide slider is located within the circumferential gap between the inner stator of the second hollow shaft motor and the dumbbell grip section of the housing. The second guide slider is fixedly connected to the inner stator of the second hollow shaft motor. The second guide slider is fitted onto the guide slide rod and has linear sliding freedom on the guide slide rod. The electric push rod is distributed parallel to the central axis of the housing. One end of the electric push rod is fixedly connected to the outer rotor of the first hollow shaft motor, and the other end is fixedly connected to the outer rotor of the second hollow shaft motor. A pressure sensor is installed at the junction of the electric push rod and the outer rotor of the first or second hollow shaft motor. One end of the first support arm connecting rod is hinged to the outer rotor of the first hollow shaft motor, and the other end is connected to the scanning execution mechanism. One end of the second support arm connecting rod is hinged to the outer rotor of the second hollow shaft motor, and the other end is connected to the scanning execution mechanism. The first and second support arm connecting rods are mirror-symmetrically distributed with respect to the center of the housing. The number of guide slide rods is several, and the guide slide rods are evenly distributed along the circumference of the housing; the number of first guide sliders is several, the same as the number of guide slide rods, and each guide slide rod is fitted with a first guide slider, and the first guide sliders are evenly distributed along the circumference of the inner stator of the first hollow shaft motor; the number of second guide sliders is several, the same as the number of guide slide rods, and each guide slide rod is fitted with a second guide slider, and the second guide sliders are evenly distributed along the circumference of the inner stator of the second hollow shaft motor; the number of electric push rods is several, and the electric push rods are evenly distributed along the circumference of the housing.

2. The fully automated ultrasonic scanning imaging device for large-scale three-dimensional geological models according to claim 1, characterized in that: The walking assembly includes three wheeled walking legs, which are evenly distributed circumferentially relative to the wiring port.

3. The fully automated ultrasonic scanning imaging device for large-scale three-dimensional geological models according to claim 2, characterized in that: The wheeled walking foot includes an electric walking wheel, a wheel leg support rod, and a wheel leg swing drive cylinder; one end of the wheel leg support rod is hinged to the housing, and the electric walking wheel is located at the other end of the wheel leg support rod; one end of the wheel leg swing drive cylinder is hinged to the housing, and the other end of the wheel leg swing drive cylinder is hinged to the middle of the wheel leg support rod.

4. The fully automated ultrasonic scanning imaging device for large-scale three-dimensional geological models according to claim 3, characterized in that: The wheel leg support rod is an electric telescopic rod. The outer cylinder of the wheel leg support rod is hinged to the housing at its root, and the electric walking wheel is installed at the end of the inner rod of the wheel leg support rod.

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