Pore-forming quality detection equipment

Abstract

The invention relates to the technical field of physical property measurement of pore-forming side walls, particularly relates to physical property measurement of the interiors of pore-forming side wall materials by utilizing ultrasonic waves, sound waves and laser radars, and particularly discloses pore-forming quality detection equipment which comprises a control bin in communication connection with a ground control terminal through a cable, the two walking units are fixedly connected to the two ends of the control bin and symmetrically distributed in the axial direction, each walking unit is provided with an end cover, at least three supporting arm mechanisms distributed in a circumferential array mode are hinged to the periphery of each end cover, and the laser radar module, the inertial navigation module IMU, the multi-frequency ultrasonic module and the pressure-sensitive detection module are arranged on the detection equipment. The multi-point self-adaptive supporting structure in axial symmetry is adopted, the IMU used for collecting the axis of the formed hole can be kept at the position of the central axis of the formed hole all the time, and the problem that parameters of the side wall material of the formed hole are not accurately measured due to uncontrollable floating and deflection caused by a suspension lowering structure is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of measuring the physical properties of the side wall of a formed hole, in particular to measuring the physical properties inside the side wall material of a formed hole by using ultrasonic waves, sound waves, and lidar, and to the technical field of measuring the alignment of the axis of a formed hole. Specifically, the present invention relates to a formed hole quality detection device. Background Art

[0002] Bridges account for an increasingly high proportion of the composition of modern roads. With the continuous increase in the number of automobiles, higher requirements are also put forward for the traffic flow of highways. Whether it is in the suburbs with relatively small traffic flow or in cities with large traffic flow, the construction of bridges is of great significance for highway traffic. It can span rivers, valleys, railways or other obstacles, significantly shorten the driving distance, improve traffic efficiency, and avoid the time and economic costs brought by detours. At the same time, bridges can relieve the ground traffic pressure, reduce congestion, and enhance the connectivity and reliability of the road network. In addition, bridges can adapt to complex terrains, reduce the damage to the natural environment, and improve the safety and all-weather traffic capacity of highways. Especially in areas prone to floods or geological disasters, bridges are key facilities to ensure uninterrupted traffic. In urban areas, due to the extremely large traffic flow, multi-level traffic must be adopted to avoid the concentration of vehicle flows on the same plane, which has to build overpasses or viaducts.

[0003] The foundation for bridge construction is to do a good job in the construction of formed holes. Forming holes is a key step in bridge foundation construction, which refers to drilling holes in the foundation by mechanical or manual means to prepare for subsequent concrete pouring. Common hole-forming methods include rotary drilling, percussion drilling, rotary drilling, etc., and appropriate processes are selected according to geological conditions (such as soil layers, rock layers or sand layers). After forming the hole, it is necessary to clean the hole, lower the steel reinforcement cage and pour concrete to finally form a stable structure to bear the load of the upper structure of the bridge and transfer it to the deep and stable stratum to ensure the durability and seismic performance of the bridge. This process is crucial for the safety and life of the bridge. Therefore, the detection of formed hole quality has an irreplaceable role and significance for the reliability and life of bridge construction. The detection of formed hole quality mainly includes hole diameter detection, verticality detection, hole depth detection, thickness detection of sediment at the bottom of the hole, hole wall stability detection and mud wall protection parameter detection. For mud wall protection detection, it is generally configured according to the parameters of preliminary geological exploration before hole excavation, and the main detection period is during hole excavation to better form the wall protection and avoid hole wall collapse. After the hole is formed, more attention is paid to other indicators that directly affect the formed hole quality.

[0004] In the existing pore-forming quality detection technologies, for pore diameter detection, verticality detection, hole depth detection, and sediment thickness detection at the bottom of the hole, the detection equipment is lowered to the bottom of the hole, and different instruments are used for detection and measurement. The lowering methods can be mainly divided into pre-riveted guide rail lowering and suspension rope lowering. However, based on the actual construction, since the pre-riveted guide rail needs to install a guide rail for the sliding of the detection instrument on the entire hole side wall, it not only has high technical difficulty and cost, but also has low value of repeated recycling. Therefore, suspension rope lowering detection is mostly used in current construction. Refer to the detection method of a pore-forming shape and verticality detection device disclosed in the patent document CN113203368A, which uses a suspension rod mechanism to lower the detection instrument into the hole for detection. Again, the patent document CN108956766B discloses a quality detection method, which uses a stretching and traction device similar to a winch mechanism to lower a detection device including a detection probe into the hole for detection. And again, the patent document CN114293598A discloses a pore-forming sediment thickness detector, which also uses a wire reel structure to lower the detection device to the detection area. Although the suspension type lowering structure and method are widely used by existing construction units, the main reason is that this structure is convenient to operate and has low cost input, but it also has obvious disadvantages, mainly reflected in that the detection device is significantly unstable due to suspension, and the accuracy of pore diameter and axis detection is low; in addition, the detection device is located in the formation mud, and due to the large specific gravity of the mud, the probe sinks slowly, and even suspends in the mud and cannot be detected normally; furthermore, due to the buoyancy effect of the mud, the suspension rope mechanism is usually difficult to be straightened in real time, and the method of calculating the pile hole depth based on the length of the suspension rope has a large error. To solve the above technical problems, the present invention is specifically completed. Summary of the Invention

[0005] To solve the problem in the prior art described in the background art that when using suspension type lowering to detect the instrument, due to the lack of physical fixation and the buoyancy effect of the mud, the detection instrument is not stable, resulting in low accuracy of detecting the pore diameter and axis, the present application provides a pore-forming quality detection device for comprehensively detecting the pore-forming quality. The present invention changes the suspension type lowering structure in the prior art and can stably reach any depth of the formed hole for stable detection without pre-burying a guide rail on the hole wall, fundamentally solving the problem of large detection error or data distortion caused by the lack of stability of the detection instrument.

[0006] To achieve the above object, the technical solution adopted in the present application is as follows: A pore-forming quality detection device includes a control cabin that establishes real-time communication connection with a ground control terminal through a cable, and also includes two axially symmetrically distributed walking units fixedly connected to both ends of the control cabin. The walking unit has an end cover that is airtight and fixedly connected to the control cabin. At least three radially distributed support arm mechanisms are hinged around the end cover. Any one of the support arm mechanisms is drivingly connected to a radial adjustment mechanism for adjusting the deflection angle of the support arm mechanism. The free end of any one support arm mechanism is equipped with a roller for contacting the side wall of the pore-forming hole, and at least one of the rollers is a driving wheel. The projections of the driving wheels of the two walking units in the radial cross-section alternately or oppositely distributed; and a lidar module respectively arranged at the center position of the top of the detection device for scanning the hole wall to generate a three-dimensional point cloud model, an inertial navigation module IMU arranged at the geometric center position of the control cabin for real-time monitoring of the verticality and pile hole trajectory, a multi-frequency ultrasonic module arranged on the side wall of the control cabin for detecting the hole diameter, sediment thickness and hole wall cracks, and a pressure-sensitive detection module arranged at the bottom of the detection device for detecting the sediment thickness.

[0007] As described above, the present invention provides a new type of feasible variable structure as the main structure of the detection device. By adjusting the deflection angle of the support arm mechanism, the effective support diameter of the walking unit is changed, so as to meet the detection requirements of different hole diameters. At the same time, under the same diameter, the acting force between the support arm mechanism and the side wall of the pore-forming hole can also be changed by adjusting the deflection angle of the support arm mechanism, so as to adjust the stability of the entire detection device at any pore-forming position. The control cabin 1 is the centralized hub of structure drive control and data acquisition. Structurally, it is hermetically fixed with high-strength compressive materials, such as corrosion-resistant alloy metals, high-strength carbon fiber non-metallic materials or a combination of the two, to ensure that the control instructions sent by the ground control terminal can be transmitted to the walking unit to control the up and down movement of the entire detection device in the pore-forming hole. At the same time, it can also collect and transmit the information from the lidar module, inertial navigation module IMU, multi-frequency ultrasonic module and pressure-sensitive detection module to the ground control terminal. The ground control terminal is an edge computing unit for processing the data collected from the detection device, including lidar data, IMU data, multi-frequency ultrasonic data and pressure-sensitive data, and is a computer terminal for multi-modal data fusion and storage. The walking unit is a multi-support adaptive mechanical structure adopted by the present invention for pore-forming, with adaptive stability, which can effectively overcome the instability problem caused by local hole wall collapse, and ensure that it can reciprocate from the hole mouth to the hole bottom to complete the detection of the entire pore-forming axis.

[0008] For the convenience of adjusting the boom mechanism to adapt to hole detection of different diameters and also to facilitate adjusting the stability of the detection device on the hole wall, preferably, the radial adjustment mechanism includes a first driving mechanism disposed in the control chamber. The output shaft of the first driving mechanism penetrates through both end covers in a sealed manner and is connected to a driving gear. The driving gear meshes with a driven gear. The driven gear is coaxially and fixedly connected to a lead screw. One end of the lead screw is rotatably disposed on the end cover, and the other end is rotatably disposed on the top cover. The top cover and the end cover are fixedly connected by a plurality of column guides. A lifting platform driven by the lead screw is sleeved on the column guide. The two ends of an adaptive telescopic arm are hinged to the corresponding positions of the lifting platform and the boom mechanism.

[0009] More preferably, the adaptive telescopic arm includes a cylinder body. Two pistons are slidably disposed in the cylinder body in a sealed manner. One side of each piston close to the end of the cylinder body is fixedly connected to a pull rod respectively used for hinging with the lifting platform and the boom mechanism. There is a spring or compressed air in a compressed state between the two pistons that always applies an axial thrust to the pistons. A travel sensor is also installed between the two pistons.

[0010] Preferably, the boom mechanism includes a support arm hinged to the end cover at one end and a roller rotatably installed at the other end of the support arm.

[0011] Preferably, the boom mechanism includes a support arm hinged to the end cover at one end and a roller rotatably installed at the other end of the support arm. At least one of the rollers is drivingly connected to a second driving mechanism fixedly installed on the support arm. The second driving mechanism includes a second driving motor, a second speed reducer, a driving bevel gear, and a driven bevel gear coaxially connected to the roller in sequence. The driving bevel gear meshes with the driven bevel gear.

[0012] Preferably, the included angle β between the support arm and the horizontal plane satisfies 0≤β≤90°. The radius r of the roller is r≥15 cm. The circumferential surface of the roller is provided with anti-slip teeth with a depth of 10 mm - 20 mm.

[0013] Preferably, each of the anti-slip teeth further has a plurality of hard alloy spike portions protruding outward.

[0014] Preferably, a lengthened rod frame extending axially is further installed on the top cover. The end of the lengthened rod frame is installed with the lidar module. 2 - 3 groups of camera fill light modules electrically connected to the control chamber are installed on the side wall of the middle part of the lengthened rod frame.

[0015] In order to reduce the driving difficulty of the detection device in the mud environment, preferably, a buoyancy adjustment chamber is fixedly connected to the outer side wall of the control chamber. The buoyancy adjustment chamber has a regular or irregular annular buoyancy chamber surrounding the outer side wall of the control chamber. A compressive strength reinforcement plate is fixedly arranged in the buoyancy chamber along the radial direction of the buoyancy adjustment chamber. A detachable and airtight upper plug is arranged at the top or near the top of the buoyancy adjustment chamber, and a detachable and airtight lower plug is arranged at the bottom or near the bottom of the buoyancy adjustment chamber.

[0016] Advantages: 1. The axially symmetric multi-point adaptive support structure of the present invention can always keep the IMU used for collecting the axis of the formed hole at the position of the center axis of the formed hole, effectively avoiding the problem of inaccurate collection of the axis of the formed hole caused by uncontrollable floating and deflection brought by the suspension and lowering structure.

[0017] 2. The present invention adopts a pure mechanical structure drive and wired transmission control, which is not affected by the mud and formation environment, has strong pressure resistance and good stability.

[0018] 3. When the present invention uses the same drive source to mechanically drive two symmetrically arranged traveling units for adjustment, the radial adjustment mechanism has consistency in the angle adjustment of each arm mechanism, so as to always keep the control chamber at the center position of the entire detection device, ensuring that the trajectory collected by the inertial navigation module IMU is consistent with the actual connection line of the center points of the formed holes. By analyzing the actual trajectory, the perpendicularity of the axis of the formed hole can be objectively evaluated.

[0019] 4. The present invention integrates an adaptive multi-point support stable structure, lidar, high-frequency ultrasound, low-frequency ultrasound, IMU and pressure-sensitive detection, and can cope with the successful detection environment of various working conditions. By calibrating the acquisition environment and position, the quality parameters of the current formed hole can be more objectively and accurately reflected by using multi-modal data fusion. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained without creative efforts based on these drawings.

[0021] Figure 1 is the main structural view of the present invention.

[0022] Figure 2 is Figure 1 the enlarged view of the structure in Area A in

[0023] Figure 3 isFigure 1 Enlarged view of the structure in Area B

[0024] Figure 4 is Figure 1 axonometric view of the structure

[0025] Figure 5 Top view of the structure of the present invention

[0026] Figure 6 Schematic diagram of the force analysis of the detection device of the present invention in the hole-forming mud environment

[0027] Figure 7 Schematic diagram of the distribution and principle of the data acquisition area during the detection operation of the present invention

[0028] Figure 8 Front view of the structure of the present invention with a buoyancy adjustment chamber

[0029] Figure 9 is Figure 8 Full sectional view along the cutting symbol C-C in

[0030] In the figure: 1 - control chamber; 2 - driving gear; 3 - driven gear; 4 - lead screw; 5 - lifting platform; 6 - adaptive telescopic arm; 7 - support arm; 8 - roller; 81 - anti-slip teeth; 9 - second driving mechanism; 91 - second driving motor; 92 - second reducer; 93 - driving bevel gear; 94 - driven bevel gear; 10 - column guide rail; 11 - end cover; 12 - top cover; 13 - buoyancy adjustment chamber; 14 - buoyancy chamber; 15 - lower plug; 16 - upper plug. Detailed implementation manners

[0031] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the detailed description of the embodiments of the present application provided in the accompanying drawings below is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0033] It should be noted that: like reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] In the description of the present application, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, so it should not be construed as a limitation to the present application. In addition, in the description of the present application, if terms such as "first", "second", etc. are used only for distinguishing descriptions, they should not be construed as indicating or implying relative importance.

[0035] In addition, in the description of the present application, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0036] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0037] Embodiment 1: This embodiment provides a pore formation quality detection device. As shown in the attached drawings of the specification, it includes a control cabin 1 that establishes a real-time communication connection with a ground control terminal through a cable, and also includes two walking units that are symmetrically distributed along the axis and fixedly connected to both ends of the control cabin 1. The walking unit has an end cover 11 that is airtight and fixedly connected to the control cabin 1. At least three arm mechanisms are hinged around the end cover 11 and are distributed in a circumferential array. Any one of the arm mechanisms is drivingly connected to a radial adjustment mechanism for adjusting the deflection angle of the arm mechanism. The free end of any one of the arm mechanisms is equipped with a roller 8 for contacting the side wall of the pore, and at least one of the rollers 8 is a driving wheel. The projections of the driving wheels of the two walking units in the radial section alternately or relatively satisfy the distribution; as shown in Figures 1 - 4 shown, and a lidar module respectively arranged at the center position of the top of the detection device for scanning the pore wall to generate a three-dimensional point cloud model. When scanning, it forms as shown in Figure 7 shown, and a lidar module respectively arranged at the center position of the top of the detection device for scanning the pore wall to generate a three-dimensional point cloud model. When scanning, it forms as shown in Figure 7The detection area of the lidar module shown; an inertial navigation module IMU arranged at the geometric center position of the control bin 1 for real-time monitoring of verticality and the pile hole trajectory, a multi-frequency ultrasonic module arranged on the side wall of the control bin 1 for detecting the hole diameter, sediment thickness, and hole wall cracks, forming an ultrasonic area as shown in Figure 7 during ultrasonic detection, and a pressure-sensitive detection module arranged at the bottom of the detection device for detecting the sediment thickness, forming a pressure-sensitive detection area when the pressure-sensitive detection module touches the bottom of the hole.

[0038] As described above, the present invention provides a novel feasible variable structure as the main structure of the detection device. By adjusting the deflection angle of the arm mechanism, the effective support diameter of the walking unit is changed, so as to meet the detection requirements of different hole diameters. At the same time, under the same diameter, the acting force between the arm mechanism and the side wall of the formed hole can also be changed by adjusting the deflection angle of the arm mechanism, thereby adjusting the stability of the entire detection device at any formed hole position. The control bin 1 is the central hub for structural drive control and data acquisition. Structurally, it is hermetically fixed with high-strength compressive materials, such as corrosion-resistant alloy metals, high-strength carbon fiber non-metallic materials, or a combination of both, to ensure that the control instructions sent by the ground control terminal can be transmitted to the walking unit to control the up and down movement of the entire detection device in the formed hole. At the same time, it can also collect and transmit the information from the lidar module, inertial navigation module IMU, multi-frequency ultrasonic module, and pressure-sensitive detection module to the ground control terminal. The ground control terminal is an edge computing unit for processing the data collected from the detection device, including lidar data, IMU data, multi-frequency ultrasonic data, and pressure-sensitive data, and is a computer terminal for multi-modal data fusion and storage. The walking unit is a multi-support adaptive mechanical structure adopted by the present invention for the formed hole, with adaptive stability, which can effectively overcome the instability problem caused by local hole wall collapse, and ensure that it can reciprocate from the hole mouth to the hole bottom to complete the detection of the entire formed hole axis.

[0039] Working principle: The working process and principle of this embodiment when detecting a formed hole are as follows: First, use an auxiliary hoisting device to lift the detection device provided in this embodiment to the hole mouth of the formed hole to be detected and slowly lower it until the walking unit of the detection device completely enters the formed hole. Send an instruction to the radial adjustment mechanism through the ground control terminal to open the arm mechanism outward until the actual driving torque reaches the system preset driving torque. Slowly release the auxiliary hoisting device, observe whether the detection device is stable, and perform a trial run. Reciprocate up and down for 1 meter, and at the same time check whether the signal reception of each detection module is normal. After everything is ready, remove the auxiliary hoisting device and hang the auxiliary safety rope to start the detection.

[0040] The detection device moves downward along the hole sidewall at a constant speed continuously or intermittently according to the instructions of the ground control terminal. At the same time, the lidar module, the inertial navigation module IMU, and the multi-frequency ultrasonic module collect data in real time. The principle schematic diagram of the above data collection in this embodiment is as shown in Figure 7 shown, and the models and parameters of the collection module are as follows: 1. The lidar module uses an existing commercially available product but should meet the following parameter requirements: ranging range: 0.5m - 20m, accuracy ±3cm; scanning frequency: 25Hz, angular resolution 0.25°, protection level: IP67, vibration resistance 5g, capable of stable operation in a mud environment, and having good compressive resistance, capable of meeting the requirements of deep hole aperture detection. As a preferred method, in this embodiment, the actual aperture size of the real-time depth can also be calculated according to the actual real-time deflection angle of the boom mechanism for correcting the aperture collected by the lidar module. Of course, the data collected by the lidar can also be weighted and calculated with the aperture data of the boom mechanism to reduce the measurement error and the influence brought by the mud wall protection. In order to achieve blind-free detection of the lidar, in this embodiment, other rotatable lidar modules can also be used, using an internal rotating lens to achieve full-circle scanning without an external rotating mechanism. Through a horizontal 360° rotation and a vertical field of view angle of 30°, the hole wall can be fully covered, and then the aperture can be calculated according to the preset weight and the real-time angle of deflection of the boom mechanism. The accuracy obtained in this way can be made infinitely close to the actual aperture, greatly improving the measurement accuracy. For the method of calculating the actual drilled hole aperture using the deflection angle of the boom mechanism, trigonometric functions can be used, that is, the actual aperture = the distance between the projection of the contact point of the roller 8 and the hole wall on the horizontal plane and the projection of the geometric center of the control cabin on the horizontal plane * 2. Since the sizes of the boom mechanism and the roller 8 are known, they can be obtained through measurement and will not change regardless of the detection state. By measuring the deflection angle of the boom mechanism, the actual aperture can be calculated using the cosine function. The specific algorithm will be detailed in the following part about the angle adjustment of the boom mechanism. 2. The inertial navigation module IMU uses a built-in gyroscope, zero-bias stability: 0.5° / h, acceleration measurement range: ±16g, noise density , Output frequency: 400 Hz, Interface: RS-422 / SPI. In this embodiment, the module integration design is adopted, which can flexibly select existing modules according to the actual application scenarios, bringing great convenience to the operation and maintenance of subsequent detection equipment. By separating the behavior structure from the detection module technology and integrating the structure, the difficulty of data research and development and system integration is greatly saved; however, in the actual application technical effect, significant progress can be achieved, and the advantages of the structure and the accuracy, integration degree, and compatibility of the detection module are brought into full play. 3. Multi-frequency ultrasonic module: In this embodiment, a dual-frequency ultrasonic sensor is adopted, with a frequency of 50 kHz for low frequency to achieve penetration and 200 kHz for high frequency for surface mode detection, so as to achieve a ranging range of 0.1 m - 10 m and a detection accuracy of ±1 mm. The connection interface adopts 4 - 20 mA / RS-485, meeting the IP69K protection level, fully capable of meeting the bored hole detection, and can achieve multi-frequency switching according to different construction scenarios, construction areas, and hole depths, adapting to mud and clear water environments. When the detection equipment reaches the bottom of the bored hole, the probe of the pressure-sensitive detection module presses down to the bottom of the hole, and the change in the probe resistance is measured through the pressure sensor. During this previous detection process, since the detection equipment is always slowly descending in the mud or clear water, the uniform medium will not cause a change in the probe resistance. Therefore, the pressure-sensitive detection module will not collect the change in resistance during this process. Only when it reaches the bottom of the hole, there will be a change in resistance. Among them, the first resistance mutation point is the contact with the sediment surface; the second resistance mutation point is penetrating the sediment layer to reach the hard bottom of the hole. Then, the distance between the two resistance mutation points is the sediment thickness. In order to accurately capture the distance between the two mutation points and obtain accurate sediment thickness data, this embodiment adopts a high-precision pressure sensor, with a specific range of 0 - 100 kPa and a resolution of 0.05% FS, directly outputting digital I2C / analog voltage. The shell adopts 316L stainless steel and tungsten carbide probe, fully meeting the contact detection scenario of sediment thickness, with good corrosion resistance and anti-overload performance, especially capable of being competent for the detection of deep construction in rivers and canyons. In this embodiment, the software part for post-processing and fusion presentation of the collected data can adopt existing technologies. For the ground control terminal and the edge computing unit, an embedded AI chip is preferably used to process the sensor data in real time, so as to achieve the effect of real-time feedback.

[0041] Embodiment 2: Based on Embodiment 1, in this embodiment, in order to facilitate the adjustment of the boom mechanism to adapt to the detection of bored holes with different diameters, and at the same time facilitate the adjustment of the stability of the detection equipment on the hole wall, further optimization settings are carried out. For details, please refer to the attached Figures 4 - 5As shown in the figure, the radial adjustment mechanism includes a first driving mechanism disposed in the control chamber 1. The output shaft of the first driving mechanism penetrates through both end covers 11 in a sealed manner and is connected to the driving gear 2. The driving gear 2 meshes with the driven gear 3. The driven gear 3 is coaxially and fixedly connected to a lead screw 4. One end of the lead screw 4 is rotatably disposed on the end cover 11, and the other end is rotatably disposed on the top cover 12. The top cover 12 and the end cover 11 are fixedly connected by a plurality of column guides 10. A lifting platform 5 driven by the lead screw 4 is sleeved on the column guide 10. The two ends of an adaptive telescopic arm 6 at the corresponding position of the lifting platform 5 are hinged to the boom mechanism.

[0042] Detailed working principle: The first driving mechanism has two output ends with the same rotational speed, which may be coaxial or non-coaxial, and are respectively used to synchronously drive two symmetrically installed traveling units. In this embodiment, one traveling unit has three boom mechanisms distributed at intervals of 120°, as shown in Figure 4 the figure. The first driving mechanism drives the boom mechanisms of the two traveling units to simultaneously open radially or close axially, thereby adjusting the support diameter of the entire detection device. Since the control chamber 1 is a sealed chamber, the output shaft of the first driving mechanism and the end cover 11 must be sealed. In this embodiment, a structure combining a pressure-resistant sealing bearing and a plurality of intersecting sealed guide rings can be used to achieve sealing and pressure resistance. Of course, the first driving mechanism in this embodiment can be a double-headed motor capable of providing the torque output required by the detection device, or two synchronous servo motors, or a driving mechanism in which a servo motor outputs axially at both ends simultaneously through a speed reduction and reversing device. In this embodiment, the composition of the first driving mechanism is not specifically limited as long as it can meet the requirements of synchronous output, the same rotational speed, and the same torque at both axial ends. See Figure 4, the first driving mechanism drives the driving gear 2 to rotate synchronously in sequence, and transmits the driving force to the lead screw 4 through the meshing driven gear 3. The two ends of the lead screw 4 are rotatably connected to the end cover 11 and the top cover 12, so it can only rotate and cannot displace. Since the lifting platform 5 is drivingly connected to the lead screw 4, the rotation of the lead screw 4 and the constraint of the column guide 10 on the lifting platform 5 cause the lifting platform 5 to move up and down along the column guide 10, thereby driving one end of the adaptive telescopic arm 6 to move up and down, and thus driving a plurality of arm mechanisms hinged to the end cover 11 to deflect in the vertical plane. Here, it is necessary to explain and emphasize in detail the adaptive telescopic arm 6. In this embodiment, the adaptive telescopic arm 6 includes a cylinder body, and two pistons are hermetically and slidably arranged in the cylinder body. One side of the piston close to the end of the cylinder body is fixedly connected with tie rods respectively used for hinging with the lifting platform 5 and the arm mechanism. There is a spring in a compressed state or compressed air in a compressed state that always applies an axial thrust to the pistons between the two pistons; a travel sensor is also installed between the two pistons. This setting is to improve the stability of the entire detection device in the hole. Although the first driving mechanism can be adjusted according to the actual torque situation, in extreme cases, for example, when the side wall collapses locally and only one roller 8 is in the collapsed area and the other 5 rollers 8 are all under very uniform stress, since the arm mechanisms are evenly distributed, then in this case, the roller 8 located in the collapsed area cannot be stressed or even cannot contact the side wall. In this case, the contact points of the entire detection device are reduced from the original 6 to 5, and the force balance is no longer balanced. To overcome this problem, with the structure of the above-mentioned adaptive telescopic arm 6, when there is no counter-support force from the side wall on the roller 8 at the collapsed position, under the action of the internal spring or compressed air, it can automatically extend, so that the deflection angle of the support arm 7 corresponding to the collapsed position will be greater than that of the other support arms 7, still enabling the roller 8 to contact the side wall and not being suspended. Of course, this does not include the case where the collapse is extremely severe and exceeds the adjustment range of the adaptive telescopic arm 6. The above describes the situation where only one roller 8 is in the collapsed position. Since the present invention adopts a multi-point support structure, even if one roller 8 collapses or is completely suspended, it will not affect the stability of the entire detection device. This is the advantage of the multi-point support structure adopted by the present invention; however, if there are multiple support points suspended, without the adaptive telescopic arm 6 for adaptive adjustment and support within the adjustable stroke range, the supportability of the entire detection device in the formed hole is significantly enhanced.

[0043] See the attached drawings of the specification Figure 6The force analysis is as follows. When the detection device is in a static state, the resultant external force on the entire detection device is 0. In this embodiment, the number of rollers 8 in contact with the side wall of the formed hole is 6. Since they are divided into upper and lower layers, the force analysis is carried out on one of the rollers 8 in the upper layer respectively. During the actual detection process, although a safety rope is connected, the safety rope does not bear the suspension and support of the detection device. It is only a standby safety rope to prevent the detection device from sinking to the bottom of the hole due to sudden hole collapse. Therefore, the weight of the safety rope is ignored during normal force analysis. When the detection device is in a static state, the downward forces it receives include gravity F g1 , and the upward forces are the buoyancy F g1 that offsets gravity F 浮1 and the static friction f 摩1 of the roller 8; in the horizontal direction, the force situation is the support force F 支1 exerted by the side wall on the roller 8. Since the support force direction received by each roller 8 points to the axis center and cancels each other out, it will not have any impact on the movement of the detection device. Therefore, when the detection device is stationary, there is F g1 = F 浮1 + f 摩1 ; when the detection device moves downward during transportation, the pressure exerted by the roller 8 on the side wall will decrease, and thus the friction f 摩1 will also decrease. Since the mud density is relatively large, when the detection device moves, a vertically upward resistance F 阻1 will be generated. At this time, there is F g1 = F 浮1 + f 摩1 + F 阻1 ; the support arm mechanism includes a support arm 7 hinged to the end cover 11 at one end, and a roller 8 rotatably installed at the other end of the support arm 7.

[0044] Embodiment 3: This embodiment is further optimized on the basis of any of the above embodiments. As shown in Figures 1 - 5 , the support arm mechanism includes a support arm 7 hinged to the end cover 11 at one end, and a roller 8 rotatably installed at the other end of the support arm 7. At least one of the rollers 8 is drivingly connected to a second driving mechanism 9 fixedly installed on the support arm 7. The second driving mechanism 9 includes a second driving motor 91, a second reducer 92, a driving bevel gear 93, and a driven bevel gear 94 coaxially connected to the roller 8. The driving bevel gear 93 meshes with the driven bevel gear 94. It should be noted that in one walking unit, each roller 8 can be set as a driving wheel; but if not every roller 8 is a driving wheel, then the positions of the driving wheels of the two walking units should be staggered to avoid the problem of driving skew on one side.

[0045] In this embodiment, the included angle β between the support arm 7 and the horizontal plane satisfies 0 ≤ β ≤ 90°, the radius r of the roller 8 is r ≥ 15 cm, and the circumferential surface of the roller 8 is provided with anti-slip teeth 81 with a depth of 10 mm - 20 mm. Referring to the attached drawings of the specification Figure 1 and Figure 5 As shown, the actual aperture D = 2R, where R = cosβL + r + m; wherein, R is the radius of the formed hole, L is the length of the support arm, r is the radius of the roller, and m is the distance from the projection of the geometric center of the control chamber on the horizontal plane to the projection of the axis of the hinge point between the support arm and the end cover on the horizontal plane. It should be noted that the structural design of this embodiment adopts a pure mechanical structure. Even without collecting the included angle β, the formed hole aperture D can be directly calculated by the number of turns of the first driving mechanism rotating relative to the initial position. The principle is as follows: Since the present invention adopts a mechanical structure design, the relationship between the position of the lifting platform 5 and the angle β of the support arm 7 is determined, and the relationship between the position of the lifting platform 5 and the number of turns of the first driving mechanism rotating is determined. Therefore, only by reading the number of turns of the angle encoder of the first driving mechanism can the angle of the support arm 7 be directly known, and thus it can be known what the diameter D of the formed hole is at the position where the detection device is located in the current state or at the current moment. That is to say, even without a lidar module, the present invention can still detect the formed hole diameter, which is not possessed by the prior art.

[0046] To avoid slipping, especially in an environment with a thick mud wall protection, in this embodiment, each of the anti-slip teeth 81 further has a plurality of hard alloy spike portions protruding outward.

[0047] To attach the picture of the side wall of the formed hole and conduct on-site inspection and confirmation for the area with abnormal detection parameters, in this embodiment, the top cover 12 is further installed with an extension rod frame extending along the axial direction. The end of the extension rod frame is installed with the lidar module, and the middle side wall of the extension rod frame is installed with 2 - 3 groups of camera lighting modules electrically connected to the control chamber 1 for image acquisition of the hole wall, forming a photographic area as shown in Figure 7 shown.

[0048] Embodiment 4: Refer to the attached drawings of the specification Figures 8 - 9As shown, based on any of the above embodiments, in order to reduce the driving difficulty of the detection device in the mud environment and enable the detection device to overcome as little resistance as possible during the ascending or descending process, a buoyancy adjustment chamber 13 is additionally provided based on any of the above embodiments. The buoyancy adjustment chamber 13 is used to adjust the buoyancy state of the detection device in different environments, so that the detection device is adjusted to a suspended or nearly suspended state by adjusting the buoyancy in the actual detection environment. In this way, only a small driving force is required to effectively drive the detection device to move up and down along the drilled hole; and only a small pressure applied to the side wall of the drilled hole can effectively fix the detection device. The specific solution adopted in this embodiment is as follows Figures 8 - 9 As shown, a buoyancy adjustment chamber 13 is also fixedly connected to the outer side wall of the control chamber 1. The buoyancy adjustment chamber 13 has a regular or irregular annular buoyancy cavity 14 around the outer side wall of the control chamber 1. A compressive strengthening plate is fixedly arranged in the buoyancy cavity 14 along the radial direction of the buoyancy adjustment chamber 13. A detachable and airtight upper plug 16 is arranged at the top or near the top of the buoyancy adjustment chamber 13, and a detachable and airtight lower plug 15 is arranged at the bottom or near the bottom of the buoyancy adjustment chamber 13. When the buoyancy cavity 14 is in a completely empty state, the buoyancy is in the maximum state at this time; when the buoyancy cavity 14 is in a completely full of water or mud state, the buoyancy is in the minimum state at this time; by filling the buoyancy cavity 14 with media of different densities and adjusting the amount of media filled, the buoyancy adjustment of the entire detection device is realized. It should be noted that the shape and size of the buoyancy cavity 14 and the specific connection method can be flexibly changed and selected by those skilled in the art under the inventive concept of the above solution. However, it is preferably ensured that when the buoyancy cavity 14 is in a completely empty state, the detection device can float in water, and when the buoyancy cavity 14 is in a completely full of media state, the detection device can sink in the same corresponding media environment, so as to achieve any adjustment of the floating, suspended and sinking states. When the buoyancy needs to be adjusted, only the upper plug 16 and the lower plug 15 need to be opened, and the fluid medium or other small particle solid media are allowed to enter the buoyancy cavity 14, and then the upper plug 16 and the lower plug 15 are used to block the corresponding holes, and the buoyancy state of the detection device is tested, and then the buoyancy is adjusted by increasing or decreasing the media until the current requirements are met. In this embodiment, the upper plug 16 and the lower plug 15 are detachably and airtightly connected by means of threaded connection and a sealing ring. Those skilled in the art can also adopt other detachable and airtight connections. In this regard, this embodiment does not make any limitations.

[0049] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A pore formation quality detection device, comprising a control chamber (1) that establishes a real-time communication connection with a ground control terminal through a cable, characterized in that: It further includes two walking units that are fixedly connected to both ends of the control bin (1) and are symmetrically distributed along the axis. The walking unit has an end cover (11) that is airtight and fixedly connected to the control bin (1). At least three arm mechanisms distributed in a circumferential array are hinged around the end cover (11). Any one of the arm mechanisms is drivingly connected to a radial adjustment mechanism for adjusting the deflection angle of the arm mechanism. The free end of any one of the arm mechanisms is equipped with a roller (8) for contacting the side wall of the formed hole, and at least one of the rollers (8) is a driving wheel. The projections of the driving wheels of the two walking units in the radial cross-section alternately or oppositely satisfy the distribution; and a lidar module respectively arranged at the center position of the top end of the detection device for scanning the hole wall to generate a three-dimensional point cloud model, an inertial navigation module IMU arranged at the geometric center position of the control bin (1) for real-time monitoring of the verticality and the pile hole trajectory, a multi-frequency ultrasonic module arranged on the side wall of the control bin (1) for detecting the hole diameter, the sediment thickness and the hole wall cracks, and a pressure-sensitive detection module arranged at the bottom of the detection device for detecting the sediment thickness.

2. The pore-forming quality detection device according to claim 1, wherein: The radial adjustment mechanism includes a first driving mechanism arranged in the control bin (1). The output shaft of the first driving mechanism airtightly penetrates through the end covers (11) at both ends and is connected to a driving gear (2). The driving gear (2) meshes with a driven gear (3). The driven gear (3) is coaxially and fixedly connected to a lead screw (4). One end of the lead screw (4) is rotatably arranged on the end cover (11), and the other end is rotatably arranged on the top cover (12). The top cover (12) and the end cover (11) are fixedly connected by a plurality of column guides (10); a lifting platform (5) drivingly connected to the lead screw (4) is sleeved on the column guide (10). The two ends of an adaptive telescopic arm (6) are hinged to the corresponding positions of the lifting platform (5) and the arm mechanism.

3. The pore formation quality detection device according to claim 2, characterized in that: The adaptive telescopic arm (6) includes a cylinder body. Two pistons are hermetically and slidably arranged in the cylinder body. The pistons are fixedly connected to pull rods for respectively hinging to the lifting platform (5) and the arm mechanism on one side close to the end of the cylinder body. There is a spring or compressed air in a compressed state that always applies an axial thrust to the pistons between the two pistons; a travel sensor is also installed between the two pistons.

4. The pore formation quality detection device according to claim 2, characterized in that: The arm mechanism includes a support arm (7) hinged at one end to the end cover (11), and a roller (8) rotatably installed at the other end of the support arm (7).

5. The pore formation quality detection device according to claim 2, characterized in that: The arm mechanism includes a support arm (7) hinged at one end to the end cover (11), and a roller (8) rotatably installed at the other end of the support arm (7). At least one of the rollers (8) is drivingly connected to a second driving mechanism (9) fixedly installed on the support arm (7). The second driving mechanism (9) includes a second driving motor (91), a second reducer (92), a driving bevel gear (93) and a driven bevel gear (94) coaxially connected to the roller (8) that are sequentially drivingly connected. The driving bevel gear (93) meshes with the driven bevel gear (94).

6. The pore-forming quality detection device according to claim 5, characterized in that: The included angle β between the support arm (7) and the horizontal plane satisfies 0 ≤ β ≤ 90°, the radius r of the roller (8) is r ≥ 15 cm, and the circumferential surface of the roller (8) is provided with anti-slip teeth (81) with a depth of 10 mm - 20 mm.

7. The pore formation quality detection device according to claim 6, wherein: Each of the anti-slip teeth (81) further has a plurality of cemented carbide spike portions protruding outward.

8. The pore formation quality detection device according to claim 2, characterized in that: An extended rod frame extending axially is further installed on the top cover (12), the end of the extended rod frame is installed with the lidar module, and 2 - 3 groups of camera supplementary light modules electrically connected to the control chamber (1) are installed on the side wall of the middle part of the extended rod frame.

9. The pore formation quality detection device according to claim 1, characterized in that: A buoyancy adjustment chamber (13) is further fixedly connected to the outer side wall of the control chamber (1). The buoyancy adjustment chamber (13) has a regular or irregular annular buoyancy cavity (14) surrounding the outer side wall of the control chamber (1). A compressive strength reinforcement plate is fixedly arranged in the buoyancy cavity (14) along the radial direction of the buoyancy adjustment chamber (13). A detachable and hermetically connected upper plug (16) is arranged at the top or near the top of the buoyancy adjustment chamber (13), and a detachable and hermetically connected lower plug (15) is arranged at the bottom or near the bottom of the buoyancy adjustment chamber (13).

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