A self-propelled, lightweight integrated cone penetration test device and method

Abstract

This invention discloses a self-propelled integrated light and heavy dynamic cone penetration test device and method, including a walking system, a hammer lifting and dropping system, a rod lifting system, a control and data processing system, and a geological detection system. The geological detection system can detect planar defects in soil and rock and generate underground geological profile images in real time. The hammer lifting and dropping system can work in conjunction with the rod lifting system to detect point mechanical properties of soil and rock and collect detection data in real time. It can also be combined with hammers of different weights and probes of different specifications through a detachable structure to form a hammer-actuating component for light or heavy dynamic penetration testing. The control and data processing system can select detection points of point mechanical properties based on underground geological profile images, control the operation of the walking system, and calculate and process the detection data to generate bearing capacity judgment results in real time. It can realize integrated switching between light and heavy dynamic cone penetration tests, and improve detection efficiency and accuracy through the combination of planar scanning and point detection.

Description

Technical Field

[0001] This invention relates to the field of geotechnical engineering technology, specifically to a cone dynamic penetration test device. Background Technology

[0002] The dynamic cone penetration test (DPT) is a core in-situ testing technique for geotechnical engineering investigation and foundation bearing capacity testing. It involves inserting a cone-shaped probe into the soil using a standard weighted hammer with a free fall distance. The mechanical properties of the soil layer are determined based on the number of blows required to penetrate to a certain depth. It is widely used for quality inspection and risk assessment in building foundations, road subgrades, and tunnel surrounding rock. Depending on the hammer weight, the test is divided into light (10kg) and heavy (63.5kg) types. The light type is suitable for shallow fill and cohesive soil testing, while the heavy type is suitable for gravelly soil and medium-deep foundation bearing capacity evaluation.

[0003] Chinese Patent No. CN 206873432 U discloses a powered penetrometer, including a frame, a track, hydraulic outriggers, and a probe. The frame is also equipped with a hammering system and a pulling system. The hammering system includes a support, a lifting mechanism, a hammer, a guide rod, a slide, and a hammer pad. The pulling system includes a pulling hydraulic cylinder, a crossbeam, and a slip. The pulling hydraulic cylinder is located on both sides of the frame, and the ends of its piston rods are respectively connected downward to both ends of the crossbeam. The crossbeam has an inverted conical pulling hole in the middle. The slip is located in the pulling hole and includes a left half and a right half. The outer taper of the left and right halves matches the pulling hole, and the inner hole matches the outer diameter of the probe.

[0004] However, existing power penetration testers require the replacement of the corresponding hammer and supporting components for light and heavy tests, resulting in poor equipment versatility, low detection efficiency, and the inability to simultaneously acquire information on "point-like" mechanical indicators such as underground lithology distribution, cavities, and fissures, which can easily lead to missed detections and misjudgments. Furthermore, they still rely on manual recording of hammer blows and penetration depth, which carries the risk of misrecording and omissions. The automation level of data transmission and processing is low, resulting in low detection accuracy.

[0005] Therefore, how to achieve integrated switching between light and heavy cone penetration tests, improve site adaptability, and realize the coordinated detection of "point mechanical properties" and "surface hidden defects," while rapidly collecting hammer blow counts and penetration depths to improve detection efficiency and accuracy, has become an urgent problem to be solved in this field. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a self-propelled integrated light and heavy cone penetration test device and method, which can realize integrated switching between light and heavy cone penetration tests and perform point and surface detection of soil and rock in a coordinated manner, thereby improving detection efficiency and accuracy.

[0007] To achieve the above objectives, the present invention provides a self-propelled, lightweight integrated cone penetration test device, comprising a walking system, a hammer lifting and lowering system, and a lifting rod system, as well as a control and data processing system and a geological detection system. The geological detection system is located at the bottom of the walking system and can detect planar defects in rock and soil, and generate underground geological profile images in real time. The hammer lifting and dropping system can work in conjunction with the lifting rod system to detect the point mechanical properties of soil and rock and collect detection data in real time. The hammer lifting and dropping system can be combined with hammers of different weights and probes of different specifications through a detachable structure to form a hammer-actuating assembly for light or heavy power penetration testing. The control and data processing system can select detection points of point mechanical properties based on the underground geological profile image, control the operation status of the walking system, and perform calculations on the detection data to generate bearing capacity discrimination results in real time.

[0008] Furthermore, the hammer lifting and dropping system includes a support, a primary lifting mechanism, and a secondary lifting mechanism. The primary lifting mechanism is slidably connected to the support, and the secondary lifting mechanism is slidably connected to the primary lifting mechanism.

[0009] Furthermore, the secondary lifting mechanism includes a slider module, which can move vertically inside the primary lifting mechanism and is detachably connected to hammers of different weights and probes of different specifications.

[0010] Furthermore, the slider module is equipped with an electromagnet for cooperating with the hammer.

[0011] Furthermore, the slider module also integrates a data acquisition component, which can collect data on the number of hammer blows and the penetration depth in real time.

[0012] Furthermore, the data acquisition component includes a counting sensor, a laser displacement sensor, and a verticality sensor.

[0013] Furthermore, the bottom of the primary lifting mechanism is provided with a mounting hole for cooperating with the probe rod, and the lifting rod system is located at the bottom of the primary lifting mechanism, which can lift or move the probe rod.

[0014] Furthermore, the geological detection system is detachably mounted on the bottom of the walking system, and can emit high-frequency electromagnetic waves into the soil and rock, and uniformly scan the site.

[0015] Furthermore, the walking system is equipped with lighting and warning lights.

[0016] To achieve the above objectives, the present invention provides a self-propelled integrated lightweight and heavy-duty cone penetrometer method, based on the aforementioned self-propelled integrated lightweight and heavy-duty cone penetrometer device, the method comprising: The geological detection system can detect hidden surface defects in soil and rock and generate underground geological profile images in real time. The control and data processing system selects detection points with point-like mechanical properties based on the underground geological profile image and controls the walking system to move to the detection points; According to the testing requirements, the hammer lifting and dropping system can be detachably connected with a hammer of corresponding weight and a probe of corresponding specifications to form a hammering execution component for light or heavy power penetration testing. The hammer lifting and dropping system works in conjunction with the lifting rod system to perform hammering operations on the detection points, detect the point mechanical properties of the rock and soil, and collect data on the number of hammer blows and the penetration depth in real time. The control and data processing system calculates and processes the hammer blow count and penetration depth data, and generates and outputs the bearing capacity judgment result in real time.

[0017] The self-propelled integrated light and heavy cone penetration test equipment and method provided by this invention, through the combination and connection of the hammer lifting and dropping system with hammers of different weights and probes of different specifications, can form a hammer-actuating component for light or heavy dynamic penetration testing, so as to realize the integrated switching between light and heavy cone dynamic penetration tests and improve site applicability. At the same time, the geological detection system and the hammer lifting and dropping system work together to realize the detection of surface hidden defects in rock and soil and the detection of point mechanical properties, respectively, forming a joint detection mode of surface scanning and point detection, effectively avoiding missed detections and misjudgments, thereby improving detection efficiency and the accuracy and reliability of results. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0019] Figure 1 A system block diagram of the self-propelled integrated lightweight and heavy-duty cone dynamic penetration test device provided by the present invention; Figure 2 A schematic diagram of the overall structure of the self-propelled integrated lightweight and heavy-duty cone dynamic penetration test device provided by the present invention; Figure 3 This is a schematic diagram of the walking system in this invention; Figure 4 This is a schematic diagram of the cooperation structure between the hammer lifting and dropping system and the lifting rod system in this invention; Figure 5 This is a schematic diagram of the hammer lifting and dropping system in this invention; Figure 6 This is a schematic diagram of the slider module in this invention; Figure 7This is a schematic diagram of the lifting rod system in this invention. Attached image description: 1. Walking system; 11. Support platform; 111. Lighting; 112. Warning light; 113. Positioning antenna; 114. Signal antenna; 12. Tracks; 2. Hammer lifting and dropping system; 21. Support frame; 22. Primary lifting mechanism; 221. Lifting drive motor; 222. Mounting hole; 23. Secondary lifting mechanism; 231. Lifting support rod; 233. Drive cylinder; 24. Slider module; 241. Electromagnet; 242. Counting sensor; 243. Laser displacement sensor; 244. Verticality sensor; 3. Lifting rod system; 31. Lever; 4. Control and data processing system; 5. Geological detection system; 6. Hammer; 7. Guide rod; 8. Probe rod; 9. Sleeve structure. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0022] See Figure 1 and Figure 2 The image shows an example of a self-propelled, lightweight integrated cone dynamic penetrometer provided by the present invention.

[0023] As shown in the figure, the self-propelled light and heavy integrated cone penetration test equipment in this example mainly includes a walking system 1, a hammer lifting and dropping system 2, a lifting rod system 3, a control and data processing system 4, and a geological detection system 5.

[0024] The geological detection system 5 is located at the bottom of the walking system 1. It can detect planar defects in soil and rock and generate underground geological profile images in real time. The hammer lifting and dropping system 2 can work in conjunction with the lifting rod system 3 to detect point mechanical properties of soil and rock and collect detection data in real time. The hammer lifting and dropping system 3 is connected to hammers 6 of different weights and probes 8 of different specifications through a detachable structure to form a hammering execution component for light or heavy dynamic penetration testing, so as to realize the integrated switching of light and heavy cone dynamic penetration testing and improve site applicability.

[0025] The control and data processing system 4 can select detection points with point mechanical properties based on underground geological profile images, control the operation status of the walking system 1, and also perform calculation and processing on the detection data to generate bearing capacity discrimination results in real time, forming a joint detection mode of surface scanning and point detection, effectively avoiding missed detections and misjudgments, thereby improving detection efficiency and the accuracy and reliability of the results.

[0026] Combination Figure 3The walking system 1 includes a support platform 11 and tracks 12. The support platform 11 is used to support and connect the hammer lifting and dropping system 2, the lifting rod system 3, the control and data processing system 4, and the geological detection system 5. The tracks 12 are rotatably mounted on both sides of the support platform 11 and are driven by walking drive motors. The walking drive motors are connected to the control and data processing system 4, so that the control and data processing system 4 can control the working state of the walking drive motors and drive the tracks 12 to rotate, thereby moving the support platform 11 and the entire equipment. It can also adapt to complex sites such as mud, steep slopes, and rugged terrain.

[0027] Preferably, the support platform 11 is also equipped with lighting lamps 111 and warning lamps 112 at both ends. The lighting lamps 111 can provide illumination for the movement and operation of the equipment at night or in low light conditions, ensuring a clear operating field of vision; the warning lamps 112 can issue warning signals during the movement or operation of the equipment, reminding surrounding personnel to pay attention and avoid the danger, thereby improving the safety of on-site operations.

[0028] Furthermore, the support platform 11 is equipped with a positioning antenna 113 and a signal antenna 114. The positioning antenna 113 is preferably composed of a GPS antenna, which can collect the location information of the device in real time. The signal antenna 114 can provide a stable signal transmission path for the walking system 1, the hammer lifting and dropping system 2, the lifting rod system 3, the geological detection system 5, and the control and data processing system 4, ensuring stable wireless communication of data and thus ensuring the controllability of the operation process.

[0029] In conjunction with this, the geological detection system 5 is detachably mounted on the bottom of the support platform 11. Preferably, the geological detection system 5 is composed of a ground-penetrating radar, which can emit high-frequency electromagnetic waves into the soil and rock and uniformly scan the site to detect surface-like hidden defects such as underground lithology distribution, cavities, fissures, and pipelines.

[0030] Furthermore, the geological detection system 5 can also generate underground geological profile images in real time based on the detected planar hidden defects and feed them back to the control and data processing system 4. This allows the control and data processing system 4 to select multiple point mechanical property detection points based on the underground geological profile images, thereby controlling the walking system 1 to move to the detection points. This ensures that the hammer lifting and dropping system 2 can cooperate with the lifting rod system 3 to perform point mechanical property detection of the soil and rock at each detection point.

[0031] Specifically, the geological detection system 5 first transmits high-frequency electromagnetic pulses radially to the soil and rock along the preset survey line using a ground-penetrating radar antenna, and simultaneously receives reflected echoes from media at different depths, thereby obtaining the original echo data sequence along the survey line direction.

[0032] Furthermore, the geological detection system 5 transmits the original echo data sequence to the control and data processing system 4. The control and data processing system 4 performs DC offset correction, median filtering denoising, time-varying gain correction, and time-depth conversion on the original echo data sequence to generate a two-dimensional underground geological profile along the survey line direction.

[0033] As an example, the control and data processing system 4 performs DC offset correction on the original echo data sequence, calculates the average value of each echo data channel as the DC component, and subtracts this DC component from each sampling point of that channel to eliminate the fixed bias generated by the instrument hardware and ensure that the signal is based on zero level. Then, based on the median filtering algorithm, a sliding window of a preset length is set with any sampling point in the original echo data sequence as the center, sorts the amplitudes of all sampling points in the window, and takes the median as the new amplitude of that sampling point. While retaining edge information such as medium transition interface, it effectively removes salt-and-pepper noise and clutter interference, thereby suppressing random noise and isolated interference in the echo data.

[0034] To address the exponential energy decay of electromagnetic waves as they propagate through underground media with increasing depth, the control and data processing system 4 performs time-varying gain correction on the original echo data sequence. Based on the two-way travel time of electromagnetic waves, it constructs a gain curve that increases with time (i.e., geological depth), exponentially amplifying the weak reflection signal in deep layers while appropriately suppressing the strong reflection signal in shallow layers, so that the reflection energy at different depths throughout the profile tends to be balanced.

[0035] Furthermore, based on time-depth conversion processing, the control and data processing system 4 converts the "time profile" with time as the horizontal axis and round-trip travel time as the vertical axis into a "depth profile" with horizontal distance as the horizontal axis and depth as the vertical axis. Based on the preset or on-site calibration of the electromagnetic wave propagation speed of the underground medium, the travel time of each sampling point is converted into the actual depth, thus completing the mapping from the time domain to the depth domain.

[0036] Therefore, the control and data processing system 4 performs grayscale or pseudo-color imaging on the processed three-dimensional data matrix (horizontal distance, depth, reflection amplitude) to form a two-dimensional underground geological profile along the survey line. The underground geological profile uses the horizontal direction to represent the survey line mileage and the vertical direction to represent the underground depth. Different color levels or grayscale values ​​represent the reflection intensity of different media, thus intuitively displaying the underground geological structure.

[0037] Furthermore, the control and data processing system 4 selects multiple point-like mechanical property detection points based on underground geological profile maps through image recognition and spatial analysis.

[0038] As an example, the control and data processing system 4 preprocesses and extracts features from the underground geological profile image. First, it performs image enhancement and binarization preprocessing, and then, based on image recognition algorithms, it identifies and marks typical geological anomalies in the underground geological profile image. For example, it identifies bright areas with hyperbolic shapes in the underground geological profile image and determines hyperbolic reflectors as point targets such as underground cavities or pipelines. It also identifies linear reflection layers that extend continuously in the horizontal direction and have significantly enhanced amplitudes, and determines continuous strong reflection surfaces as lithological abrupt interfaces (such as the boundary between hard soil layers and soft soil layers). At the same time, it identifies areas where the reflected signal energy decreases sharply and appears as dark stripes or patches, and determines signal attenuation zones as weak soil layers or water-rich areas, thereby identifying abnormal areas in the underground geological profile image.

[0039] Furthermore, the control and data processing system 4, based on connected component analysis, calculates the minimum bounding rectangle or convex hull polygon for each anomaly region, thereby extracting the geometric boundary of the anomaly region. Simultaneously, the control and data processing system 4 converts the image coordinate system to the local geodetic coordinate system, marking the center point coordinates and boundary point set for each anomaly region, forming an anomaly region spatial database, thus realizing coordinate marking and boundary extraction of the anomaly regions.

[0040] Furthermore, the control and data processing system 4 can select detection points by combining surface scanning with point verification based on the uniformity of geological conditions.

[0041] For areas in the underground geological profile image that are not marked as any abnormal area (i.e., the geological conditions are uniform and there are no obvious abnormalities), the control and data processing system 4 selects detection points by surface scanning, generates regular grid points according to the preset grid spacing (e.g., 5m×5m), and uses each grid point as a normal detection point for subsequent dynamic penetration testing to obtain the benchmark value of the mechanical properties of the rock and soil in that area.

[0042] Meanwhile, for each anomalous area marked in the underground geological profile image, the control and data processing system 4 selects detection points through point verification. A detection point is set at the center of each anomalous area to capture the mechanical response at the core of the anomalous area. At the same time, multiple boundary detection points are added along the boundary of the anomalous area at intervals of a set arc length (e.g., 1m) or at the boundary vertices to define the transition characteristics between the anomalous area and the surrounding normal geological bodies.

[0043] Furthermore, the control and data processing system 4 overlays the generated normal and abnormal detection points on the underground geological profile map on the touch screen in the form of an editable layer, allowing operators to manually add new detection points or adjust the position of any detection point through touch interaction.

[0044] Therefore, the control and data processing system 4 automatically selects and manually adjusts all detection points, and generates a detection point layout that includes the geodetic coordinates, type (normal / abnormal), and associated abnormal area number (if any) of each point. This serves as the basis for the instructions to move the on-site control walking system 1, ensuring that the hammer lifting and dropping system 2 can cooperate with the lifting rod system 3 to perform point mechanical property detection of soil and rock at each detection point.

[0045] Combination Figure 4 and Figure 5 In conjunction with this, the hammer lifting and dropping system 2 and the lifting rod system 3 are set on the support platform 11 of the walking system 1. They can be combined and connected with hammers 6 of different weights and probe rods 8 of different specifications through a detachable structure to form a hammering execution component for light or heavy power penetration. They can also be raised and lowered along the height direction to realize hammer lifting, dropping and hammering operations.

[0046] Specifically, the hammer lifting and dropping system 2 includes a support 21, a primary lifting mechanism 22, and a secondary lifting mechanism 23. The support 21 is configured as a vertically distributed frame structure. The primary lifting mechanism 22 can be housed inside the support 21 and is slidably connected to the support 21, and can move vertically along the support 21. The secondary lifting mechanism 23 can be housed inside the primary lifting mechanism 22 and moves vertically synchronously with the primary lifting mechanism 22. The secondary lifting mechanism 23 is also slidably connected to the primary lifting mechanism 22 and can move vertically along the primary lifting mechanism 22, so as to realize the two-stage lifting and dropping of the hammer lifting and dropping system 2.

[0047] The primary lifting mechanism 22 is configured as a vertically distributed frame structure and is driven by a lifting drive motor 221. The lifting drive motor 221 is connected to the control and data processing system 4, so that the control and data processing system 4 can control the working state of the lifting drive motor 221 to drive the primary lifting mechanism 22 to move vertically along the support 21, thereby realizing the primary lifting and lowering of the hammer lifting and lowering system 2.

[0048] Furthermore, the secondary lifting mechanism 23 includes a lifting support rod 231 and a drive cylinder 232. The first side area of ​​the primary lifting mechanism 22 is provided with a slide rail adapted to the lifting support rod 231 and a mounting slot for installing the drive cylinder 232. The drive cylinder 232 is also connected to the control and data processing system 4, so that the control and data processing system 4 can control the working state of the drive cylinder 232 to drive the lifting support rod 231 to move vertically along the slide rail, thereby realizing the secondary lifting of the hammer lifting and dropping system 2.

[0049] Based on the above structure, the first-stage lifting mechanism 22 is driven by the lifting drive motor 221, which can take advantage of the high control precision and stable operation of the motor to ensure that the first-stage lifting mechanism 22 drives the second-stage lifting mechanism 23 to lift and lower synchronously and smoothly; the second-stage lifting mechanism 23 is driven by the drive cylinder 232, which can take advantage of the cylinder's fast response speed and large thrust to achieve precise control and rapid response of the lifting and lowering action of the hammer lifting and lowering system 2.

[0050] Combination Figure 5 Meanwhile, the primary lifting mechanism 22 and the secondary lifting mechanism 23 work together to achieve secondary lifting, which can effectively increase the lifting stroke of the hammer lifting and dropping system 2, meet the adjustment requirements of different drop distances (such as 500mm for light-duty and 760mm for heavy-duty), and optimize the lifting speed and impact force transmission through graded actions to ensure the stability and repeatability of the hammering action and improve the reliability of the detection data.

[0051] Furthermore, the support frame 21, the primary lifting mechanism 22, and the secondary lifting mechanism 23 work together to ensure that when the primary lifting mechanism 22 and the secondary lifting mechanism 23 are fully lowered, they can be accommodated inside the support frame 21. This achieves a compact structure for the equipment and prevents collisions during movement that could damage the primary lifting mechanism 22 and the secondary lifting mechanism 23. Figure 1 As shown.

[0052] Combination Figure 6 To enable the lifting, lowering, and striking operations of the hammer, the secondary lifting mechanism 23 also includes a slider module 24. The slider module 24 is connected to the lifting support rod 231 and is built into the second side area of ​​the primary lifting mechanism 22. It is slidably connected to the frame of the primary lifting mechanism 22, so that the lifting support rod 231 can drive the slider module 24 to move vertically inside the primary lifting mechanism 22.

[0053] Furthermore, the slider module 24 can be detachably connected to hammers 6 of different weights and probe rods 8 of different specifications according to the testing requirements, to form a hammer-actuating assembly for light or heavy power penetration testing.

[0054] Combination Figures 4 to 7 Specifically, the slider module 24 has a guide rod 7 at its center and the hammer 6 has a through hole at its center, allowing the hammer 6 to be freely inserted into the guide rod 7. The bottom of the guide rod 7 and the top of the probe rod 8 are detachably coaxially connected through a sleeve structure 9. The sleeve structure 9 can also cooperate with the hammer 6. When the hammer 6 falls freely and impacts the guide rod 7 and the sleeve structure 9, the guide rod 7 transmits the impact force to the probe rod 8 through the sleeve structure 9, causing the probe rod 8 to hammer the field, thereby realizing the hammering action.

[0055] Meanwhile, depending on the needs of light and heavy dynamic cone penetration tests, the hammer 6 of the corresponding weight and the probe rod 8 of the matching specifications can be quickly disassembled and replaced, which can easily form the hammering execution component of the corresponding type, realizing the integrated and rapid switching of light and heavy cone dynamic penetration tests.

[0056] Combination Figure 6 The slider module 24 is equipped with an electromagnet 241 for cooperating with the hammer 6. The hammer 6 is located at the bottom of the electromagnet 241. The power supply of the electromagnet 241 is connected to the control and data processing system 4, so that the control and data processing system 4 can control the power supply to be turned off and adjust the magnetic state of the electromagnet 241. When the electromagnet 241 is energized and generates magnetic force, it can be stably connected to the hammer 6 based on magnetic attraction. At this time, the first-stage lifting mechanism 22 and the second-stage lifting mechanism 23 work together to raise the slider module 24 vertically inside the first-stage lifting mechanism 22 and move it to the preset drop distance to realize the hammer lifting action.

[0057] At the same time, when the electromagnetic force of electromagnet 241 is lost, hammer 6 is released, causing hammer 6 to fall freely and realize the hammer falling action.

[0058] Combination Figure 4 Furthermore, the bottom of the primary lifting mechanism 22 is provided with a mounting hole 222 for cooperating with the probe rod 8, so that the probe rod 8 can be inserted into the mounting hole 222 to prevent the probe rod 8 from shaking during the hammering process.

[0059] Combination Figure 7 The lifting system 3 includes a lever 31, which is driven by a lever servo motor and is configured to engage radially with the probe 8. When the lever 31 is closed, it can limit and fix the probe 8. During the testing process, the lever 31 is in the open state and does not affect the hammering operation of the probe 8. After the test, the lever servo motor can drive the lifting action of the lever 31 and the retraction action of the probe 8.

[0060] As an example, during the hammering operation, the lever servo motor drives the lever 31 to be in the open state, and the lever 31 is radially separated from the probe 8, so as not to interfere with the vertical movement of the probe 8 as it penetrates with the hammer, thus ensuring the continuous and smooth hammering operation. After the hammering operation is completed, the lever servo motor drives the lever 31 to close and clamp the outer wall of the probe 8 to limit and fix the probe 8. At the same time, the lever servo motor drives the output of upward lifting driving force, which drives the lever 31 and the probe 8 to be lifted upward synchronously, so as to complete the lifting action of the lever 31 and the retraction of the probe 8. No manual assistance is required throughout the process, realizing the automated execution of the lifting and pulling actions.

[0061] Furthermore, the primary lifting mechanism 22 and the secondary lifting mechanism 23 descend in coordination, causing the slider module 24 to descend vertically inside the primary lifting mechanism 22. This allows the electromagnet 241 to re-adhere to the hammer 6, which has fallen to the bottom of the guide rod 7 and is attached to the sleeve structure 9, based on magnetic force. The electromagnet then drives the hammer 6 to rise back to the preset drop distance. The hammer 6 can then fall freely again, impacting the guide rod 7 and causing the probe rod 8 to strike the field.

[0062] Thus, the hammer lifting and dropping system 2 can work in coordination with the rod lifting system 3 to achieve cyclical hammer lifting, dropping, and hammering operations until the test is completed. Then, the rod lifting system 3 completes the rod pulling action and retrieves the probe rod 8.

[0063] Combination Figure 6 In order to collect detection data in real time, the slider module 24 also integrates a data acquisition component, which can collect the detection data of the hammer lifting and dropping system 2 and the rod lifting system 3 in the process of point mechanical property detection in real time.

[0064] Specifically, the data acquisition components include a counting sensor 242 and a laser displacement sensor 243. The counting sensor 242 can collect the number of hammer blows in real time, and the laser displacement sensor 243 can collect the penetration depth of the probe 8 in real time.

[0065] As an example, the counting sensor 242 is set on the slider module 24 and close to the mating point between the electromagnet 241 and the hammer 6. It is preferably composed of a magnetic induction counting sensor, which can detect the magnetic force generated by the electromagnet 241 in real time based on the principle of magnetic induction. When the magnetic force disappears and the hammer 6 falls off the electromagnet 241, a counting signal is triggered to collect one hammering action, thereby collecting and accumulating the number of hammerings in real time.

[0066] The laser displacement sensor 243 is mounted on the slider module 24. Based on the principle of laser ranging, it can emit laser along the vertical penetration direction of the probe rod 8 and receive the reflected echo to accurately measure the vertical displacement of the probe rod 8 during the penetration process and directly obtain the penetration depth.

[0067] Combination Figure 4 Furthermore, the data acquisition component also includes a verticality sensor 244, which is preferably mounted on the guide rod 7. It can collect the tilt angle change parameters of the guide rod 7 in real time based on the tilt angle sensing principle. Since the guide rod 7 and the probe rod 8 are coaxial, the verticality sensor 244 can monitor the vertical status of the guide rod 7 and the probe rod 8 throughout the entire penetration process in real time, ensuring that the probe rod 8 can penetrate the site vertically.

[0068] Meanwhile, the counting sensor 242, the laser displacement sensor 243, and the verticality sensor 244 can respectively feed back the collected data to the control and data processing system 4, so that the control and data processing system 4 can perform calculations based on the hammer blow count and penetration depth data to generate bearing capacity discrimination results and output the detection results of point mechanical properties in real time.

[0069] Specifically, the control and data processing system 4 first performs filtering, noise reduction, and outlier removal preprocessing on the hammer blow count data collected by the counting sensor 242 and the penetration depth data collected by the laser displacement sensor 243. For example, during the outlier removal preprocessing, the control and data processing system 4 removes abnormal jump points where the penetration depth of a single hammer blow exceeds the normal range (e.g., greater than 50 mm or a negative value). At the same time, based on the tilt angle data monitored in real time by the verticality sensor 244, the hammer blow count and penetration depth data corresponding to the tilt angle exceeding the preset threshold (e.g., greater than 5°) are removed together and not included in subsequent calculations.

[0070] Furthermore, the control and data processing system 4 uses a preset penetration depth range as the statistical unit according to the test type (light or heavy), and counts the number of hammer blows in each unit segment by segment. Then, it combines the rod length correction coefficient and sidewall friction correction coefficient corresponding to the test type to standardize and correct the number of hammer blows in each unit.

[0071] Finally, the control and data processing system 4 substitutes the corrected hammer blow count and penetration depth parameters into the existing soil and rock bearing capacity characteristic value calculation formula, calculates the soil and rock bearing capacity value at the measuring point in real time, and obtains the test results of point mechanical properties to determine whether the foundation bearing capacity meets the design requirements.

[0072] Furthermore, the control and data processing system 4 can compare the verticality of the probe 8 with the verticality threshold. When the verticality of the probe 8 exceeds the verticality threshold, an early warning signal is issued, thereby ensuring the reliable operation of the equipment and the reliability of the test results.

[0073] Here, the control and data processing system 4 can be composed of an existing PLC, which can be integrated on the support platform 11 of the walking system 1, or deployed at the remote end of the equipment to realize remote control.

[0074] Therefore, after completing the point mechanical property test of the first test point, the device can drive the walking system 1 to move to the next test point through the control and data processing system 4, and then perform the point mechanical property test of that test point again, so as to cover all test points selected based on the underground geological profile image of the geological detection system 5, complete the test, and improve the accuracy of the test results.

[0075] This constitutes the self-propelled, lightweight integrated cone penetration testing device provided by the present invention.

[0076] This invention also provides a self-propelled, lightweight integrated cone penetrometer method, based on a self-propelled, lightweight integrated cone penetrometer device constructed using the above-described scheme. This method includes: First, the geological detection system 5 detects surface-like hidden defects in the soil and rock and generates underground geological profile images in real time.

[0077] Therefore, the control and data processing system 4 selects the detection points of point mechanical properties based on the underground geological profile image and controls the walking system 1 to move to the corresponding detection points.

[0078] Depending on the testing requirements, the hammer lifting and dropping system 2 is detachably connected to the hammer 6 of the corresponding weight and the probe rod 8 of the corresponding specification to form a hammering execution component for light or heavy power penetration testing.

[0079] Furthermore, the hammer lifting and dropping system 2 and the lifting rod system 3 work together to perform hammering operations on the detection points, detect the point mechanical properties of the rock and soil, and collect data on the number of hammer blows and the penetration depth in real time.

[0080] Meanwhile, the control and data processing system 4 calculates and processes the hammer blow count and penetration depth data, and generates and outputs the bearing capacity judgment result in real time.

[0081] The self-propelled integrated light and heavy cone penetration test equipment and method provided by this invention, through the combination and connection of the hammer lifting and dropping system 2 with hammers 6 of different weights and probe rods 8 of different specifications, can form a hammer-actuating component for light or heavy dynamic penetration testing, so as to realize the integrated switching of light and heavy cone dynamic penetration test and improve site applicability. At the same time, the geological detection system 5 works in concert with the hammer lifting and dropping system 2 to realize the detection of surface hidden defects in rock and soil and the detection of point mechanical properties, respectively, forming a joint detection mode of surface scanning and point detection, effectively avoiding missed detections and misjudgments, thereby improving detection efficiency and the accuracy and reliability of results.

[0082] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A self-propelled, lightweight integrated cone penetrometer, comprising a walking system, a hammer lifting and lowering system, and a lifting rod system, characterized in that, It also includes control and data processing systems and geological detection systems. The geological detection system is located at the bottom of the walking system and can detect planar defects in rock and soil, and generate underground geological profile images in real time. The hammer lifting and dropping system can work in conjunction with the lifting rod system to detect the point mechanical properties of soil and rock and collect detection data in real time. The hammer lifting and dropping system can be combined with hammers of different weights and probes of different specifications through a detachable structure to form a hammer-actuating assembly for light or heavy power penetration testing. The control and data processing system can select detection points of point mechanical properties based on the underground geological profile image, control the operation status of the walking system, and perform calculations on the detection data to generate bearing capacity discrimination results in real time.

2. The self-propelled integrated lightweight and heavy-duty cone penetration test device according to claim 1, characterized in that, The hammer lifting and dropping system includes a support frame, a primary lifting mechanism, and a secondary lifting mechanism. The primary lifting mechanism is slidably connected to the support frame, and the secondary lifting mechanism is slidably connected to the primary lifting mechanism.

3. The self-propelled integrated lightweight and heavy-duty cone penetrometer according to claim 2, characterized in that, The secondary lifting mechanism includes a slider module, which can move vertically inside the primary lifting mechanism and is detachably connected to hammers of different weights and probes of different specifications.

4. The self-propelled integrated lightweight and heavy-duty cone penetration test device according to claim 3, characterized in that, The slider module is equipped with an electromagnet for cooperating with the hammer.

5. The self-propelled integrated lightweight and heavy-duty cone penetration test device according to claim 4, characterized in that, The slider module also integrates a data acquisition component, which can collect data on the number of hammer blows and the penetration depth in real time.

6. The self-propelled integrated lightweight and heavy-duty cone penetrometer according to claim 5, characterized in that, The data acquisition components include a counting sensor, a laser displacement sensor, and a verticality sensor.

7. The self-propelled integrated lightweight and heavy-duty cone penetrometer according to claim 2, characterized in that, The bottom of the primary lifting mechanism is provided with a mounting hole for cooperating with the probe rod. The lifting rod system is located at the bottom of the primary lifting mechanism and can lift or move the probe rod.

8. The self-propelled integrated lightweight and heavy-duty cone penetration test device according to claim 1, characterized in that, The geological detection system is detachably mounted on the bottom of the walking system and can emit high-frequency electromagnetic waves into the soil and rock and scan the site uniformly.

9. The self-propelled integrated lightweight and heavy-duty cone penetration test device according to claim 1, characterized in that, The walking system is equipped with lighting and warning lights.

10. A self-propelled, integrated lightweight and heavy-duty cone dynamic penetration test method, characterized in that, Based on any one of claims 1-9, the method of the self-propelled integrated lightweight and heavy-duty cone penetrometer includes: The geological detection system can detect hidden surface defects in soil and rock and generate underground geological profile images in real time. The control and data processing system selects detection points with point-like mechanical properties based on the underground geological profile image and controls the walking system to move to the detection points; Depending on the testing requirements, the hammer lifting and dropping system can be detachably connected to a hammer of corresponding weight and a probe of corresponding specifications to form a hammering execution component for light or heavy power penetration testing. The hammer lifting and dropping system works in conjunction with the lifting rod system to perform hammering operations on the detection points, detect the point mechanical properties of the rock and soil, and collect data on the number of hammer blows and the penetration depth in real time. The control and data processing system calculates and processes the hammer blow count and penetration depth data, and generates and outputs the bearing capacity judgment result in real time.

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