Long-term monitoring device and method for evolution process of surrounding rock fracture triggered by multi-source dynamic disturbances

Abstract

A long-term monitoring device and method for the evolution process of surrounding rock fracture triggered by multi-source dynamic disturbances, relating to the technical field of deep engineering monitoring. The device comprises a body frame, a borehole wall surrounding rock image acquisition module, a borehole wall multi-source vibration monitoring module, an in-hole locomotion module, and a monitoring signal storage and transmission module. The borehole wall surrounding rock image acquisition module, the borehole wall multi-source vibration monitoring module, the in-hole locomotion module, and the monitoring signal storage and transmission module are sequentially arranged on the body frame from front to back, and the monitoring signal storage and transmission module is communicatively connected to an external computer of a borehole. In the present invention, integrated imaging and vibration monitoring can realized within a borehole, during vibration monitoring, coupling and decoupling between a sensor and surrounding rock are realized by means of mechanical lifting / lowering, thereby realizing monitoring of the state of the surrounding rock before and after dynamic disturbance waves, initiation, propagation and coalescence of rock fractures under dynamic disturbances are identified, and fracture damage inside the surrounding rock induced by three-dimensional stress waves is evaluated, thereby realizing long-term continuous monitoring of the evolution process of fracture of surrounding rock in risk zones.

Description

Multi-source power disturbance triggered surrounding rock rupture evolution process long-time monitoring device and method TECHNICAL FIELD

[0001] The present application belongs to the technical field of deep engineering monitoring, in particular relates to a multi-source power disturbance triggered surrounding rock rupture evolution process long-time monitoring device and method. BACKGROUND

[0002] In the process of deep engineering construction, the multi-source power disturbance such as the seismic wave generated by the strong earthquake in the seismic area, the continuous vibration generated by the TBM tunnel excavation, the blasting vibration generated by the drill and blast method tunnel excavation, and the stress wave of the adjacent rock burst, makes the surrounding rock of deep engineering be affected by long-term disturbance, and the power disturbance is difficult to monitor and evaluate the rupture damage inside the surrounding rock.

[0003] After the deep engineering is excavated, the tangential stress around the hole is doubled, the radial stress is sharply reduced, and the surrounding rock is in an unfavorable stress state. The multi-source power disturbance can induce rock cracking, crack accumulation and continuous decline of bearing capacity, and even induce time-lag rock burst. Field statistics show that most of the time-lag rock bursts are strong or extremely strong rock bursts, which are of great harm and can easily cause serious casualties and equipment damage. At present, the time-lag rock burst is mostly predicted based on rock properties and engineering geological conditions, while the power disturbance inducing factor is ignored.

[0004] It is difficult to monitor the internal vibration of deep surrounding rock, and it is difficult to measure stress wave on the engineering site. Only the vibration data on the surface of the surrounding rock can be measured by the vibration sensor. How to perceive the frequency amplitude characteristics of three-dimensional stress wave inside the surrounding rock has become a technical bottleneck.

[0005] At present, the coupling of the vibration sensor and the surrounding rock is realized by the gypsum powder and water solidification. When a strong earthquake occurs, the local detachment of the vibration sensor and the surrounding rock detection surface caused by the severe vibration can lead to poor or inaccurate detection results. After the vibration test is completed, it is difficult to disassemble the vibration sensor, and the lime powder attached to the surface of the vibration sensor probe is difficult to clean, which affects the subsequent use of the vibration sensor. SUMMARY

[0006] In view of the problems existing in the prior art, the present application provides a multi-source power disturbance triggered surrounding rock rupture evolution process long-time monitoring device and method, which can realize integrated monitoring of imaging and vibration in the borehole. The coupling and decoupling of the sensor and the surrounding rock are realized by mechanical lifting during vibration monitoring, the monitoring of the surrounding rock state before and after the power disturbance wave is realized, the initiation, expansion and penetration of the rock mass crack under the action of the power disturbance are identified, the three-dimensional stress wave induced rupture damage inside the surrounding rock is evaluated, and the long-time continuous monitoring of the rupture evolution process of the surrounding rock in the risk area can be realized.

[0007] In order to achieve the above object, the present application adopts the following technical scheme: a multi-source power disturbance triggering surrounding rock rupture evolution process long-time monitoring device, comprising a body frame, a hole wall surrounding rock image acquisition module, a hole wall multi-source vibration monitoring module, a hole walking module and a monitoring signal storage and transmission module; the hole wall surrounding rock image acquisition module is arranged at the front end of the body frame; the hole wall multi-source vibration monitoring module is arranged on the body frame behind the hole wall surrounding rock image acquisition module; the hole walking module is arranged on the body frame behind the hole wall multi-source vibration monitoring module; the monitoring signal storage and transmission module is arranged at the rear end of the body frame, and the monitoring signal storage and transmission module is connected in communication with a computer outside the hole through a cable or a wireless network.

[0008] The hole wall surrounding rock image acquisition module comprises a 360° panoramic camera, a transparent protective cover, an LED illuminating lamp and a conical reflector; the 360° panoramic camera is arranged at the center of the transparent protective cover; the LED illuminating lamp is located in the transparent protective cover, and the LED illuminating lamps are uniformly distributed along the circumferential direction of the 360° panoramic camera; each LED illuminating lamp is provided with a conical reflector, and the LED illuminating lamp is arranged at the center of the conical reflector.

[0009] The hole wall multi-source vibration monitoring module comprises a sensor lifting actuator and a three-axis vibration monitoring sensor assembly; the sensor lifting actuator is arranged on the body frame, and the three-axis vibration monitoring sensor assembly is arranged on the lifting actuator.

[0010] The sensor lifting actuator comprises a first electric push rod, a first translation slide rod, a first connecting rod, a lifting support frame, a first lifting slide rod and a second lifting slide rod; the first electric push rod is horizontally fixed at the bottom of the body frame, the power output shaft end of the first electric push rod is hinged to the middle part of the first translation slide rod, and the first translation slide rod is vertically distributed with the first electric push rod; a horizontal sliding groove is arranged on the body frame; the end of the first translation slide rod is located in the horizontal sliding groove, and the first translation slide rod has a linear translation degree of freedom along the horizontal sliding groove; the first connecting rod adopts a parallel double rod structure, the lower end of the first connecting rod is hinged to the first translation slide rod, and the upper end of the first connecting rod is hinged to the middle part of the lifting support frame; the lifting support frame is horizontally arranged, and the three-axis vibration monitoring sensor assembly is installed above the lifting support frame; the first lifting slide rod is horizontally installed at the front end of the lifting support frame, the second lifting slide rod is horizontally installed at the rear end of the lifting support frame, and the first lifting slide rod, the second lifting slide rod and the first translation slide rod are parallelly distributed; a first vertical sliding groove and a second vertical sliding groove are arranged on the body frame; the end of the first lifting slide rod is located in the first vertical sliding groove, and the first lifting slide rod has a linear lifting degree of freedom along the first vertical sliding groove; the end of the second lifting slide rod is located in the second vertical sliding groove, and the second lifting slide rod has a linear lifting degree of freedom along the second vertical sliding groove.

[0011] The triaxial vibration monitoring sensor assembly comprises a triaxial acceleration sensor, an acoustic emission sensor, a temperature sensor and a pulse sensor, and the triaxial acceleration sensor, the acoustic emission sensor, the temperature sensor and the pulse sensor are integrally installed in a coupling shell.

[0012] The hole walking module comprises a lower walking double-output shaft motor, a lower walking wheel, a first upper walking double-output shaft motor, a first upper walking wheel, a second upper walking double-output shaft motor, a second upper walking wheel and an upper walking wheel lifting actuator; the lower walking double-output shaft motor is horizontally fixed on the bottom of the machine body frame, and the lower walking wheel is installed on the motor shaft of the lower walking double-output shaft motor; the upper walking wheel lifting actuator is arranged above the machine body frame; the first upper walking double-output shaft motor and the second upper walking double-output shaft motor are arranged side by side on the upper walking wheel lifting actuator; the first upper walking wheel is installed on the motor shaft of the first upper walking double-output shaft motor; the second upper walking wheel is installed on the motor shaft of the second upper walking double-output shaft motor; a first lower driven wheel is arranged at the front end of the machine body frame, and a second lower driven wheel is arranged at the rear end of the machine body frame.

[0013] The upper walking wheel lifting actuator comprises a second electric push rod, a second translation slide rod, a horizontal slide rail, a second connecting rod, a first rocker, a second rocker and a third connecting rod; the second electric push rod is horizontally arranged above the machine body frame, the power output shaft of the second electric push rod is hinged to the middle part of the second translation slide rod, and the second translation slide rod is vertically distributed with the second electric push rod; the horizontal slide rail adopts a parallel double-rail structure, and is arranged on the machine body frame on both sides of the second electric push rod; the end part of the second translation slide rod is located in the horizontal slide rail, and the second translation slide rod has a linear translation degree of freedom along the horizontal slide rail; the first rocker adopts a parallel double-rod structure, the lower end of the first rocker is hinged to the machine body frame, the first rocker is adjacent to the hole wall multi-source vibration monitoring module, and the first upper walking double-output shaft motor is fixedly installed on the upper end of the first rocker; the second rocker adopts a parallel double-rod structure, the lower end of the second rocker is hinged to the machine body frame, the second rocker is adjacent to the monitoring signal storage and transmission module, and the second upper walking double-output shaft motor is fixedly installed on the upper end of the second rocker; the second connecting rod adopts a parallel double-rod structure, the lower end of the second connecting rod is hinged to the middle part of the second translation slide rod, and the upper end of the second connecting rod is hinged to the middle part of the second rocker; the third connecting rod adopts a parallel double-rod structure, the front end of the third connecting rod is hinged to the middle part of the first rocker, and the rear end of the third connecting rod is hinged to the middle part of the second rocker; a parallelogram mechanism is formed by the first rocker, the third connecting rod, the second rocker and the machine body frame.

[0014] A multi-source power disturbance triggered surrounding rock fracture evolution process long-time monitoring method adopts the multi-source power disturbance triggered surrounding rock fracture evolution process long-time monitoring device, and comprises the following steps:

[0015] Step one: send the long-time monitoring device of the multi-source power disturbance triggering surrounding rock rupture evolution process into the borehole, so that the descending walking wheel, the first lower driven wheel and the second lower driven wheel are in contact with the surrounding rock hole wall;

[0016] Step two: start the ascending walking wheel lifting actuator, so that the first ascending walking wheel and the second ascending walking wheel are in contact with the surrounding rock hole wall;

[0017] Step three: set the vibration monitoring point, vibration monitoring time, abnormal vibration frequency and hole wall surrounding rock image acquisition module running time interval in the computer;

[0018] Step four: start the descending walking double-shaft motor, the first ascending walking double-shaft motor and the second ascending walking double-shaft motor to drive the descending walking wheel, the first ascending walking wheel and the second ascending walking wheel to rotate, and drive the long-time monitoring device of the multi-source power disturbance triggering surrounding rock rupture evolution process to move to the vibration monitoring point;

[0019] Step five: start the sensor lifting actuator to lift the three-axis vibration monitoring sensor assembly upward, so that the three-axis vibration monitoring sensor assembly is in coupled contact with the surrounding rock hole wall;

[0020] Step six: start the three-axis vibration monitoring sensor assembly to start vibration monitoring;

[0021] Step seven: when the vibration monitoring time is reached, start the sensor lifting actuator to decouple the three-axis vibration monitoring sensor assembly 5 from the surrounding rock hole wall, until the three-axis vibration monitoring sensor assembly falls back to the initial position;

[0022] Step eight: start the descending walking double-shaft motor, the first ascending walking double-shaft motor and the second ascending walking double-shaft motor to drive the descending walking wheel, the first ascending walking wheel and the second ascending walking wheel to rotate, and drive the long-time monitoring device of the multi-source power disturbance triggering surrounding rock rupture evolution process to move to the hole position;

[0023] Step nine: start the hole wall surrounding rock image acquisition module, and simultaneously control the long-time monitoring device of the multi-source power disturbance triggering surrounding rock rupture evolution process to move from the hole position to the hole bottom position, and complete image acquisition of the surrounding rock hole wall through the hole wall surrounding rock image acquisition module during the movement;

[0024] Step ten: after the complete image acquisition of the surrounding rock hole wall is completed, control the long-time monitoring device of the multi-source power disturbance triggering surrounding rock rupture evolution process to move back to the vibration monitoring point;

[0025] Step eleven: repeat steps five to ten to perform long-time continuous monitoring of the surrounding rock rupture evolution process.

[0026] The beneficial effects of the present application are as follows:

[0027] The multi-source power disturbance triggered surrounding rock rupture evolution process long-time monitoring device and method can realize integrated monitoring of imaging and vibration in a borehole, realize coupling and decoupling of a sensor and surrounding rock through mechanical lifting during vibration monitoring, realize monitoring of surrounding rock states before and after a power disturbance wave, identify initiation, expansion and penetration of rock mass cracks under the action of a power disturbance, can be used for evaluating rupture damage in a surrounding rock caused by a three-dimensional stress wave, and can realize long-time continuous monitoring of a surrounding rock rupture evolution process in a risk area. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 is a structural schematic view of the multi-source power disturbance triggered surrounding rock rupture evolution process long-time monitoring device of the present application.

[0029] In the figure, 1 is a body frame, 2 is a borehole wall surrounding rock image acquisition module, 3 is a monitoring signal storage and transmission module, 4 is a cable, 5 is a three-axis vibration monitoring sensor assembly, 6 is a first electric push rod, 7 is a first translation slide rod, 8 is a first connecting rod, 9 is a lifting support frame, 10 is a first lifting slide rod, 11 is a second lifting slide rod, 12 is a horizontal sliding groove, 13 is a first vertical sliding groove, 14 is a second vertical sliding groove, 15 is a lower walking double-output shaft motor, 16 is a lower walking wheel, 17 is a first upper walking double-output shaft motor, 18 is a first upper walking wheel, 19 is a second upper walking double-output shaft motor, 20 is a second upper walking wheel, 21 is a first lower driven wheel, 22 is a second lower driven wheel, 23 is a second electric push rod, 24 is a horizontal sliding rail, 25 is a second connecting rod, 26 is a first rocker, 27 is a second rocker, and 28 is a third connecting rod. DETAILED DESCRIPTION

[0030] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0031] As shown in Fig. 1, a multi-source power disturbance triggered surrounding rock rupture evolution process long-time monitoring device comprises a body frame 1, a borehole wall surrounding rock image acquisition module 2, a borehole wall multi-source vibration monitoring module, a borehole walking module and a monitoring signal storage and transmission module 3. The borehole wall surrounding rock image acquisition module 2 is arranged at the most front end of the body frame 1. The borehole wall multi-source vibration monitoring module is arranged on the body frame 1 behind the borehole wall surrounding rock image acquisition module 2. The borehole walking module is arranged on the body frame 1 behind the borehole wall multi-source vibration monitoring module. The monitoring signal storage and transmission module 3 is arranged at the last end of the body frame 1. The monitoring signal storage and transmission module 3 is in communication connection with a computer outside the borehole through a cable 4 or a wireless network.

[0032] In this embodiment, the computer can be selected from a notebook computer, a desktop computer, a tablet computer, a smart phone, etc. When the signal transmission mode is selected as a wireless transmission mode, both a short-range wireless transmission mode of Bluetooth transmission or WiFi transmission and a long-range wireless transmission mode of a 4G or 5G network can be adopted, so as to realize remote cross-regional monitoring of a cloud platform and to realize real-time viewing of vibration monitoring data and surrounding rock hole wall rupture evolution images on the computer. In addition, the computer can be used to remotely control the advancing direction and advancing speed of the monitoring device in the borehole, to control the coupling and decoupling of the hole wall multi-source vibration monitoring module and the surrounding rock hole wall, and to control the image acquisition of the hole wall surrounding rock image acquisition module 2.

[0033] The hole wall surrounding rock image acquisition module 2 comprises a 360° panoramic camera, a transparent protective cover, an LED illuminating lamp and a conical reflector; the 360° panoramic camera is arranged at the center of the transparent protective cover; the LED illuminating lamp is located in the transparent protective cover, and the LED illuminating lamp is uniformly distributed along the circumferential direction of the 360° panoramic camera; each LED illuminating lamp is provided with a conical reflector, and the LED illuminating lamp is arranged at the center of the conical reflector.

[0034] In this embodiment, the imaging resolution of the 360° panoramic camera is 1920x1080, the measurement accuracy of the 360° panoramic camera is 0.5%, and the metering accuracy of the 360° panoramic camera is 0.001 m.

[0035] The hole wall multi-source vibration monitoring module comprises a sensor lifting actuator and a three-axis vibration monitoring sensor assembly 5; the sensor lifting actuator is arranged on the body frame 1, and the three-axis vibration monitoring sensor assembly 5 is arranged on the lifting actuator.

[0036] The sensor lifting actuator comprises a first electric push rod 6, a first translation slide rod 7, a first connecting rod 8, a lifting support frame 9, a first lifting slide rod 10 and a second lifting slide rod 11; the first electric push rod 6 is horizontally fixed at the bottom of the body frame 1, and the power output shaft end of the first electric push rod 6 is hinged at the middle part of the first translation slide rod 7, and the first translation slide rod 7 is vertically distributed with the first electric push rod 6; a horizontal sliding groove 12 is arranged on the body frame 1; the end of the first translation slide rod 7 is located in the horizontal sliding groove 12, and the first translation slide rod 7 has a linear translation degree of freedom along the horizontal sliding groove 12; the first connecting rod 8 adopts a parallel double-rod structure, the lower end of the first connecting rod 8 is hinged on the first translation slide rod 7, and the upper end of the first connecting rod 8 is hinged at the middle part of the lifting support frame 9; the lifting support frame 9 is horizontally arranged, and the three-axis vibration monitoring sensor assembly 5 is installed above the lifting support frame 9; the first lifting slide rod 10 is horizontally installed at the front end of the lifting support frame 9, and the second lifting slide rod 11 is horizontally installed at the rear end of the lifting support frame 9, and the first lifting slide rod 10 and the second lifting slide rod 11 are parallelly distributed with the first translation slide rod 7; a first vertical sliding groove 13 and a second vertical sliding groove 14 are arranged on the body frame 1; the end of the first lifting slide rod 10 is located in the first vertical sliding groove 13, and the first lifting slide rod 10 has a linear lifting degree of freedom along the first vertical sliding groove 13; the end of the second lifting slide rod 11 is located in the second vertical sliding groove 14, and the second lifting slide rod 11 has a linear lifting degree of freedom along the second vertical sliding groove 14.

[0037] The working principle of the sensor lifting actuator is as follows: when the first electric push rod 6 is started, the power output shaft can perform linear extension and retraction movement, and the power output shaft of the first electric push rod 6 can drive the first translation slide rod 7 to perform forward and backward translation movement along the horizontal sliding groove 12. When the first translation slide rod 7 performs forward and backward translation movement, the lifting support frame 9 is driven to move through the transmission of the first connecting rod 8, and since the first lifting slide rod 10 and the second lifting slide rod 11 are located in the first vertical sliding groove 13 and the second vertical sliding groove 14 respectively, the first lifting slide rod 10 can only perform vertical lifting movement along the first vertical sliding groove 13, and at the same time, the second lifting slide rod 11 can only perform vertical lifting movement along the second vertical sliding groove 14, thereby limiting the lifting support frame 9 to only perform vertical lifting movement along the first vertical sliding groove 13 and the second vertical sliding groove 14. Through the vertical lifting movement of the lifting support frame 9, the three-axis vibration monitoring sensor assembly 5 on the lifting support frame 9 can be driven to perform vertical lifting movement, and finally the coupling and decoupling of the three-axis vibration monitoring sensor assembly 5 and the surrounding rock hole wall can be realized.

[0038] The three-axis vibration monitoring sensor assembly 5 comprises a three-axis acceleration sensor, an acoustic emission sensor, a temperature sensor and a pulse sensor, and the three-axis acceleration sensor, the acoustic emission sensor, the temperature sensor and the pulse sensor are integrally installed in a coupling shell.

[0039] In this embodiment, the vibration speed collection range of the three-axis acceleration sensor is 0-40 cm / s, the acceleration collection range of the three-axis acceleration sensor is-20g-20g, the vibration frequency range of the three-axis acceleration sensor is 0-1 kHz; the sound signal collection frequency response of the acoustic emission sensor is 20 Hz-20000 Hz; the temperature collection range of the temperature sensor is-40℃-100℃; the impact pulse energy collection range of the pulse sensor is 40db-110db, and the impact pulse collection peak value of the pulse sensor is 50db-130db.

[0040] The hole walking module comprises a lower walking double-output shaft motor 15, a lower walking wheel 16, a first upper walking double-output shaft motor 17, a first upper walking wheel 18, a second upper walking double-output shaft motor 19, a second upper walking wheel 20, and an upper walking wheel lifting actuator; the lower walking double-output shaft motor 15 is horizontally fixed at the bottom of the machine body frame 1, and the lower walking wheel 16 is installed on the motor shaft of the lower walking double-output shaft motor 15; the upper walking wheel lifting actuator is arranged above the machine body frame 1; the first upper walking double-output shaft motor 17 and the second upper walking double-output shaft motor 19 are arranged side by side on the upper walking wheel lifting actuator; the first upper walking wheel 18 is installed on the motor shaft of the first upper walking double-output shaft motor 17; the second upper walking wheel 20 is installed on the motor shaft of the second upper walking double-output shaft motor 19; a first lower driven wheel 21 is arranged at the front end of the machine body frame 1, and a second lower driven wheel 22 is arranged at the rear end of the machine body frame 1.

[0041] The working principle of the hole walking module is as follows: when the lower walking double-output shaft motor 15 is started, the lower walking wheel 16 can be directly driven to rotate; when the first upper walking double-output shaft motor 17 is started, the first upper walking wheel 18 can be directly driven to rotate; and when the second upper walking double-output shaft motor 19 is started, the second upper walking wheel 20 can be directly driven to rotate. When the device moves along the drill hole, the first lower driven wheel 21 and the second lower driven wheel 22 can realize follow-up driving, thereby improving the stability of the device during movement.

[0042] The up-walking wheel lifting execution mechanism comprises a second electric push rod 23, a second translation slide rod, a horizontal slide rail 24, a second connecting rod 25, a first rocker 26, a second rocker 27 and a third connecting rod 28; the second electric push rod 23 is horizontally arranged above the body frame 1, a power output shaft of the second electric push rod 23 is hinged to the middle part of the second translation slide rod, and the second translation slide rod is vertically distributed with the second electric push rod 23; the horizontal slide rail 24 adopts a parallel double-rail structure, the horizontal slide rail 24 is arranged on the body frame 1 on both sides of the second electric push rod 23, the end part of the second translation slide rod is located in the horizontal slide rail 24, and the second translation slide rod has a linear translation degree of freedom along the horizontal slide rail 24; the first rocker 26 adopts a parallel double-rod structure, the lower end of the first rocker 26 is hinged to the body frame 1, the first rocker 26 is adjacent to the hole wall multi-source vibration monitoring module, and the first up-walking double-output shaft motor 17 is fixedly arranged on the upper end of the first rocker 26; the second rocker 27 adopts a parallel double-rod structure, the lower end of the second rocker 27 is hinged to the body frame 1, the second rocker 27 is adjacent to the monitoring signal storage and transmission module 3, and the second up-walking double-output shaft motor 19 is fixedly arranged on the upper end of the second rocker 27; the second connecting rod 25 adopts a parallel double-rod structure, the lower end of the second connecting rod 25 is hinged to the middle part of the second translation slide rod, and the upper end of the second connecting rod 25 is hinged to the middle part of the second rocker 27; the third connecting rod 28 adopts a parallel double-rod structure, the front end of the third connecting rod 28 is hinged to the middle part of the first rocker 26, and the rear end of the third connecting rod 28 is hinged to the middle part of the second rocker 27; the first rocker 26, the third connecting rod 28, the second rocker 27 and the body frame 1 form a parallelogram mechanism.

[0043] The working principle of the up-walking wheel lifting execution mechanism is as follows: when the second electric push rod 23 is started, the power output shaft of the second electric push rod 23 can perform linear extension and retraction movement, and the power output shaft of the second electric push rod 23 can drive the second translation slide rod to perform forward and backward translation movement along the horizontal slide rail 24. When the second translation slide rod performs forward and backward translation movement, the second translation slide rod drives the second rocker 27 to perform swing movement around the lower hinge point through the second connecting rod 25, and then drives the second up-walking double-output shaft motor 19 at the upper end of the second rocker 27 to perform synchronous movement, so as to realize lifting or lowering of the second up-walking double-output shaft motor 19 and the second up-walking wheel 20 thereon. At the same time, in the swing movement process of the second rocker 27 around the lower hinge point, the first rocker 26 is driven to perform swing movement around the lower hinge point through the third connecting rod 28, and then the first up-walking double-output shaft motor 17 at the upper end of the first rocker 26 is driven to perform synchronous movement, so as to realize lifting or lowering of the first up-walking double-output shaft motor 17 and the first up-walking wheel 18 thereon.

[0044] A long-time monitoring method for a surrounding rock breakage evolution process triggered by multi-source power disturbance adopts the long-time monitoring device for the surrounding rock breakage evolution process triggered by multi-source power disturbance, and comprises the following steps.

[0045] Step one: send the long-time monitoring device of the surrounding rock fracture evolution process triggered by multi-source power disturbance into the borehole, so that the descending walking wheel 16, the first lower driven wheel 21 and the second lower driven wheel 22 are in contact with the surrounding rock hole wall;

[0046] Step two: start the ascending walking wheel lifting actuator, so that the first ascending walking wheel 18 and the second ascending walking wheel 20 are in contact with the surrounding rock hole wall;

[0047] Step three: set the vibration monitoring point, vibration monitoring time, abnormal vibration frequency and image acquisition module 2 running time interval of the surrounding rock hole wall in the computer;

[0048] Step four: start the descending walking double-shaft motor 15, the first ascending walking double-shaft motor 17 and the second ascending walking double-shaft motor 19 to drive the descending walking wheel 16, the first ascending walking wheel 18 and the second ascending walking wheel 20 to rotate, and drive the long-time monitoring device of the surrounding rock fracture evolution process triggered by multi-source power disturbance to move to the vibration monitoring point;

[0049] Step five: start the sensor lifting actuator to lift the three-axis vibration monitoring sensor assembly 5 upward, so that the three-axis vibration monitoring sensor assembly 5 is in coupled contact with the surrounding rock hole wall;

[0050] Step six: start the three-axis vibration monitoring sensor assembly 5 to start vibration monitoring;

[0051] Step seven: when the vibration monitoring time is reached, start the sensor lifting actuator to decouple the three-axis vibration monitoring sensor assembly 5 from the surrounding rock hole wall, until the three-axis vibration monitoring sensor assembly 5 falls back to the initial position;

[0052] Step eight: start the descending walking double-shaft motor 15, the first ascending walking double-shaft motor 17 and the second ascending walking double-shaft motor 19 to drive the descending walking wheel 16, the first ascending walking wheel 18 and the second ascending walking wheel 20 to rotate, and drive the long-time monitoring device of the surrounding rock fracture evolution process triggered by multi-source power disturbance to move to the hole position;

[0053] Step nine: start the hole wall surrounding rock image acquisition module 2, and at the same time control the long-time monitoring device of the surrounding rock fracture evolution process triggered by multi-source power disturbance to move from the hole position to the hole bottom position, and during the movement, the hole wall surrounding rock image acquisition module 2 is used to collect complete images of the surrounding rock hole wall;

[0054] Step ten: after the complete image collection of the surrounding rock hole wall is completed, control the long-time monitoring device of the surrounding rock fracture evolution process triggered by multi-source power disturbance to move back to the vibration monitoring point;

[0055] Step eleven: repeat steps five to ten to continuously monitor the surrounding rock fracture evolution process.

[0056] The schemes in the embodiments are not intended to limit the protection scope of the present application, and equivalent implementations or changes made without departing from the present application are included in the protection scope of the present application.

Claims

1. A multi-source power disturbance triggering surrounding rock fracture evolution process long-time monitoring device, characterized by: The utility model relates to a kind of borehole wall vibration monitoring device, including body frame, borehole wall surrounding rock image acquisition module, borehole wall multi-source vibration monitoring module, borehole walking module and monitoring signal storage and transmission module;The borehole wall surrounding rock image acquisition module is set in the most front end of body frame;The borehole wall multi-source vibration monitoring module is set on the body frame behind borehole wall surrounding rock image acquisition module;The borehole walking module is set on the body frame behind borehole wall multi-source vibration monitoring module;The monitoring signal storage and transmission module is set in the last end of body frame, and monitoring signal storage and transmission module are connected with the computer outside drilling by cable or wireless network and communicate.

2. The multi-source power disturbance trigger surrounding rock fracture evolution process long-time monitoring device according to claim 1, characterized in that: The borehole wall surrounding rock image acquisition module includes 360 ° panoramic camera, transparent protective cover, LED illuminating lamp and conical reflector;The 360 ° panoramic camera is set at the center of transparent protective cover;The LED illuminating lamp is located in transparent protective cover, and LED illuminating lamp is evenly distributed along the circumferential direction of 360 ° panoramic camera;Each LED illuminating lamp is provided with a conical reflector, and LED illuminating lamp is set at the center of conical reflector.

3. The multi-source power disturbance trigger surrounding rock fracture evolution process long-time monitoring device according to claim 1, characterized in that: The borehole wall multi-source vibration monitoring module includes sensor lifting actuator and three-axis vibration monitoring sensor assembly;The sensor lifting actuator is set on the body frame, and the three-axis vibration monitoring sensor assembly is set on lifting actuator.

4. The multi-source power disturbance trigger surrounding rock fracture evolution process long-time monitoring device according to claim 2, characterized in that: The sensor lifting actuator includes first electric push rod, first translation slide bar, first connecting rod, lifting support frame, first lifting slide bar and second lifting slide bar;The first electric push rod is horizontally fixed on the bottom of body frame, and the power output shaft end of first electric push rod is hinged in the middle of first translation slide bar, and first translation slide bar is vertically distributed with first electric push rod;Horizontal sliding slot is provided on the body frame;The end of first translation slide bar is located in horizontal sliding slot, and first translation slide bar has linear translation freedom along horizontal sliding slot;The first connecting rod adopts parallel double-bar structure, and the lower end of first connecting rod is hinged on first translation slide bar, and the upper end of first connecting rod is hinged in the middle of lifting support frame;The lifting support frame is horizontally set, and the three-axis vibration monitoring sensor assembly is installed above lifting support frame;The first lifting slide bar is horizontally installed at the front end of lifting support frame, and the second lifting slide bar is horizontally installed at the rear end of lifting support frame, and first lifting slide bar, second lifting slide bar and first translation slide bar are parallelly distributed;First vertical sliding slot and second vertical sliding slot are provided on the body frame;The end of first lifting slide bar is located in first vertical sliding slot, and first lifting slide bar has linear lifting freedom along first vertical sliding slot;The end of second lifting slide bar is located in second vertical sliding slot, and second lifting slide bar has linear lifting freedom along second vertical sliding slot.

5. The multi-source power disturbance trigger surrounding rock fracture evolution process long-time monitoring device according to claim 1, characterized in that: The three-axis vibration monitoring sensor assembly includes three-axis acceleration sensor, acoustic emission sensor, temperature sensor and pulse sensor, and the three-axis acceleration sensor, acoustic emission sensor, temperature sensor and pulse sensor are integrally installed in coupling shell.

6. The multi-source power disturbance trigger surrounding rock fracture evolution process long-time monitoring device according to claim 3, characterized in that: The hole inner walking module comprises a lower walking double-output shaft motor, a lower walking wheel, a first upper walking double-output shaft motor, a first upper walking wheel, a second upper walking double-output shaft motor, a second upper walking wheel and an upper walking wheel lifting actuator; the lower walking double-output shaft motor is horizontally fixed on the bottom of the machine body frame, and the lower walking wheel is installed on the motor shaft of the lower walking double-output shaft motor; the upper walking wheel lifting actuator is arranged above the machine body frame; the first upper walking double-output shaft motor and the second upper walking double-output shaft motor are arranged side by side on the upper walking wheel lifting actuator; the first upper walking wheel is installed on the motor shaft of the first upper walking double-output shaft motor; the second upper walking wheel is installed on the motor shaft of the second upper walking double-output shaft motor; a first lower driven wheel is arranged at the front end of the machine body frame, and a second lower driven wheel is arranged at the rear end of the machine body frame.

7. The multi-source power disturbance trigger surrounding rock fracture evolution process long-time monitoring device according to claim 6, characterized in that: The upper walking wheel lifting actuator comprises a second electric push rod, a second translation slide rod, a horizontal slide rail, a second connecting rod, a first rocker, a second rocker and a third connecting rod; the second electric push rod is horizontally arranged above the machine body frame, the power output shaft of the second electric push rod is hinged to the middle part of the second translation slide rod, and the second translation slide rod is vertically distributed with the second electric push rod; the horizontal slide rail adopts a parallel double-rail structure, and is arranged on the machine body frame on the two sides of the second electric push rod; the end part of the second translation slide rod is located in the horizontal slide rail, and the second translation slide rod has a linear translation degree of freedom along the horizontal slide rail; the first rocker adopts a parallel double-rod structure, the lower end of the first rocker is hinged to the machine body frame, the first rocker is adjacent to the hole wall multi-source vibration monitoring module, and the first upper walking double-output shaft motor is fixedly installed on the upper end of the first rocker; the second rocker adopts a parallel double-rod structure, the lower end of the second rocker is hinged to the machine body frame, the second rocker is adjacent to the monitoring signal storage and transmission module, and the second upper walking double-output shaft motor is fixedly installed on the upper end of the second rocker; the second connecting rod adopts a parallel double-rod structure, the lower end of the second connecting rod is hinged to the middle part of the second translation slide rod, and the upper end of the second connecting rod is hinged to the middle part of the second rocker; the third connecting rod adopts a parallel double-rod structure, the front end of the third connecting rod is hinged to the middle part of the first rocker, and the rear end of the third connecting rod is hinged to the middle part of the second rocker; the first rocker, the third connecting rod, the second rocker and the machine body frame constitute a parallelogram mechanism.

8. A long-time monitoring method of the evolution process of the rock failure triggered by multi-source power disturbance, using the long-time monitoring device of the evolution process of the rock failure triggered by multi-source power disturbance according to claim 6, characterized in that, The method comprises the following steps: Step one: send the multi-source power disturbance triggering surrounding rock rupture evolution process long-time monitoring device into the borehole, so that the lower walking wheel, the first lower driven wheel and the second lower driven wheel are in contact with the surrounding rock hole wall; Step two: start the upper walking wheel lifting actuator, so that the first upper walking wheel and the second upper walking wheel are in contact with the surrounding rock hole wall; Step three: set the vibration monitoring point, the vibration monitoring time length, the abnormal vibration frequency and the image acquisition module running time interval of the hole wall surrounding rock in the computer; Step four: start the lower walking double-output shaft motor, the first upper walking double-output shaft motor and the second upper walking double-output shaft motor, drive the lower walking wheel, the first upper walking wheel and the second upper walking wheel to rotate, and drive the multi-source power disturbance triggering surrounding rock rupture evolution process long-time monitoring device to move to the vibration monitoring point. Step five: start the sensor lifting actuator, lift the triaxial vibration monitoring sensor assembly upward, so that the triaxial vibration monitoring sensor assembly is coupled with the surrounding rock hole wall; Step six: start the triaxial vibration monitoring sensor assembly and start vibration monitoring; Step seven: when the vibration monitoring time is reached, start the sensor lifting actuator to decouple the triaxial vibration monitoring sensor assembly 5 from the surrounding rock hole wall until the triaxial vibration monitoring sensor assembly falls back to the initial position; Step eight: start the down-going walking double-output shaft motor, the first up-going walking double-output shaft motor and the second up-going walking double-output shaft motor to drive the down-going walking wheel, the first up-going walking wheel and the second up-going walking wheel to rotate, and drive the multi-source power disturbance triggered surrounding rock fracture evolution process long-time monitoring device to move to the hole position; Step nine: start the hole wall surrounding rock image acquisition module, and control the multi-source power disturbance triggered surrounding rock fracture evolution process long-time monitoring device to move from the hole position to the hole bottom position, and complete image acquisition of the surrounding rock hole wall through the hole wall surrounding rock image acquisition module during the movement; Step ten: when the complete image acquisition of the surrounding rock hole wall is completed, control the multi-source power disturbance triggered surrounding rock fracture evolution process long-time monitoring device to move back to the vibration monitoring point; Step eleven: repeat steps five to ten to continuously monitor the surrounding rock fracture evolution process.

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