Borehole fracture-deformation-wave velocity integrated intelligent sensing apparatus and method for engineering rock mass

A borehole fracture-deformation-wave velocity integrated intelligent sensing apparatus for an engineering rock mass, the apparatus comprising:

• an in-hole monitoring execution unit;
• and
• an out-hole monitoring unit connected to the in-hole monitoring execution unit by a cable;
• wherein the in-hole monitoring execution unit comprises a hole-diameter-adaptive crawling robot and a combined multifunctional probe assembly, the combined multifunctional probe assembly being connected to a front end of the hole-diameter-adaptive crawling robot by a quick joint having a male end and a female end, a rear end of the hole-diameter-adaptive crawling robot being connected to the cable;
• wherein the combined multifunctional probe assembly comprises a high-definition wide-angle camera, a laser radar probe, and an acoustic transceiver probe;
• the male end of the quick joint is fixedly mounted on the high-definition wide-angle camera, and the female end of the quick joint is fixedly mounted on the hole-diameter-adaptive crawling robot;
• the high-definition wide-angle camera is sealingly disposed within a transparent protective cover;
• and the laser radar probe and the acoustic transceiver probe are connected in series and fixed to a front end of the transparent protective cover by an adapter, or the laser radar probe and the acoustic transceiver probe are each independently fixed to the front end of the transparent protective cover by one or more adapters;
• wherein the hole-diameter-adaptive crawling robot comprises:
• a robot body having a waterproof sealed shell defining a sealed cavity therein;
• and
• two lift-type electric crawler walking mechanisms configured to enable hole-diameter-adaptive crawling movement of the hole-diameter-adaptive crawling robot within a borehole, each of the two lift-type electric crawler walking mechanisms having a respective waterproof sealed shell structure;
• wherein an air pressure sensor is disposed within the robot body, and a charging nozzle is disposed on a rear portion of the shell of the robot body, the sealed cavity being in fluid communication with an interior of the transparent protective cover and being charged to a pressure value of 1.2 bar to 1.6 bar;
• wherein the air pressure sensor is configured to detect, in real time, a pressure value within the sealed cavity and to transmit measured pressure data to the out-hole monitoring unit via the cable, and wherein the out-hole monitoring unit is configured to generate an alarm when the detected pressure value falls below 1.2 bar;
• wherein each of the two lift-type electric crawler walking mechanisms further comprises a controller and a force sensor, the force sensor being configured to detect, in real time, a supporting force N exerted by the respective lift-type electric crawler walking mechanism against a wall of the borehole, and the controller being configured to:
• receive measured data from the force sensor,
• convert the supporting force N into a real-time friction force F between the respective lift-type electric crawler walking mechanism and the wall of the borehole,
• compare the real-time friction force F against a predetermined minimum allowable friction force Fmin stored in the controller, and
• when F<Fmin, increase the supporting force N until F>Fmin;
• wherein the cable has an integrated structure comprising cable lines and a water pipe disposed within a sheath, the cable lines being configured to transmit control instructions and monitoring data between the in-hole monitoring execution unit and the out-hole monitoring unit, and the water pipe being configured to convey water into the borehole;
• wherein the out-hole monitoring unit comprises an equipment cabinet fixedly installed within a tunnel, the equipment cabinet housing an industrial personal computer connected to the cable lines, the industrial personal computer comprising a wireless data transmission module configured for remote connection to a master control system disposed in a tunnel supervision room;
• and
• wherein the master control system is configured to receive data generated by the hole-diameter-adaptive crawling robot and the combined multifunctional probe assembly via the cable lines and the industrial personal computer, and to collect data in at least three modes comprising:
• collection at equal time intervals, collection at designated input times, and continuous real-time collection.