Advanced perception system for in-situ engineering rock mass information

An advanced perception system for in-situ engineering rock mass information, comprising a perception tube, wherein

• the perception tube is of a tubular structure and is configured to extend into a hole to perceive and monitor the hole;
• the perception tube comprises a dynamic excitation mechanism, an in-situ echo and elastic wave collection mechanism, an autonomous travelling mechanism, and a visual perception mechanism;
• the dynamic excitation mechanism comprises a first driving unit and an excitation unit, wherein the first driving unit drives the excitation unit to extend or retract in a radial direction of the perception tube, and the excitation unit strikes an inner wall of the hole to provide a dynamically-adjustable impact signal for the inner wall of the hole when working;
• the in-situ echo and elastic wave collection mechanism comprises a second driving unit and a geophone, wherein the second driving unit drives the geophone to extend or retract in the radial direction of the perception tube, and the geophone is configured to collect the impact signal generated by the excitation unit;
• the autonomous travelling mechanism is configured to drive the perception tube to move in an axial direction of the hole;
• the excitation unit comprises an impact housing, an impact rod, and an electromagnetic excitation source, wherein the impact rod is arranged in the impact housing and is slidable in the impact housing, and one end of the electromagnetic excitation source extends into the impact housing to drive the impact rod to collide in the impact housing;
• the electromagnetic excitation source comprises an excitation source base and an excitation source housing arranged on the excitation source base, wherein an electromagnetic member and an armature are arranged in the excitation source housing, the electromagnetic member is arranged on the excitation source base, an elastic member is arranged between the electromagnetic member and the armature, and the elastic member has a tendency to drive the armature to move away from the electromagnetic member;
• a cavity is formed in the electromagnetic member, a cylinder fixed in the cavity is arranged in the cavity, an alternating current coil and a direct current coil are wrapped around the cylinder, and the alternating current coil and the direct current coil are energized separately or simultaneously;
• the alternating current coil is arranged below the direct current coil;
• the armature is subjected to a superimposed or attenuated electromagnetic force when the direct current coil and the alternating current coil work simultaneously, wherein the superimposed or attenuated electromagnetic force encompasses a constant component and an alternating component;
• a motion track of the armature and a magnitude of an excitation force are precisely controlled by adjusting magnitudes and phases of a direct current and an alternating current as required, so as to drive the impact rod to strike the excitation source housing and transmit striking to the inner wall of the hole of a rock mass through the excitation source housing to make motion of the armature become more complex and diverse;
• the autonomous travelling mechanism comprises a driving housing, a driving motor arranged in the driving housing, and at least two driving members, wherein the driving members are uniformly distributed on a circumferential surface of the driving housing, and the driving motor is configured to drive each driving member to rotate;
• each driving member comprises a wheel carrier hinged on the driving housing, wherein one end of each wheel carrier is rotatably connected to a worm gear, the other end of each wheel carrier is rotatably connected to a caster, and a synchronous belt is connected between each worm gear and the caster;
• an output shaft of the driving motor is connected to a worm, and each worm gear engages with the worm;
• a tension spring is arranged on each wheel carrier, each tension spring is connected to the driving housing, and each tension spring has a tendency to drive the caster to move away from the driving housing;
• and
• the visual perception mechanism comprises a front camera and a lateral camera, wherein the front camera is arranged inside the perception tube, and the lateral camera is rotatably connected in the perception tube and is connected to the worm;
• and the driving motor drives the lateral camera to rotate through the worm while driving the perception tube to move.