CN104698501A - Single-hole directional detection radar antenna for tunnel advanced geological prediction - Google Patents

Abstract

The invention discloses a single-hole directional detection radar antenna for advanced geological prediction of tunnels, which mainly includes three parts: a borehole directional radar antenna, an automatic walking device in the hole, and a cable receiver; it mainly includes three parts: a rotor, a stator and a casing. Partly, the directional transmitting antenna in the rotor rotates continuously to change the transmitting direction of the electromagnetic wave, and the reflected wave can be received by the directional receiving antenna in the rotor, and the azimuth angle of the geological anomaly can be obtained by using the strongest reflected wave angle extraction algorithm; Under the control of the radar host, the automatic walking device and the cable receiver in the hole can complete the automatic delivery and recovery of the radar antenna and communication cables. The invention can realize fine exploration of geological anomalies within a certain range around the borehole and accurate positioning of azimuth angles; it can significantly improve the directionality of detection, and the resolution of azimuth angles of anomalies can be significantly improved; the detection process is fully automated, greatly Improve the detection efficiency and accuracy.

Description

A Single Hole Directional Detection Radar Antenna for Advance Geological Prediction of Tunnels

technical field

The invention relates to a borehole directional radar antenna, in particular to a single-hole directional detection radar antenna for advanced geological prediction of tunnels.

Background technique

Borehole geological radar method is a broad-spectrum electromagnetic technology to determine the distribution of underground media. The transmitting antenna and receiving antenna are placed in the same borehole with a fixed distance. According to the two-way travel time, amplitude and waveform data of the electromagnetic wave at the receiving end, it can be The structural characteristics of the underground rock-soil medium are deduced. The interpretation of the borehole geological radar is to determine the geological characteristics of the reflected wave group through the tracking of the event axis in the geological radar image section obtained after data processing, according to the waveform and intensity characteristics of the reflected wave group.

Compared with ordinary ground plate-shaped geological radar, borehole geological radar is not limited by detection depth and has the advantage of high resolution. Therefore, borehole geological radar is considered as a refined detection method and has been introduced into the field of advanced geological prediction of tunnels. . In tunnel advance forecasting, advance drilling is often carried out in order to obtain the actual situation of adverse geological bodies in front of the tunnel face. However, due to the "one-hole view", it is very easy to miss the disaster source, which has become a problem of great concern to people. In view of the above problems, putting the borehole radar antenna into the existing borehole can obtain the occurrence of unfavorable geological bodies within a certain range around the borehole, which can better solve the problem of "one-hole view" and expand the coverage of existing boreholes. Utilization and overall benefits.

A common borehole radar antenna is a dipole antenna, which can radiate and receive signals from a 360° space, and can determine the position of the reflector in the depth direction of the borehole and its vertical distance from the borehole, but it is difficult Determining the azimuth angle of the reflector greatly reduces the practicability of the single-hole radar and is difficult to meet the actual engineering needs. In order to determine the orientation of the reflector, at least three boreholes are required for comprehensive detection and analysis, but the accuracy of the azimuth calculation is very low, and the reliability is difficult to guarantee, and it is difficult to drill three boreholes in actual engineering. Holes, compared with a single hole, 3 or more holes consume a lot of time and economic costs, it is difficult to be accepted by the construction unit. Therefore, there is an urgent need to invent a single-hole borehole directional geological radar, which provides a new solution for solving the "one-hole view" problem of advanced drilling and realizing refined advanced forecasting.

Since the early 1980s, many international institutions have begun to study borehole directional radar technology. At present, there are two main methods: directional emission and directional reception: (1) The 3D-BHR radar system of the Netherlands T&A-RADAR company uses directional emission Due to the design defects of the directional transmitting antenna, the directional transmitting angle is relatively large, the azimuth angle positioning resolution of geological anomalies is low, and the size and weight of the antenna are too large, so the application in actual engineering is very limited; (2) the Swedish MALA company The RAMAC radar system adopts a directional receiving method, uses four omnidirectional sub-receiving antennas to form a receiving antenna array, and obtains the azimuth angle of the abnormal body by optimizing the data collected by the four sub-receiving antennas. However, due to the small distance between the antenna array and the existence of mutual Due to coupling interference, the azimuth positioning resolution of geological anomalies is very low, the actual detection effect is not ideal, and production has been discontinued.

Generally speaking, at present, there is no effective single-hole directional geological radar instrument available at home and abroad. The main problems of single-hole geological radar are as follows: (1) Ordinary single-hole radar can only determine the distance of reflectors, but cannot give geological anomalies It is difficult to meet the actual engineering needs; (2) the existing single-hole directional radar system is complex and has low positioning resolution for geological anomalies, so its application in actual engineering is limited; (3) the existing single-hole radar detection The process automation is low, the operation is cumbersome and complicated, and the control accuracy of parameters such as antenna rotation angle and delivery distance during the detection process is low, which affects the actual detection effect.

Contents of the invention

The purpose of the present invention is to solve the above problems, to provide a single-hole directional detection radar antenna for advanced geological prediction of tunnels, using a rotating directional transmitting antenna and a directional receiving antenna to realize directional detection, and designing the hole of the drilling radar antenna The internal automatic walking device has the following advantages: it can realize the fine exploration of geological anomalies within a certain range around the borehole and the accurate positioning of the azimuth; this detection scheme can significantly improve the directionality of detection and the resolution of the azimuth of anomalies Significantly improved to meet the needs of actual engineering; the entire detection process does not need to manually deliver and recover the antenna and cable, which greatly improves the detection efficiency and accuracy.

To achieve the above object, the present invention adopts the following technical solutions:

A single-hole directional detection radar antenna for advanced geological prediction of tunnels, characterized in that it includes a borehole directional radar antenna, an automatic walking device in a hole, a cable and a cable transmitter; the borehole directional radar antenna includes A shell, the shell wraps the rotor and the stator, the rotor is provided with a directional transmitting antenna and a directional receiving antenna for directional transmitting and receiving electromagnetic waves, the two ends of the rotor are connected with the stator, and the rotor can be wound around itself The shaft rotates to achieve radial and omnidirectional detection; the stator is equipped with an automatic walking device in the hole, which can drive the drilling directional radar antenna to move back and forth in the hole; the rotor and the stator are connected to the radar host through cables. Carry out signal transmission and movement control; the cable is automatically sent and received by the radar host controlling the cable transmitter.

The rotor is a slender cylinder with a directional transmitting antenna and a directional receiving antenna inside; the directional transmitting antenna includes a metal reflector, and the cross section of the metal reflector is parabolic.

The directional transmitting antenna includes two dipole antennas, and the dipole antennas are symmetrically placed on the concave side of the metal reflector to form a binary antenna array, and the center of symmetry is located at the center of the parabolic metal reflector in cross section. At the focal point: the directional transmitting antenna can realize directional transmitting electromagnetic waves through the reflection of the metal reflector.

The structure of the directional receiving antenna is the same as that of the directional transmitting antenna, and is used for directional receiving of electromagnetic waves.

An electromagnetic wave absorbing material is filled between the metal reflector and the dipole antenna, and the electromagnetic wave absorbing material is provided with a cable through hole, and the cable through hole can pass through the cable of the drilled directional radar antenna; The dipole antenna is made of pure copper, and multiple groups of loading resistors and capacitors are arranged in the dipole antenna.

Both ends of the rotor are connected to the stator through a high-frequency rotary joint, and the stator is non-rotatable. The stator includes a front stator and a rear stator. The rear stator is provided with a servo motor module, and the servo motor module Drive the rotor to rotate around the central axis connecting the two stators.

The stator is provided with a moving wheel and a driving module, and the moving wheel and the driving module together constitute an automatic walking device in the hole; the driving wheel module includes a driving motor and a photoelectric encoder, and the driving motor drives the moving wheel to rotate and then drives The borehole directional radar antenna realizes the automatic walking function in the hole, and the photoelectric encoder obtains the distance that the borehole directional radar antenna moves back and forth in the horizontal borehole by recording the number of turns of the drive motor.

The cross-section of the stator is circular, and four moving wheels and driving wheel modules connected thereto are arranged at equal quarter phases in the horizontal and vertical directions, and the outside of the moving wheels exposes the casing.

An attitude detection module is arranged on the rear end stator, and the attitude detection module is composed of an accelerometer, a gyroscope and a compass, which can respectively obtain the acceleration, angular velocity and geomagnetic angle information of the borehole directional radar antenna when it moves in the borehole , and then the attitude information of the borehole directional radar antenna in the borehole is obtained.

A sensor group is provided on the front end stator, and the sensor group includes a camera, a searchlight and a distance sensor to obtain position information of the borehole directional radar antenna in the borehole.

The center of the stator is provided with a stator cable through hole for cables to pass through, and the rear end of the stator is connected to the radar host through a cable.

The inside of the cable receiver is provided with a winding motor module, a cable receiver controller and a reel, the cable is wound on the reel, the winding motor module drives the reel to rotate, and the cable The transmitter controller controls the rotating speed of the reel by the moving distance of the antenna obtained by the photoelectric encoder.

The cable transmitter is provided with a cable transmitter controller and a cable force sensor, and the cable transmitter controller transmits the moving distance of the antenna through the photoelectric encoder and the cable force sensor transmitted by the cable force sensor. The force information controls the speed of the winding motor module.

The controller of the cable transmitter receives the information of the moving distance of the antenna transmitted by the photoelectric encoder, and determines the speed of the winding motor to send and receive the cable; in addition, the cable force sensor feeds back the force information of the cable to the cable The transceiver controller, the cable transceiver controller performs negative feedback control on the rotation speed of the winding motor, and further adjusts the rotation speed of the winding motor, so that the cable always maintains a certain degree of tension.

A high-frequency rotary joint for preventing the cables between the wire reel and the radar host from being entangled is provided between the cable feeder and the wire reel.

The detection method of the borehole directional radar is as follows: firstly, the radar host controls the borehole directional radar antenna to advance automatically in the borehole casing, and at the same time rotates the directional transmitting antenna for spiral traversal scanning, which can obtain a rough three-dimensional view of geological anomalies within a certain range around the borehole. distribution; then keep the directional transmitting antenna towards the rough azimuth of the geological anomaly without rotating, and the borehole directional radar antenna automatically advances in the borehole casing for common-angle scanning, and the precise axial depth distribution of the geological anomaly can be obtained; finally, use The borehole directional radar antenna advances to the precise axial depth position where the geological anomaly is located, and the directional transmitting antenna is rotated for common depth scanning to obtain the precise radial distance distribution and azimuth distribution of the geological anomaly. During the entire detection process, the operator only needs to control the radar host to complete the automatic delivery and automatic detection of the borehole directional radar antenna, which greatly improves the automation of the entire radar system.

The beneficial effects of the present invention are:

The directional transmitting antenna includes two dipole antennas and a metal reflector forming a binary antenna array, the cross section of the metal reflector is parabolic, and the synthetic electromagnetic field pattern produced by the binary antenna array is in the radial direction Approximately elliptical, the strongest signal is generated at the symmetrical center of the two dipole antennas, and the signal decreases on both sides. The electromagnetic wave absorbing material can partially absorb the electromagnetic waves emitted backward by the two dipole antennas. The metal reflector with a parabolic cross section can reflect the unabsorbed backward electromagnetic waves forward, and the electromagnetic wave absorbing material can double the backward reflected electromagnetic waves. Secondary absorption, so the directional transmitting antenna can transmit a directional electromagnetic beam with a certain angle forward, and satisfy the relationship that the front-to-back ratio of the signal is greater than 3:1 in the pattern.

The cross-section of the metal reflector is ingeniously designed as a parabola, which effectively solves the technical problem of realizing the directional emission of the radar antenna in the narrow borehole, and overcomes the technical bias that requires the reflector to be parabolic in traditional technology.

For the directional receiving antenna, the parabolic metal reflector can focus the forward incident electromagnetic wave to the focal position of the parabola, and can shield part of the backward incident electromagnetic wave, and the electromagnetic wave absorbing material can further absorb the backward incident electromagnetic wave, so it is located in the binary antenna The electromagnetic wave signal received by the front center of the array is the strongest and decreases to both sides, and it can shield the backward incident electromagnetic wave, which can further enhance the directionality of the received reflection wave of the geological anomaly body, thereby improving the positioning of the azimuth angle of the geological anomaly body precision.

The servo motor module drives the rotor to drive the directional transmitting antenna to rotate continuously to change the transmitting direction of the directional electromagnetic beam. The directional electromagnetic beam is reflected after encountering a geological anomaly, and the reflected wave located in the transmitting direction of the directional transmitting antenna can be received by the directional receiving antenna. arrive. After the rotor rotates one circle, use the strongest reflected wave angle extraction algorithm to process the received electromagnetic wave signal to obtain the azimuth of the geological anomaly within a range of 360 degrees, and realize the fine detection of the azimuth of the geological anomaly.

The dipole antenna is made of pure copper with low resistance to improve the electrical performance of the antenna. The dipole antenna is provided with multiple sets of loading resistors and capacitors, which can improve the working bandwidth of the dipole antenna.

An attitude detection module is arranged on the rear end stator, and the attitude detection module is composed of an accelerometer, a gyroscope and a compass, which can respectively obtain the acceleration, angular velocity and geomagnetic angle information of the borehole directional radar antenna when it moves in the borehole , and then the attitude information of the borehole directional radar antenna in the borehole is obtained, which provides a calculation basis for obtaining the precise orientation of geological anomalies.

A sensor group is arranged on the front stator, and the sensor group includes a camera, a searchlight and a distance sensor. The camera and the searchlight can be used to obtain real-time image conditions in the borehole, and are transmitted back to the radar host for display. The distance sensor can The position information of the borehole directional radar antenna in the borehole is obtained to guide the detection operation of the radar.

Both ends of the rotor are connected to the stator through a high-frequency rotary joint, which can prevent the cables between the rotor and the stator from being entangled and damaged when the rotor rotates.

The automatic walking device is respectively provided with four independently driven moving wheels at the equal quadrants of the horizontal and vertical directions, which can drive the four moving wheels to walk along the drilling casing, ensuring that the drilling directional radar antenna automatically The stability and safety of walking can ensure the smooth walking of the borehole directional radar antenna in the borehole.

The cable receiving and sending machine is equipped with a winding motor module, a cable sending and receiving machine controller and a reel. The cable is wound on the reel, and the winding motor module drives the reel to rotate, and the cable is sent The machine controller controls the rotation speed of the cable reel based on the moving distance of the antenna obtained by the photoelectric encoder, so that the running speed of the automatic walking device in the hole matches the speed of the cable delivery, and the automatic delivery and recovery of the cable can be realized.

The controller of the cable transmitter receives the information of the moving distance of the antenna transmitted by the photoelectric encoder, and determines the speed of the winding motor to send and receive the cable; in addition, the cable force sensor feeds back the force information of the cable to the cable The transmitter controller, the cable transmitter controller performs negative feedback control on the speed of the winding motor, and further adjusts the speed of the winding motor, so that the cable always maintains a certain degree of tension, which can effectively deal with drilling The disturbance caused by the movement distance measurement error of the directional radar antenna and the rotation speed error of the winding motor module ensures that the automatic walking device in the hole can walk smoothly and safely, and avoids the winding caused by the loose cable caused by the disturbance. cable problems, and the possibility of cable damage if the cable is too tight.

Keep the orientation of the borehole directional radar antenna unchanged, and make the borehole directional radar antenna walk back and forth in the borehole for common-angle scanning, and the axial depth distribution of geological anomalies can be obtained; keep the borehole directional radar antenna in the borehole Keeping the depth position unchanged, turning the rotor to rotate the borehole directional radar antenna along the longitudinal axis for common depth scanning can obtain the radial distribution of geological anomalies; at the same time, moving and rotating the directional radar antenna can obtain the three-dimensional distribution of geological anomalies. During the entire detection process, the automatic delivery and automatic detection of the cables connected to the borehole directional radar antenna can be completed without manual work, which greatly improves the automation of the entire radar system.

The directional detection is carried out by the rotation of the directional transmitting antenna and the directional receiving antenna in the rotor, which can realize the fine exploration of the geological conditions within a certain range around the borehole and the accurate positioning of the azimuth angle, which can significantly improve the directionality of the detection, which is different from the traditional directional geological radar. Compared with this method, the resolution of the azimuth angle of the abnormal body can be significantly improved, which meets the needs of practical engineering.

The directional transmitting antenna consists of a binary array composed of two dipole antennas to generate a synthetic electromagnetic field, and uses electromagnetic wave absorbing materials to absorb the backward electromagnetic waves, and the backward electromagnetic waves reflected forward by the parabolic metal reflector can realize forward emission at a narrower angle Directional electromagnetic beam, and has a large signal front-to-back ratio.

Both ends of the borehole directional radar antenna are equipped with automatic walking devices in the hole, and are used in conjunction with the cable transmitter. The operator only needs to control the radar host to realize the automatic movement of the borehole directional radar antenna and communication cables. Delivery and recovery operations, and the precise movement distance information of the borehole directional radar antenna can be obtained at the same time. The entire detection process does not require manual intervention, which greatly simplifies the detection process and improves the detection accuracy.

Description of drawings

Fig. 1 is the working schematic diagram of borehole directional radar antenna;

Fig. 2 is the axial sectional view of the borehole directional radar antenna;

Fig. 3 is an axial side view of a directional transmitting antenna;

Fig. 4 is a radial sectional view of a directional transmitting antenna;

Fig. 5 is a schematic diagram of the detection principle of the borehole directional radar antenna;

Fig. 6 is a diagram of the internal structure of the automatic walking device in the hole;

Fig. 7 is a schematic diagram of the drilling directional radar cable transmitter;

Fig. 8 is a block diagram of the control system of the drilling directional radar cable transmitter;

Fig. 9 is a schematic diagram of the automatic detection mode of the borehole directional radar.

In the figure: 1. Dipole antenna, 2. Electromagnetic wave absorbing material, 3. Cable via hole, 4. Metal reflector, 5. Loading resistor-capacitor, 6. Moving wheel, 7. Attitude detection module, 8. Servo Motor module, 9. Directional transmitting antenna, 10. Directional receiving antenna, 11. Stator, 12. High-frequency rotary joint, 13. Rotor, 14. Housing, 15. Cable, 16. Sensor group, 17. Moving wheel drive module , 18. Drilling directional radar antenna, 19. Drilling casing, 20. Tunnel face, 21. Liftable cable support wheel, 22. Cable transmitter, 23. Radar host, 24. Drive motor module , 25. Photoelectric encoder, 26. Liftable support, 27. Winding disc, 28. Winding motor module, 29. Automatic walking device in the hole, 30. Direction diagram, 31. Geological abnormal body, 32. Transmission belt, 33. Cable force sensor, 34. Cable transmitter controller, 35. Antenna moving distance, 36. Cable force information, 37. Disturbance, 38. Negative feedback, 39. Winding motor speed.

detailed description

The present invention will be further elaborated below through specific examples and accompanying drawings. It should be pointed out that what is disclosed below is only a preferred embodiment of the present invention, and certainly cannot limit the scope of rights of the present invention with this. Under the premise of departing from the principle of the present invention, those skilled in the art can also make some improvements and modifications, and these improvements and modifications should also be regarded as the protection scope of the present invention.

The working conditions of the borehole directional radar antenna are shown in Figure 1. Horizontal drilling is performed on the tunnel face 20 and the borehole casing 19 is installed. The left and right ends of the borehole directional radar antenna 18 are equipped with automatic walking devices 29 in the hole. , can move horizontally and autonomously in the drilling casing 19, the liftable cable support wheel 21 supports the cable 15 to an appropriate height, the cable receiver 22 can automatically deliver and recover the cable 15, and the radar host 23 can monitor the entire The detection process is controlled and viewed. During the whole detection process, the operation of delivering and recovering the borehole directional radar antenna 18 and the cable 15 can be automatically completed without manual intervention.

The structure of the borehole directional radar antenna is shown in FIG. 2 . The borehole directional radar antenna 18 is mainly composed of a casing 14 , a stator 11 and a rotor 13 . The casing 14 wraps the stator 11 and the rotor 13 inside. Stator 11 is made up of two stator parts that are positioned at borehole directional radar antenna 18 left and right sides, and left and right two stator parts are all equipped with automatic running device 29 in the hole, is provided with moving wheel 6, moving wheel driving module in the automatic running device 29 in the hole 17. A sensor group 16 is also provided on the left stator part, an attitude detection module 7 and a servo motor module 8 are also provided on the right stator part, and the rear part of the right stator part performs signal transmission and movement control with the radar host 23 through a cable 15.

The rotor 13 is provided with a directional transmitting antenna 9 and a directional receiving antenna 10 . High-frequency rotary joints 12 are respectively installed between the rotor 13 and the left and right stators 11 . The attitude detection module 7 is mainly composed of an accelerometer, a gyroscope, a compass, etc., and the attitude detection module 7 can be used to obtain the azimuth information of the borehole directional radar antenna 18 in the borehole casing 19 . The sensor group 16 mainly includes a camera, a searchlight, a distance sensor, etc., and is used to obtain information inside the borehole and guide the operator to control the borehole directional radar antenna 18 . The servo motor module 8 drives the rotor 13 to rotate inside the casing 14, and at the same time, the angle of rotation of the rotor can be obtained. The high frequency rotary joint 12 can prevent the cables between the rotor 13 and the stator 11 from being entangled and damaged when the rotor 13 is rotating.

Both the directional transmitting antenna and the directional receiving antenna adopt the same antenna structure. The directional transmitting antenna can transmit electromagnetic waves forward at a certain angle, and the directional receiving antenna has different receiving strengths for electromagnetic waves incident from different directions.

The structure of the directional transmitting antenna is shown in Figures 3 and 4, and it mainly consists of two dipole antennas 1, an electromagnetic wave absorbing material 2 and a metal reflector 4. The two dipole antennas 1 are made of pure copper and placed symmetrically to form a binary antenna array; the metal reflector 4 is parabolic, and the symmetrical center of the two dipole antennas 1 is located at the focus of the parabolic metal reflector 4 Position 0; electromagnetic wave absorbing material 2 is filled between the metal reflector 4 and the dipole antenna 1, the center of the electromagnetic wave absorbing material 2 is provided with a cable via hole 3, and the cable in the drilled directional radar antenna 18 can pass through the cable through hole 3. The dipole antenna 1 is provided with multiple sets of loading resistors-capacitors 5 for improving the working bandwidth of the dipole antenna 1 .

As shown in FIG. 4 , for the directional transmitting antenna 9 , the binary antenna array can produce the strongest intermediate signal in the radial direction, and the composite field strength of electromagnetic waves that decreases toward both sides, and its pattern 30 is approximately elliptical. The electromagnetic wave absorbing material 2 can partially absorb the electromagnetic waves emitted backwards by the two dipole antennas 1, and the parabolic metal reflector 4 can reflect the unabsorbed backward electromagnetic waves forward, so that the electromagnetic wave absorbing material 2 can double the backward reflected electromagnetic waves. Therefore, the directional transmitting antenna 9 can transmit a directional electromagnetic beam with a certain angle θ forward, and in the pattern 30, the signal-to-rear ratio A:B>3:1 is satisfied.

For the directional receiving antenna 10, the parabolic metal reflector 4 can focus the forward incident electromagnetic wave to the focus position O, and can shield part of the backward incident electromagnetic wave, and the electromagnetic wave absorbing material 2 can further absorb the backward incident electromagnetic wave, so it is located in the binary The antenna array receives the strongest electromagnetic wave signal towards the center position and decreases to both sides, and can shield the backward incident electromagnetic wave, which can further enhance the directionality of the received reflected wave of the geological anomaly body 31, thereby improving the orientation of the geological anomaly body 31. Angular positioning accuracy.

The detection principle of the borehole directional radar antenna is shown in Figure 5. The rotor 13 drives the directional transmitting antenna 9 to rotate continuously to change the emission direction of the directional electromagnetic beam. The reflected wave in the transmitting direction can be received by the directional receiving antenna 10 . After the rotor rotates once, use the strongest reflected wave angle extraction algorithm to process the received electromagnetic wave signal to obtain the azimuth of the geological anomaly 31 within a range of 360 degrees, and realize the fine detection of the azimuth of the geological anomaly 31.

The internal structure of the automatic running device in the hole is as shown in Figure 6. Four groups of moving wheel modules are equidistantly arranged in the automatic running device 29 in the hole, and each group of moving wheel modules mainly includes a moving wheel 6, a transmission belt 32, a drive motor module 24, Photoelectric encoder 25. The driving motor module 24 drives the moving wheel 6 to rotate through the transmission belt 32 to realize automatic walking, and the photoelectric encoder 25 can obtain the drilling directional radar antenna 18 to move back and forth in the horizontal drilling casing 19 by recording the number of turns of the driving motor. distance.

The operator can remotely control the borehole directional radar antenna 18 through the radar host 23 , so that the borehole directional radar antenna 18 can move freely in the horizontal borehole casing 19 and simultaneously obtain the forward and backward movement distance and rotation azimuth information. The entire detection process does not require manual antenna delivery, and the obtained antenna moving distance and azimuth information are more accurate, which greatly improves the detection efficiency and accuracy.

The structure of the drilling directional radar cable delivery machine is shown in Figure 7. The drilling radar cable delivery machine 22 is provided with a reel 27 inside, and the cable 15 is wound on the reel 27, and the winding motor module 28 drives The reel 27 rotates, the photoelectric encoder 25 in the self-propelled device 29 in the hole can obtain the antenna moving distance 35, and the cable force information 36 that can be obtained by the cable force sensor 33 in the cable receiver 22, The cable receiver controller 34 controls the rotation speed of the winding motor module 28 through the moving distance of the antenna 35 and the force information 36 of the cable, so as to realize automatic delivery and recovery of the cable 15 . Liftable support 26 can adjust the height of drilling radar cable delivery machine 22, is provided with high-frequency rotary joint 12 between drilling radar cable transmission machine 22 and internal reel 27, and high-frequency rotary joint 12 can Prevent the cable 15 between the cable reel 27 and the radar host 23 from being entangled and causing damage.

The block diagram of the drilling radar cable receiver control system is shown in Figure 8. In theory, the cable receiver controller 34 controls the reel 27 to deliver or recover the cable 15. The length of the cable 15 is equal to the antenna moving distance 35, but in practice Because there are disturbances 37 such as the moving distance measurement error of the drilling directional radar antenna 18 and the rotation speed error of the winding motor module 28, the two are not completely equal, so the cable force sensor 33 is required to convert the cable force information 36 feeds back to the cable receiver controller 34, and the cable receiver controller 34 carries out negative feedback 38 control to the winding motor speed 39, so that the cable 15 always maintains a certain degree of tension, thereby ensuring that the cable 15 runs smoothly. Delivery and Recycling. The borehole directional radar automatic detection method is shown in Figure 9. First, the radar host 23 controls the borehole directional radar antenna 18 to advance automatically in the borehole casing 19, and at the same time rotates the directional transmitting antenna 9 to perform helical traversal scanning. The three-dimensional rough distribution of the geological anomaly body 31 within a certain range; then keep the directional transmitting antenna 9 towards the rough orientation of the geological anomaly body 31 without rotating, and the borehole directional radar antenna 18 automatically advances in the borehole casing 19 for common-angle scanning, The precise axial depth distribution of the geological anomaly body 31 can be obtained; finally, the borehole directional radar antenna 18 is advanced to the precise axial depth position where the geological anomaly body 31 is located, and the directional transmitting antenna 9 is rotated for a common depth scan to obtain the geological anomaly body 31 precise radial distance distribution and azimuth distribution. During the entire detection process, the operator only needs to control the radar host 23 to complete the automatic delivery and automatic detection of the borehole directional radar antenna 18, which greatly improves the automation of the entire radar system.

Claims (15)

1. for a single hole directional detection radar antenna for tunnel geological forecast, it is characterized in that: comprise automatic travelling device, cable and cable sending and receiving machine in boring beam radar antenna, hole; Described boring beam radar antenna comprises a shell, described shell parcel rotor and stator, beam radar emitting antenna and directional receiving antenna is provided with in described rotor, in order to directional transmissions and reception electromagnetic wave, the two ends of described rotor are connected with stator, described rotor can rotate around its longitudinal axis, to realize radial omnidirectional detection; Described stator is provided with automatic travelling device in hole, and boring beam radar antenna can be driven movable in boring; Described rotor and described stator carry out Signal transmissions and move controlling by cable and radar host computer; Described cable controls cable sending and receiving machine by radar host computer and carries out automatic sending and receiving.

2. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 1, is characterized in that: described rotor is slender cylinder, and directional transmitting antenna and directional receiving antenna are equipped with in inside; Described directional transmitting antenna comprises metallic reflection plate, and the transversal section of described metallic reflection plate is parabola shaped.

3. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 2, it is characterized in that: described directional transmitting antenna comprises two dipole antennas, described dipole antenna places composition two-element antenna array in the recessed side symmetry of described metallic reflection plate, and its symcenter is positioned at the focus place that transversal section is parabola shaped metallic reflection plate; Described directional transmitting antenna realizes directive sending electromagnetic wave by the reflection of metallic reflection plate.

4. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 3, is characterized in that: the structure of described directional receiving antenna is identical with the structure of described directional transmitting antenna, in order to directive reception electromagnetic wave.

5. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 3, it is characterized in that: between described metallic reflection plate and described dipole antenna, fill electromagnetic wave absorbent material, described electromagnetic wave absorbent material is provided with cable via hole, and described cable via hole can pass through for the cable of boring beam radar antenna; Described dipole antenna is processed by fine copper, is provided with and organizes loading resistor-electric capacity more in described dipole antenna.

6. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 1, it is characterized in that: described two ends of rotor is connected with described stator by high-frequency rotating joint, described stator is not rotatable, described stator comprises front end stator and rear end stator, described rear end stationary part is provided with servomotor module, and described servomotor module rotor driven is that axle rotates around two ends stator line.

7. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 6, it is characterized in that: described stator is provided with movable pulley and driver module, described movable pulley and driver module form automatic travelling device in hole jointly; Described driving wheel module comprises drive motor and photoelectric encoder, the automatic walking function that described drive motor drives movable pulley to rotate and then drives boring beam radar antenna to realize in hole, described photoelectric encoder to be obtained holing the distance that beam radar antenna moves forward and backward in horizontal drilling by the number of turns that record drive motor rotates.

8. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 7, it is characterized in that: the transversal section of described stator is for circular, the described driving wheel module being provided with four described movable pulleys respectively at four points of phase place places such as grade of its horizontal vertical direction and be attached thereto, described shell is exposed in the outside of described movable pulley.

9. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 6,7 or 8, it is characterized in that: hold stator to be provided with attitude detection module in the rear, described attitude detection module is made up of accelerometer, gyroscope and compass, acceleration, angular velocity and ground magnetic obliquity information when boring beam radar antenna moves in the borehole can be obtained respectively, and then obtain the attitude information of beam radar antenna in boring of holing.

10. a kind of single hole directional detection radar antenna for tunnel geological forecast according to claim 6,7 or 8, it is characterized in that: on the stator of described front end, be provided with sensor group, described sensor group comprises camera, searchlight and range sensor, in order to obtain the positional information of described boring beam radar antenna in boring.

11. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 6,7 or 8, it is characterized in that: the center of described stator is provided with stator cable via hole, can pass through for cable, described rear end stator afterbody is connected with radar host computer by cable.

12. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 1, it is characterized in that: described cable sending and receiving machine inside is provided with coiling electric motor module, cable sending and receiving machine controller and winding roll, described cable is around on winding roll, coiling electric motor module drives winding roll to rotate, and cable sending and receiving machine controller controls the rotating speed of winding roll by the antenna displacement that photoelectric encoder obtains.

13. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 12, it is characterized in that: be provided with cable sending and receiving controller and cable stress sensor in described cable sending and receiving machine, the rotating speed of cable stress information to coiling motor module of the antenna displacement that cable sending and receiving machine controller is transmitted by photoelectric encoder and cable stress sensor transmissions controls.

14. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 13, it is characterized in that: described cable sending and receiving machine controller receives the information of the antenna displacement of photoelectric encoder transmission, determines coiling electric motor rotating speed sending and receiving cable; In addition, described cable stress sensor by cable stress information feed back to cable sending and receiving machine controller, cable sending and receiving machine controller carries out negative feedback control to coiling motor speed, and the rotating speed of the described coiling electric motor of adjustment, makes the rate of tension that cable remains certain further.

15. a kind of single hole directional detection radar antennas for tunnel geological forecast according to claim 12, is characterized in that: be provided with between cable sending and receiving machine and described winding roll and prevent the cable between winding roll and radar host computer from the high-frequency rotating joint be wound around occurring.