A three-dimensional laser scanning multi-directional auxiliary detection device and detection method for underground voids

Abstract

A three-dimensional laser scanning multi-directional auxiliary detection device for underground voids, comprising a lifting device, a top connection device, and a fixed support device; the top connection device is installed at the top of the lifting device, and the fixed support device is sleeved on the lifting device. One end of the slide rail device is installed on the top connection device, and the other end is installed on the lifting device. One end of the traction device is installed on the lifting device, and the other end is installed on the slide rail device. A three-dimensional laser scanning multi-directional auxiliary detection method for underground voids, comprising the following steps: Step 1, positioning; Step 2, assembling the scanning device; Step 3, raising the lifting device; Step 4, tensioning the guide rope; Step 5, installing the three-dimensional laser scanning equipment; Step 6, scanning the void; Step 7, ending the scanning. By using the lifting device and the fixed support device, three-dimensional laser scanning multi-directional detection in ultra-large and ultra-high underground mined-out areas is realized. The detection device is simple to use, highly efficient in detection, convenient to carry, and safe and reliable.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground empty area three-dimensional laser scanning, and specifically relates to an underground empty area three-dimensional laser scanning multi-directional auxiliary detection device and a detection method. Background Art

[0002] A large number of goafs are formed after metal mines are mined using the open-field method. The existence of goafs provides conditions for the continuous deformation of the surrounding rock near the goaf, causing deformation and damage to the mine pillars. The continuous movement of the overlying rock strata in the goaf can easily induce engineering disasters such as large-scale caving, rock movement, surface collapse and water inrush underground, causing casualties and equipment damage, posing a serious threat to mine safety production.

[0003] Using 3D laser scanners to detect underground mining sites and goafs has become a common method for underground goaf measurement. The detection results can be directly used to calculate the goaf volume and roof area, establish a 3D model of the goaf, calculate the residual ore reserves, guide goaf filling, pillar recovery, mining process loss control, goaf stability analysis and other related mining management.

[0004] When personnel cannot enter the goaf or potential dangerous areas to carry out measurement work, laser scanners usually use extension rods to enter the goaf for detection. For example, the extension rod of the CMS 3D laser scanner is a quick-connect connection rod with a single section length of more than 1.8m, and requires 4-5 sections to be used together. Although the rod body is made of carbon fiber, the length of the single section of the rod body is large and the size exceeds the size allowed to be carried on cars and trains. It can only be transported by logistics, which is extremely inconvenient to carry. Secondly, the weight of the rod body is large after connection, and only supports vertical detection, and cannot support horizontal or inclined detection. The extension rod of the GeoSlam 3D laser scanner is a handheld telescopic device with a thin rod body and only 3m when fully extended. When the lifting device is extended into the goaf horizontally or obliquely, due to the heavy weight of the equipment itself, it will cause the rod body to be difficult to completely stabilize in a fixed position, and it will always swing freely, which is extremely unstable. Secondly, after repeated use, the telescopic rod body is bent many times, resulting in large deformation and difficulty in retraction. The use of multi-rotor helicopters equipped with three-dimensional laser scanners to fly into goafs for detection has gradually begun to be applied in engineering projects. However, due to the uneven walls of goafs and the fact that there may be many support anchors left over from mining, as well as the communication barriers in local areas of metal deposits, communication blind spots are formed between the operators and the helicopter, which can easily lead to the destruction of machinery and equipment, resulting in significant economic losses.

[0005] In summary, the current existing three-dimensional laser scanning detection devices have the disadvantages of being cumbersome to use, poor safety, poor detection effect, inconvenient to carry, and difficult to disassemble. Therefore, there is an urgent need for a detection device that is simple to use, efficient in detection, easy to carry, safe and reliable to ensure the safe and efficient use of three-dimensional laser scanners in air areas. Summary of the Invention

[0006] Aiming at the problems existing in the three-dimensional laser scanning of underground voids at present, the present invention provides a multi-directional auxiliary detection device and detection method for three-dimensional laser scanning of underground voids, which can safely, efficiently, quickly and simply realize the three-dimensional laser scanning of underground voids.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A multi-directional auxiliary detection device for three-dimensional laser scanning of underground voids includes a lifting device, a top connection device, a fixed support device, a slide rail device and a traction device; the top connection device is installed on the top of the lifting device, the fixed support device is sleeved on the lifting device, one end of the slide rail device is installed on the top connection device, and the other end is installed on the lifting device, and one end of the traction device is installed on the lifting device and the other end is installed on the slide rail device.

[0009] The lifting device is the main body of the detection device and is composed of a plurality of circular tubes nested in sequence. The diameters of the circular tubes arranged from bottom to top decrease in sequence. On both sides of each section of the circular tube, handles for assisting lifting are detachably installed. A hoop I is installed on the top circular tube of the handle. The top of the topmost section of the circular tube is provided with a circular platform with grooves, and the bottommost circular tube is a cylindrical rod body. When the lifting device rises, install the handle and open the hoop I, and pull out the circular tubes one by one from top to bottom by pulling the handle, and then fasten the hoop I to keep the positions of two adjacent circular tubes unchanged; when the lifting device descends, open the hoop I, the circular tubes are retracted one by one from bottom to top and the handle is removed, and then the hoop I is fastened.

[0010] The top connection device includes a T-shaped steel pipe. The vertical part of the T-shaped steel pipe is inserted into the groove at the top of the lifting device and fixed to the circular platform of the lifting device through a fastening bolt; the horizontal part of the T-shaped steel pipe is a hollow steel pipe. At the bottom of the pipe walls at both ends of the hollow steel pipe, slits are opened. At the same time, wheel frames are welded to the bottom of the pipe walls at both ends of the hollow steel pipe, and fixed pulleys are installed on the wheel frames. The top of the fixed pulley extends through the slit to the inside of the hollow steel pipe. On both sides of one end of the hollow steel pipe, a guide rail wire rope connection hole is installed. The fixed pulley can reduce the friction resistance of the traction wire rope during the traction process, and the guide rail wire rope connection hole is connected to the guide rail wire rope through a spring buckle.

[0011] The fixed support device is composed of a second hoop, a circular connector with an arc-shaped plate, a circular connector with a ball head, and a detachable bracket. When performing vertical detection, the second hoop is installed in the upper-middle part of the cylinder at the bottom end of the lifting device, and the lifting device is arranged vertically. A detachable bracket is installed on the second hoop. When arranged horizontally or obliquely, the second hoop is installed in the upper-middle part of the cylinder at the bottom end of the lifting device, and the lifting device is arranged horizontally. One detachable bracket is connected to the second hoop through a circular connector with a ball head, and the other detachable bracket supports the circular tube of the lifting device through a circular connector with an arc-shaped plate.

[0012] The second hoop is an annular member with an opening. Two perforated connecting plates extending outward are symmetrically arranged at the opening of the second hoop. An annular sliding groove is machined in the middle of the outer arc surface of the second hoop. Oppositely arranged openings are machined on the upper and lower groove surfaces of the annular sliding groove, and there are three groups of openings arranged circumferentially. A first positioning card slot is opened on the lower groove surface of the annular sliding groove. The first positioning card slot and the openings are arranged alternately. A fastening bolt I is installed on the upper surface of the second hoop directly above each first positioning card slot.

[0013] The circular connector with a ball head includes a circular base. A ball head is arranged in the middle of the upper surface of the circular base. An annular sliding groove is machined in the middle of the outer arc surface of the circular base. Oppositely arranged openings are machined on the upper and lower groove surfaces of the annular sliding groove, and there are three groups of openings arranged circumferentially. A second positioning card slot is opened on the lower groove surface of the annular sliding groove. The second positioning card slot and the openings are arranged alternately. A fastening bolt II is installed on the upper surface of the circular base directly above each second positioning card slot.

[0014] The circular connector with an arc-shaped plate includes a circular base. An arc-shaped plate is arranged in the middle of the upper surface of the circular base. An annular sliding groove is machined in the middle of the outer arc surface of the circular base. Oppositely arranged openings are machined on the upper and lower groove surfaces of the annular sliding groove, and there are three groups of openings arranged circumferentially. A second positioning card slot is opened on the lower groove surface of the annular sliding groove. The second positioning card slot and the openings are arranged alternately. A fastening bolt II is installed on the upper surface of the circular base directly above each second positioning card slot.

[0015] The detachable bracket is a rod with a ball head at the top and adjustable length.

[0016] When the scanning device is in a vertical working state, the second hoop is used in cooperation with three detachable brackets. When the scanning device is in a horizontal or inclined working state, the second hoop, the circular connector with a ball head, the circular connector with an arc-shaped plate, and the detachable bracket are used in cooperation.

[0017] The sliding rail device includes a guide rail steel wire rope and a device fixing plate. The guide rail steel wire rope serves as the sliding track during the sliding process of the device fixing plate. One end of two guide rail steel wire ropes is fixed to the guide rail steel wire rope connection hole of the lifting device through a spring buckle, and the other end sequentially passes through the guide rail steel wire rope holes of the device fixing plate and a fixed pulley and is then connected to a ratchet wire tightener at the end. The ratchet wire tightener is installed on the bottom of the outer wall of the round tube at the lowest end of the lifting device through a spring buckle. After the lifting device rises to the designated position, the crank of the ratchet wire tightener is shaken to tighten the guide rail steel wire rope, ensuring the stable lifting and lowering of the device fixing plate on the guide rail steel wire rope.

[0018] The device fixing plate includes a plate body. A quick-connect buckle with a trapezoidal chute is installed on the front of the plate body, and a three-dimensional laser scanning device is installed through the quick-connect buckle. A traction steel wire rope hole is provided at the top of the back of the plate body, and notches are symmetrically opened at the bottom of the back of the plate body. Fixed pulleys are installed through wheel frames at the notches, and a guide rail steel wire rope hole is installed on the back of the plate body above the fixed pulleys. The traction steel wire rope hole is used to connect with the traction steel wire rope, the guide rail steel wire rope hole is used to pass through the guide rail steel wire rope and constrain it, and the fixed pulley is used to reduce the frictional resistance when the device fixing plate slides on the guide rail steel wire rope.

[0019] The traction device includes a winch and a traction steel wire rope. The winch is fixed to the outer side of the cylinder at the lowest end of the lifting device through a quick-connect buckle. The traction steel wire rope is wound around the winch and passes through the fixed pulley on the top connecting device, and is connected to the traction steel wire rope hole of the device fixing plate through a spring buckle to realize the lifting and lowering of the device fixing plate.

[0020] A three-dimensional laser scanning multi-directional auxiliary detection method for underground voids includes the following steps:

[0021] Step 1, positioning

[0022] Find a safe and suitable working location near the void to be measured, and move the detection device to this location.

[0023] Step 2, assembling the scanning device

[0024] When performing vertical detection:

[0025] Fix the top connecting device to the top of the lifting device, clamp the winch to the quick-connect buckle on one side of the lifting device, connect the ratchet wire tightener to the lifting device through a spring buckle, pass the guide rail steel wire rope through the device fixing plate and connect it to the top connecting device, and wind the traction steel wire rope around the top connecting device and connect it to the device fixing plate.

[0026] Fix the clamp II to the lifting device. The ball heads of the three detachable brackets all enter the annular chute from the opening of the clamp II and slide to the first positioning card slot and are fixed by the fastening bolt I. Then, adjust the height of the detachable brackets to keep the detection device stable.

[0027] When detecting horizontally or obliquely:

[0028] Fix the top connecting device on the top of the lifting device, snap the winch onto the quick-release buckle on one side of the lifting device, connect the ratchet wire tightener to the lifting device through a spring buckle, pass the guide rail wire rope through the equipment fixing plate and connect it to the top connecting device, and wind the traction wire rope around the top connecting device and connect it to the equipment fixing plate;

[0029] Fix the clamp II on the lifting device, adjust the lifting device to be horizontal, and make one of the positioning slot surfaces of the clamp II face the ground. Insert the ball head of the circular connecting piece into the annular chute through the opening of the clamp II, and slide it to the positioning slot facing the ground and fix it with the fastening bolt I. The ball heads of the three detachable brackets all enter the annular chute through the opening of the circular connecting piece, and slide to the positioning slot and are fixed with the fastening bolt II. Then adjust the height of the detachable brackets to keep the detection device stable; then install the other three detachable brackets on the circular connecting piece with an arc plate. The arc plate supports the second section of the round tube from bottom to top, and adjust the height of the detachable brackets to keep the detection device stable;

[0030] Step 3: Raise the lifting device

[0031] According to the actual situation of the empty area to be measured, pull out the lifting device section by section to the required height. While pulling out, continuously shake the winch and the ratchet wire tightener in the reverse direction to release the traction wire rope and the guide rail wire rope; when the detection device is in a horizontal or inclined working state, after the lifting device rises to a certain height, place the detachable brackets at the front end of the lifting device, and at the same time adjust the height of the detachable brackets to support the lifting device;

[0032] Step 4: Tighten the guide rail wire rope

[0033] When the lifting device is pulled out to the appropriate length, turn the crank of the ratchet wire tightener forward to tighten the guide rail wire rope;

[0034] Step 5: Install the 3D laser scanning device

[0035] Turn the winch forward to adjust the equipment fixing plate to the appropriate position, turn on and debug the 3D laser scanning device. After the 3D laser scanning device starts to work normally, snap the 3D laser scanning device onto the quick-release buckle on the front of the equipment fixing plate;

[0036] Step 6: Scan the empty area

[0037] After the 3D laser scanning device is installed, start to shake the winch, and complete a dynamic scan of the empty area during the rising and falling process of the 3D laser scanning device;

[0038] Step 7: End of scanning

[0039] After the scanning is completed, save the collected data, retract the 3D laser scanning device and remove it from the device fixing plate, and the scanning ends.

[0040] The technical effects of the present invention are as follows:

[0041] (1) Utilize the lifting device and the fixed support device to achieve multi-directional detection of 3D laser scanning in an underground super-large and super-high goaf.

[0042] (2) Tighten the guide rail steel wire rope by turning the crank of the ratchet wire tightener, and use the traction device to smoothly traction the device fixing plate with the traction steel wire rope, realizing the smooth and safe sliding of the scanning device on the slideway.

[0043] (3) This detection device is simple to use, highly efficient in detection, convenient to carry, and safe and reliable. Description of the Drawings

[0044] Figure 1 It is a schematic vertical detection view of the 3D laser scanning multi-directional auxiliary detection device for underground goaf of the present invention;

[0045] Figure 2 It is an oblique axonometric view of the top connection device of the present invention;

[0046] Figure 3 It is an oblique axonometric view of the second hoop of the present invention;

[0047] Figure 4 It is an oblique axonometric view of the circular connecting piece with a ball head of the present invention;

[0048] Figure 5 It is an oblique axonometric view of the circular connecting piece with an arc plate of the present invention;

[0049] Figure 6 It is an oblique axonometric view of the front of the device fixing plate of the present invention;

[0050] Figure 7 It is an oblique axonometric view of the back of the device fixing plate of the present invention;

[0051] Figure 8 It is a schematic inclined detection view of the 3D laser scanning multi-directional auxiliary detection device for underground goaf of the present invention;

[0052] 11 - Lifting device; 12 - Top connection device; 121 - Guide wire rope connection hole; 122 - Fixed pulley I; 123 - T-shaped steel pipe; 21 - Hoop II; 211 - First positioning card slot; 212 - Fastening bolt I; 22 - Detachable bracket; 23 - Circular base, 231 - Fastening bolt II; 232 - Second positioning card slot; 233 - Ball head; 234 - Arc plate; 31 - Guide wire rope; 32 - Equipment fixing plate; 321 - Quick connection buckle; 322 - Fixed pulley II; 323 - Guide wire rope hole; 324 - Towing wire rope hole; 33 - Ratchet wire tightener; 41 - Winch; 42 - Towing wire rope; 5 - Hoop I; 6 - Spring buckle; 7 - Handle. Detailed implementation mode

[0053] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0054] As Figures 1 to 7 shown, a three-dimensional laser scanning multi-directional auxiliary detection device for underground voids includes a lifting device 11, a top connection device 12, a fixed support device, a slide rail device, and a traction device; the top of the lifting device 11 is installed with a top connection device 12, a fixed support device is sleeved on the lifting device 11, one end of the slide rail device is installed on the top connection device 12, and the other end is installed on the lifting device 11. One end of the traction device is installed on the lifting device 11, and the other end is installed on the slide rail device.

[0055] The lifting device 11 is the main body of the detection device and is composed of a plurality of circular tubes nested in sequence. The diameters of the circular tubes arranged from bottom to top decrease in sequence. Aluminum handles 7 for assisting lifting can be detachably installed on both sides of each section of the circular tube. A hoop I 5 is installed on the top circular tube of the aluminum handle 7. Among them, a circular platform with a groove is provided at the top of the topmost section of the circular tube, and the bottommost circular tube is a cylindrical rod body. When the lifting device 11 rises, the aluminum handle 7 is installed, and the hoop I 5 is opened. The circular tubes are pulled out one by one from top to bottom by pulling the aluminum handle 7, and then the hoop I 5 is tightened to keep the positions of two adjacent circular tubes unchanged; when the lifting device 11 descends, the hoop I 5 is opened, the circular tubes are retracted one by one from bottom to top and the aluminum handle 7 is removed, and then the hoop I 5 is tightened. In this embodiment, when the lifting device 11 is closed, the height is 1.25 m, the maximum elongation height is 8 m, the maximum pipe diameter is 89.7 mm, and the total weight is 9 kg.

[0056] The top connection device 12 includes a T-shaped steel pipe 123. The vertical part of the T-shaped steel pipe 123 is inserted into the top groove of the lifting device 11 and fixed to the circular platform of the lifting device 11 through fastening bolts. The horizontal part of the T-shaped steel pipe 123 is a hollow steel pipe. At the bottom of the pipe walls at both ends of the hollow steel pipe, there are openings. At the same time, wheel brackets are welded to the bottom of the pipe walls at both ends of the hollow steel pipe, and fixed pulleys I 122 are installed on the wheel brackets. The top of the fixed pulley I 122 extends through the opening to the inside of the hollow steel pipe. On both sides of one end of the hollow steel pipe, there is a guide rail wire rope connection hole 121 each. The fixed pulley I 122 can reduce the frictional resistance during the traction of the traction wire rope 42. The guide rail wire rope connection hole 121 is connected to the guide rail wire rope 31 through a spring buckle 6.

[0057] The fixed support device is composed of a hoop II 21, a circular connecting piece with an arc-shaped plate, a circular connecting piece with a ball head, and a detachable bracket 22. When detecting vertically, the hoop II 21 is installed in the upper middle part of the bottom cylinder of the lifting device 11, and the lifting device 11 is arranged vertically. The detachable bracket 22 is installed on the hoop II 21. When arranged horizontally or obliquely, the hoop II 21 is installed in the upper middle part of the bottom cylinder of the lifting device 11, and the lifting device 11 is arranged horizontally. One of the detachable brackets 22 is connected to the hoop II 21 through a circular connecting piece with a ball head, and the other detachable bracket 22 supports the circular tube of the lifting device 11 through a circular connecting piece with an arc-shaped plate.

[0058] The hoop II 21 is an annular piece with an opening. At the opening of the hoop II 21, there are two outward-extending perforated connecting plates symmetrically arranged. In the middle of the outer arc surface of the hoop II 21, an annular sliding groove is processed. On the upper and lower groove surfaces of the annular sliding groove, there are oppositely arranged openings, and there are three groups of openings arranged circumferentially. On the lower groove surface of the annular sliding groove, a first positioning card slot 211 is opened. The first positioning card slot 211 and the opening are arranged alternately. On the upper surface of the hoop II 21 directly above each first positioning card slot 211, a fastening bolt I 212 is installed.

[0059] The circular connecting piece with a ball head includes a circular base 23. In the middle of the upper surface of the circular base 23, a ball head 233 is arranged. In the middle of the outer arc surface of the circular base 23, an annular sliding groove is processed. On the upper and lower groove surfaces of the annular sliding groove, there are oppositely arranged openings, and there are three groups of openings arranged circumferentially. On the lower groove surface of the annular sliding groove, a second positioning card slot 232 is opened. The second positioning card slot 232 and the opening are arranged alternately. On the upper surface of the circular base 23 directly above each second positioning card slot 232, a fastening bolt II 321 is installed.

[0060] The circular connecting piece with an arc-shaped plate includes a circular base 23. In the middle of the upper surface of the circular base 23, there is an arc-shaped plate 234. In the middle of the outer arc surface of the circular base 23, an annular chute is machined. Oppositely arranged openings are machined on the upper and lower chute surfaces of the annular chute, and there are three groups of openings arranged circumferentially. A second positioning card slot 232 is opened on the lower chute surface of the annular chute. The second positioning card slot 232 and the openings are arranged alternately. On the upper surface of the circular base 23 directly above each second positioning card slot 232, a fastening bolt II 321 is installed.

[0061] The detachable bracket 22 is a rod with a ball head at the top and its length can be adjusted. The maximum extended length of each rod is 0.5 m.

[0062] When the scanning device is in the vertical working state, the second hoop 21 is used in cooperation with the three detachable brackets 22; when the scanning device is in the horizontal or inclined working state, the second hoop 21, the circular connecting piece with a ball head, the circular connecting piece with an arc-shaped plate and the detachable bracket 22 are used in cooperation.

[0063] The slide rail device includes a guide rail steel wire rope 31 and an equipment fixing plate 32. The guide rail steel wire rope 31 is the slideway during the sliding process of the equipment fixing plate 32. One end of the two guide rail steel wire ropes 31 is fixed to the guide rail steel wire rope connection hole 121 of the lifting device 11 through a spring buckle, and the other end sequentially passes through the guide rail steel wire rope hole 323 of the equipment fixing plate 32 and the first fixed pulley 122 and then the end part is connected to a ratchet wire tightener 33. The ratchet wire tightener 33 is installed on the bottom of the outer wall of the round tube at the lowest end of the lifting device 11 through a spring buckle. After the lifting device 11 rises to the designated position, the crank of the ratchet wire tightener 33 is shaken to tension the guide rail steel wire rope 31 to ensure the stable lifting of the equipment fixing plate 32 on the guide rail steel wire rope 31.

[0064] The equipment fixing plate 32 includes a plate body. On the front of the plate body, a quick-connect buckle 321 with a trapezoidal chute is installed. The three-dimensional laser scanning device is installed through the quick-connect buckle 321. At the top of the back of the plate body, a traction steel wire rope hole 324 is provided. At the bottom of the back of the plate body, gaps are symmetrically opened. A second fixed pulley 322 is installed through a wheel frame at the gaps. Above the second fixed pulley 322, a guide rail steel wire rope hole 323 is installed on the back of the plate body. The traction steel wire rope hole 324 is used to connect with the traction steel wire rope 42. The guide rail steel wire rope hole 323 is used to pass through the guide rail steel wire rope 31 and restrain it. The second fixed pulley 322 is used to reduce the frictional resistance when the equipment fixing plate 32 slides on the guide rail steel wire rope 31.

[0065] The traction device includes a winch 41 and a traction steel wire rope 42. The winch 41 is fixed to the outer side of the cylinder at the bottommost end of the lifting device 11 through a quick-connect buckle 321. The traction steel wire rope 42 is wound around the winch 41 and passes through the fixed pulley I 122 on the top connection device 12, and is connected to the traction steel wire rope hole 324 of the equipment fixing plate 32 through a spring buckle to realize the lifting of the equipment fixing plate 32.

[0066] A three-dimensional laser scanning multi-directional auxiliary detection method for underground voids includes the following steps:

[0067] Step 1, positioning

[0068] Find a safe and suitable working location near the void to be measured, and carry the detection device to this location.

[0069] Step 2, assembly of the scanning device

[0070] When detecting vertically:

[0071] Fix the top connection device 12 to the top of the lifting device 11, snap the winch 41 onto the quick-connect buckle 321 on one side of the lifting device 11, connect the ratchet wire tightener 33 to the guide wire rope connection hole 121 of the lifting device 11 through a spring buckle, pass the guide wire rope 31 through the equipment fixing plate 32 and connect it to the top connection device 12, and bypass the top connection device 12 with the traction steel wire rope 42 and connect it to the equipment fixing plate 32.

[0072] Fix the clamp II 21 on the lifting device 11. The ball heads of the three detachable brackets 22 enter the annular chute from the opening of the clamp II 21 and slide to the first positioning card slot 211 and are fixed by the fastening bolt I 212. Then adjust the height of the detachable brackets 22 to keep the detection device stable.

[0073] When detecting horizontally or obliquely:

[0074] Fix the top connection device 12 to the top of the lifting device 11, snap the winch 41 onto the quick-connect buckle 321 on one side of the lifting device 11, connect the ratchet wire tightener 33 to the lifting device 11 through a spring buckle, pass the guide wire rope 31 through the equipment fixing plate 32 and connect it to the top connection device 12, and bypass the top connection device 12 with the traction steel wire rope 42 and connect it to the equipment fixing plate 32.

[0075] Fix the second hoop 21 on the lifting device 11, adjust the lifting device 11 to be horizontal, and make one of the positioning slot surfaces of the second hoop 21 face the ground. Insert the ball head 233 of the circular connecting piece with a ball head into the annular chute from the opening of the second hoop 21, and slide it to the positioning slot facing the ground and fix it with the fastening bolt I 212. Insert the ball heads of the three detachable brackets 22 into the annular chute from the opening of the circular connecting piece with a ball head, and slide them to the positioning slot and fix them with the fastening bolt II 231. Then adjust the height of the detachable brackets 22 to keep the detection device stable. Then install the other three detachable brackets 22 on the circular connecting piece with an arc plate. The arc plate 234 supports the second section of the round tube from bottom to top. Adjust the height of the detachable brackets 22 to keep the detection device stable, as Figure 8 shown;

[0076] Step 3: Raise the lifting device 11

[0077] According to the actual situation of the empty area to be measured, pull out the lifting device 11 section by section to the required height. While pulling out, continuously shake the winch 41 and the ratchet tightener 33 in the reverse direction to release the traction steel wire rope 42 and the guide rail steel wire rope 31. When the detection device is in a horizontal or inclined working state, after the lifting device 11 is raised to a certain height, place the detachable bracket 22 at the front end of the lifting device 11, and at the same time adjust the height of the detachable bracket 22 to support the lifting device 11;

[0078] Step 4: Tighten the guide rail steel wire rope 31

[0079] When the lifting device 11 is pulled out to the appropriate length, turn the crank of the ratchet tightener 33 forward to tighten the guide rail steel wire rope 31;

[0080] Step 5: Install the 3D laser scanning device

[0081] Turn the winch 41 forward to adjust the equipment fixing plate 32 to the appropriate position. Open and debug the 3D laser scanning device. After the 3D laser scanning device starts to work normally, snap the 3D laser scanning device onto the quick-release buckle 321 on the front of the equipment fixing plate 32;

[0082] Step 6: Scan the empty area

[0083] After the 3D laser scanning device is installed, start turning the winch 41, and complete a dynamic scan of the empty area during the rising and falling process of the 3D laser scanning device;

[0084] Step 7: End of scanning

[0085] After the scanning is completed, save the collected data, retract the 3D laser scanning device and remove it from the equipment fixing plate 32, and the scanning ends.

Claims

1. A three-dimensional laser scanning multi-directional auxiliary detection device for underground voids, characterized in that, it includes a lifting device, a top connection device, a fixed support device, a slide rail device and a traction device; the top connection device is installed on the top of the lifting device, the fixed support device is sleeved on the lifting device, one end of the slide rail device is installed on the top connection device, and the other end is installed on the lifting device. One end of the traction device is installed on the lifting device, and the other end is installed on the slide rail device; the fixed support device is composed of a hoop II, a circular connector with an arc-shaped plate, a circular connector with a ball head and a detachable bracket. When performing vertical detection, the hoop II is installed in the upper-middle part of the cylinder at the bottom end of the lifting device, and the lifting device is arranged vertically, and a detachable bracket is installed on the hoop II; when arranged horizontally or obliquely, the hoop II is installed in the upper-middle part of the cylinder at the bottom end of the lifting device, and the lifting device is arranged horizontally. One of the detachable brackets is connected to the hoop II through a circular connector with a ball head, and the other detachable bracket supports the round tube of the lifting device through a circular connector with an arc-shaped plate.

2. The three-dimensional laser scanning multi-directional auxiliary detection device for underground voids according to claim 1, characterized in that: The lifting device is the main body of the detection device and is composed of a plurality of nested round tubes in sequence. The diameters of the round tubes arranged from bottom to top gradually decrease. On both sides of each section of the round tube, handles for assisting lifting can be detachably installed. A hoop I is installed on the top round tube of the handle. The top of the topmost section of the round tube is provided with a grooved circular platform, and the bottommost round tube is a cylindrical rod; when the lifting device is raised, install the handle and open the hoop I, and pull out the round tubes one by one from top to bottom by pulling the handle, and then fasten the hoop I to keep the positions of adjacent two round tubes unchanged; when the lifting device is lowered, open the hoop I, the round tubes are retracted one by one from bottom to top and the handles are removed, and then fasten the hoop I.

3. The three-dimensional laser scanning multi-directional auxiliary detection device for underground voids according to claim 1, characterized in that: The top connection device includes a T-shaped steel pipe. The vertical part of the T-shaped steel pipe is inserted into the groove at the top of the lifting device and fixed to the circular platform of the lifting device through a fastening bolt; the horizontal part of the T-shaped steel pipe is a hollow steel pipe. At the bottom of the pipe walls at both ends of the hollow steel pipe, there are openings, and at the same time, wheel frames are welded to the bottom of the pipe walls at both ends of the hollow steel pipe, and fixed pulleys are installed on the wheel frames. The top of the fixed pulley extends through the opening to the inside of the hollow steel pipe. On both sides of one end of the hollow steel pipe, there is a guide rail wire rope connection hole each. The fixed pulley can reduce the frictional resistance of the traction wire rope during the traction process, and the guide rail wire rope connection hole is connected to the guide rail wire rope through a spring buckle.

4. The three-dimensional laser scanning multi-directional auxiliary detection device for underground voids according to claim 1, characterized in that: The clamp II is an annular member with an opening, and two connecting plates with holes extending outward are symmetrically arranged at the opening of the clamp II. An annular groove is processed in the middle of the outer arc surface of the clamp II, and openings arranged opposite to each other are processed on the upper and lower groove surfaces of the annular groove, and three groups of openings are arranged along the circumferential direction. A first positioning groove is opened on the lower groove surface of the annular groove, and the first positioning groove and the opening are arranged alternately. A fastening bolt I is installed on the upper surface of the clamp II directly above each first positioning groove.

5. According to claim 1, a 3D laser scanning multi-directional auxiliary detection device for underground empty areas, Features: The circular connector with a ball head comprises a circular base, a ball head is arranged in the middle of the upper surface of the circular base, an annular groove is processed in the middle of the outer arc surface of the circular base, and openings arranged opposite to each other are processed on the upper and lower groove surfaces of the annular groove, and three groups of openings are arranged along the circumferential direction, a second positioning groove is opened on the lower groove surface of the annular groove, and the second positioning groove and the opening are arranged alternately, and a fastening bolt II is installed on the upper surface of the circular base directly above each second positioning groove; The circular connector with an arc plate includes a circular base, an arc plate is arranged in the middle of the upper surface of the circular base, an annular groove is processed in the middle of the outer arc surface of the circular base, and openings arranged opposite to each other are processed on the upper and lower groove surfaces of the annular groove, and three groups of openings are arranged along the circumferential direction. A second positioning groove is opened on the lower groove surface of the annular groove, and the second positioning groove and the opening are arranged alternately. A fastening bolt II is installed on the upper surface of the circular base directly above each second positioning groove.

6. The underground empty area three-dimensional laser scanning multi-directional auxiliary detection device according to claim 1, Features: The slide rail device includes a guide rail wire rope and an equipment fixing plate. The guide rail wire rope is a slideway during the sliding process of the equipment fixing plate. One end of the two guide rail wire ropes is fixed to the guide rail wire rope connecting hole of the lifting device through a spring buckle, and the other end passes through the guide rail wire rope hole of the equipment fixing plate and the rear end of the fixed pulley in sequence to be connected to the ratchet tensioner. The ratchet tensioner is installed at the bottom of the outer wall of the circular tube at the lowest end of the lifting device through the spring buckle. After the lifting device is lifted to the specified position, the crank on the ratchet tensioner is shaken to tighten the guide rail wire rope to ensure that the equipment fixing plate is smoothly lifted and lowered on the guide rail wire rope.

7. The underground empty area three-dimensional laser scanning multi-directional auxiliary detection device according to claim 6, Features: The equipment fixing plate includes a plate body, a quick-connect buckle with a trapezoidal slide groove is installed on the front of the plate body, and the three-dimensional laser scanning equipment is installed through the quick-connect buckle, a traction wire rope hole is arranged on the top of the back side of the plate body, and notches are symmetrically opened on the bottom of the back side of the plate body, and a fixed pulley is installed at the notch through a wheel frame, and a guide rail wire rope hole is installed on the back side of the plate body above the fixed pulley; wherein the traction wire rope hole is used to connect with the traction wire rope, the guide rail wire rope hole is used to pass the guide rail wire rope and constrain it, and the fixed pulley is used to reduce the friction resistance of the equipment fixing plate when sliding on the guide rail wire rope.

8. The underground empty area three-dimensional laser scanning multi-directional auxiliary detection device according to claim 1, Features: The traction device includes a winch and a traction steel wire rope. The winch is fixed to the outer side of the cylinder at the bottom end of the lifting device through a quick-connect buckle. The traction steel wire rope is wound around the winch and passes through the fixed pulley on the top connection device, and is connected to the traction steel wire rope hole of the equipment fixing plate through a spring buckle to realize the lifting of the equipment fixing plate.

9. A three-dimensional laser scanning multi-directional auxiliary detection method for underground voids according to claim 1, characterized in that it includes the following steps: Step 1, positioning Find a safe and suitable working location near the void to be measured, and carry the detection device to this location; Step 2, assembling the scanning device When performing vertical detection: Fix the top connection device to the top of the lifting device, snap the winch onto the quick-connect buckle on one side of the lifting device, connect the ratchet wire tightener to the lifting device through a spring buckle, pass the guide rail steel wire rope through the equipment fixing plate and connect it to the top connection device, and wind the traction steel wire rope around the top connection device and connect it to the equipment fixing plate; Fix the clamp II on the lifting device. The ball heads of the three detachable brackets all enter the annular chute from the opening of the clamp II and slide to the first positioning card slot and are fixed by the fastening bolt I. Then adjust the height of the detachable brackets to keep the detection device stable; When performing horizontal or inclined detection: Fix the top connection device to the top of the lifting device, snap the winch onto the quick-connect buckle on one side of the lifting device, connect the ratchet wire tightener to the lifting device through a spring buckle, pass the guide rail steel wire rope through the equipment fixing plate and connect it to the top connection device, and wind the traction steel wire rope around the top connection device and connect it to the equipment fixing plate; Fix the clamp II on the lifting device, adjust the lifting device to be horizontal, and make one of the positioning card slot surfaces of the clamp II face the ground. The ball head of the circular connector enters the annular chute from the opening of the clamp II and slides to the positioning card slot facing the ground and is fixed by the fastening bolt I. The ball heads of the three detachable brackets all enter the annular chute from the opening of the circular connector and slide to the positioning card slot and are fixed by the fastening bolt II. Then adjust the height of the detachable brackets to keep the detection device stable; then install the other three detachable brackets on the circular connector with an arc-shaped plate. The arc-shaped plate supports the second section of the round tube from bottom to top, and adjust the height of the detachable brackets to keep the detection device stable; Step 3, raising the lifting device According to the actual situation of the void to be measured, pull out the lifting device section by section to the required height. While pulling out, continuously shake the winch and the ratchet wire tightener in the reverse direction to release the traction steel wire rope and the guide rail steel wire rope; when the detection device is in a horizontal or inclined working state, after the lifting device is raised to a certain height, place the detachable brackets at the front end of the lifting device, and at the same time adjust the height of the detachable brackets to support the lifting device; Step 4, tensioning the guide rail steel wire rope When the lifting device is pulled out to an appropriate length, rotate the crank of the ratchet wire tightener forward to tension the guide rail steel wire rope; Step 5, installing the three-dimensional laser scanning equipment Shake the winch forward to adjust the equipment fixing plate to the appropriate position, turn on and debug the 3D laser scanning equipment. After the 3D laser scanning equipment starts to work normally, snap the 3D laser scanning equipment onto the quick-release buckle on the front of the equipment fixing plate; Step 6: Empty area scanning After the installation of the 3D laser scanning equipment is completed, start to shake the winch, and complete a dynamic scan of the empty area during the rising and falling process of the 3D laser scanning equipment; Step 7: Scanning completed After the scanning is completed, save the collected data, retract the 3D laser scanning equipment and remove it from the equipment fixing plate, and the scanning is completed.

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