An underground cavity detecting apparatus

Abstract

The application discloses an underground cavity detection device, which comprises a control system and a detection device connected with the control system through a signal; the detection device is connected with a flying vehicle; the flying vehicle comprises a first air bag, a second air bag, a third air bag and a fourth air bag in a strip shape, thereby forming a rectangular frame; the third air bag is provided with a first rotor mechanism and a second rotor mechanism on the inner side of the rectangular frame, and the fourth air bag is provided with a third rotor mechanism and a fourth rotor mechanism on the inner side of the rectangular frame; a mounting bridge is connected between the third air bag and the fourth air bag, the mounting bridge is connected with a holder mechanism, and a miniature camera is installed on the holder mechanism; the control system comprises an image information processing device. The beneficial effects of the scheme can be known according to the description of the above scheme, the structure is simple, the design is reasonable, the shooting technology is utilized, the camera can be moved, comprehensive and intuitive image data can be collected, the spatial size data can be calculated from the image according to the existing image processing technology, and collision damage can be prevented.

Description

Technical Field

[0001] This invention relates to the field of epidemic prevention, and in particular to an underground cavity detection device. Background Technology

[0002] Current methods for detecting underground cavities typically involve lowering a radar device using a cable. However, radar is not very intuitive, and underground cavities reflect a great deal of waves, affecting the detection data. Furthermore, underground subsidence cavities are often irregular in shape, such as being flat. Radar is relatively far from such cavities, while it is closer to the bottom and top. If the underground cavity has collapsed due to subsidence, forming an inverted bowl shape, the on-site detection effect of an immobile radar is poor. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a simple and rationally designed underground cavity detection device that utilizes imaging technology, allows for the movement of the camera to collect comprehensive and intuitive image data, calculates spatial dimension data from the images based on existing image processing technology, and prevents collision damage.

[0004] To achieve the above objectives, the present invention provides an underground cavity detection device, including a control system, wherein the control system is connected to the detection device via a signal;

[0005] The detection device includes a first winch, the first winch is provided with a first cable, the end of the first cable is provided with a snap-fit ​​structure, and the snap-fit ​​structure is connected to an aircraft.

[0006] The aircraft includes a long strip-shaped first airbag, a second airbag, a third airbag, and a fourth airbag. The first airbag is parallel to the second airbag, and the third airbag is parallel to the fourth airbag. The two ends of the first airbag are respectively connected to one end of the third airbag and the fourth airbag, and the two ends of the second airbag are respectively connected to the other end of the third airbag and the fourth airbag.

[0007] The two ends of the first and second airbags are respectively attached to the two ends of the third and fourth airbags, thereby forming a rectangular frame.

[0008] The third airbag is provided with a first rotor mechanism and a second rotor mechanism inside the rectangular frame, and the fourth airbag is provided with a third rotor mechanism and a fourth rotor mechanism inside the rectangular frame.

[0009] A mounting bridge connects the third airbag and the fourth airbag, and a gimbal mechanism is connected to the mounting bridge. A miniature camera is mounted on the gimbal mechanism.

[0010] The gimbal mechanism is equipped with LED lights;

[0011] The control system includes an image information processing device.

[0012] Furthermore, a positioning reference element is connected above the snap-fit ​​structure;

[0013] A borehole is drilled from the underground cavity being detected to the surface, the front end of the cable passes through the borehole, and the positioning reference element is set at the lower end of the borehole;

[0014] The positioning reference component includes an upright square tube with a first reference part at the lower end of the square tube. The first reference part is a closed cavity with a red light diode inside. The reference part includes a first side, a second side, a third side, and a fourth side. The first side has three light-transmitting holes located at the three corners of a right triangle, with two of the light-transmitting holes at the same level and the two horizontal light-transmitting holes above the third light-transmitting hole.

[0015] Both the second and fourth sides are provided with four light-transmitting holes, which are located at the four corners of the rectangle respectively;

[0016] The third side is provided with three light-transmitting holes, which are located at the three corners of the right triangle, with two of the light-transmitting holes at the same level and the two horizontal light-transmitting holes located below the third light-transmitting hole.

[0017] The gimbal mechanism is equipped with two miniature cameras facing opposite directions.

[0018] Furthermore, the upper end of the square tube is provided with a second reference part, which is a closed cavity and has a horizontal sealing plate at its upper end. A red light diode is provided in the cavity, and the horizontal sealing plate has three light-transmitting holes, which are respectively located at the three corners of a straight triangle.

[0019] Furthermore, the snap-fit ​​structure is provided with a second winch, the second winch is provided with a second cable, and the second cable is connected to the aircraft;

[0020] The second winch is connected to a motor, and there is elastic transmission between the second winch and the motor. Specifically, a toothed disc is provided at the end of the motor drive shaft, and a disc is provided at the end of the second winch shaft. A spring plate is provided on the disc in cooperation with the toothed disc.

[0021] When the motor is in operation, it drives the winch to retrieve the second cable.

[0022] Furthermore, one end of the mounting bridge is connected to the top of the third airbag near the first airbag, and the other end of the mounting bridge is connected to the top of the fourth airbag near the second airbag.

[0023] The second airbag is provided with an air intake valve, which is located at the end of the second airbag near the fourth airbag.

[0024] Furthermore, the intake valve includes a valve seat, which is fixedly disposed on the outer wall of the second airbag. The valve seat includes a cylinder, and a retaining ring is provided at the end of the cylinder located in the inner cavity of the second airbag. The inner wall of the cylinder is provided with internal threads.

[0025] The valve seat is connected to a valve core, the valve core includes a mounting part, the outer side of the mounting part is threaded to the valve seat, the mounting part is connected to a transition part, the diameter of the transition part is smaller than that of the mounting part, the transition part passes through the retaining ring, and a sealing ring is provided between the mounting part, the transition part and the retaining ring;

[0026] The transition section is connected to the air needle section, and the mounting section, the transition section and the air needle section are provided with a communicating air passage. The end of the air needle section is provided with a through hole so that the air passage communicates with the inner cavity of the second airbag.

[0027] The air needle section is fitted with an elastic rubber tube.

[0028] Furthermore, the mounting part is provided with a frustum cavity, the frustum cavity is connected to the air passage, the center line of the frustum cavity coincides with the mounting part, and the diameter of the end of the frustum cavity away from the transition part is smaller than the diameter of the end close to the transition part.

[0029] The detection device includes a helium filling mechanism, which includes a helium tank. The helium tank is connected to a gas supply pipe, and a filling head is provided at the end of the gas supply pipe.

[0030] The inflation head is made of rubber.

[0031] The inflation head includes a limiting part, the diameter of which is larger than the frustum cavity, and the limiting part is attached to one end of the mounting part away from the transition part;

[0032] The limiting part is connected to the frustum part, and the frustum part is press-fitted with the cavity of the frustum under the tension of the limiting part, thereby forming the snap-fit ​​structure.

[0033] Furthermore, when the pressure in the airway is greater than 1.3 times the atmospheric pressure, the frustum portion will be pushed out of the frustum cavity by the air pressure.

[0034] Furthermore, a tube is connected to the first airbag at the connection point with the third and fourth airbags, and the same tube is connected to the second airbag at the connection point with the third and fourth airbags.

[0035] Furthermore, the outer layer of the second cable is mechanically connected to the mounting bridge, and the fixed connection position of the second cable to the mounting bridge is located at the end of the second airbag near the fourth airbag;

[0036] The second cable electrically connects the first rotor mechanism, the second rotor mechanism, the third rotor mechanism, the fourth rotor mechanism, the gimbal mechanism, and the camera;

[0037] The lower end of the positioning reference component is provided with a storage tube, and the third airbag is provided with an electromagnetic exhaust valve on the inner side near the first airbag.

[0038] Before work begins, the aircraft storage tube containing the uninflated connecting air pipe, along with the positioning reference piece, is inserted into the lower end of the borehole along with the first cable.

[0039] After that, the aircraft was inflated. Once fully inflated, the aircraft was powered on, the second winch was powered on, and then the aircraft was controlled to take pictures in the underground cavern.

[0040] The image information processing device calculates the spatial position of the positioning reference component based on the three light-transmitting holes of the second reference part of the positioning reference component.

[0041] A camera on the aircraft captures images of the first reference part of the positioning reference component, and an image information processing device determines the spatial position of the aircraft.

[0042] Another camera on the aircraft captures images of the underground cavity, and the image information processor calculates the spatial shape of the cavity.

[0043] After the work is completed, the aircraft flies close to the storage cylinder, the electromagnetic exhaust valve exhausts the air, and the second cable pulls the aircraft back into the storage cylinder via the mounting bridge.

[0044] During the exhaust process, due to the design of the mounting bridge, the deflated airbag, the first rotor mechanism, the second rotor mechanism, the third rotor mechanism, the fourth rotor mechanism, and the gimbal, the deflated airbag carries the first rotor mechanism, the second rotor mechanism, the third rotor mechanism, the fourth rotor mechanism, and the gimbal in a series and hangs on the mounting bridge.

[0045] The beneficial effects of this solution can be seen from the description of the above solution: it has a simple structure, reasonable design, utilizes shooting technology, and can move the camera to collect comprehensive and intuitive image data; it can also calculate spatial size data from images based on existing image processing technology; and it can prevent collision damage. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the inflated structure of the dispenser of the present invention;

[0048] Figure 3 for Figure 2 Top view;

[0049] Figure 4 This is a schematic diagram of the air intake valve of the aircraft described in this paper;

[0050] In the diagram, 1. First cable; 2. Aircraft; 3. First airbag; 4. Second airbag; 5. Third airbag; 6. Fourth airbag; 7. First rotor mechanism; 8. Second rotor mechanism; 9. Third rotor mechanism; 10. Fourth rotor mechanism; 11. Mounting bridge; 12. Gimbal mechanism; 13. Camera; 14. Positioning reference component; 15. Valve seat; 16. Valve core; 17. Mounting part; 18. Transition part; 19. Sealing ring; 20. Air needle part; 21. Air supply pipe; 22. Inflation head; 23. Storage cylinder; 24. Drill hole; 25. Underground cavity; 26. Electromagnetic exhaust valve. Detailed Implementation

[0051] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0052] like Figure 1-4 As shown, this embodiment is an underground cavity detection device, including a control system, which is connected to the detection device via a signal.

[0053] The detection device includes a first winch, a first cable 1 is provided on the first winch, and a snap-fit ​​structure is provided at the end of the first cable 1, which is connected to the aircraft 2.

[0054] The aircraft 2 includes a long strip-shaped first airbag 3, a second airbag 4, a third airbag 5, and a fourth airbag 6. The first airbag 3 is parallel to the second airbag 4, and the third airbag 5 is parallel to the fourth airbag 6. The two ends of the first airbag 3 are respectively connected to one end of the third airbag 5 and the fourth airbag 6, and the two ends of the second airbag 4 are respectively connected to the other end of the third airbag 5 and the fourth airbag 6.

[0055] The two ends of the first airbag 3 and the second airbag 4 are respectively attached to the two ends of the third airbag 5 and the fourth airbag 6, thus forming a rectangular frame.

[0056] The third airbag 5 has a first rotor mechanism 7 and a second rotor mechanism 8 arranged inside the rectangular frame, and the fourth airbag 6 has a third rotor mechanism 9 and a fourth rotor mechanism 10 arranged inside the rectangular frame.

[0057] A mounting bridge 11 connects the third airbag 5 and the fourth airbag 6. The mounting bridge 11 is connected to a gimbal mechanism 12, and a miniature camera 13 is mounted on the gimbal mechanism 12.

[0058] The gimbal mechanism 12 is equipped with LED lights;

[0059] The control system includes an image information processing device.

[0060] Furthermore, a positioning reference component 14 is connected above the snap-fit ​​structure;

[0061] A borehole is installed from the underground cavity being detected to the surface. The front end of the cable passes through the borehole, and the positioning reference component 14 is set at the lower end of the borehole.

[0062] The positioning reference component 14 includes an upright square tube with a first reference part at the lower end of the square tube. The first reference part is a closed cavity with a red light diode inside. The reference part includes a first side, a second side, a third side, and a fourth side. The first side has three light-transmitting holes located at the three corners of a right triangle. Two of the light-transmitting holes are at the same level, and the two horizontal light-transmitting holes are above the third light-transmitting hole.

[0063] Both the second and fourth sides are provided with four light-transmitting holes, which are located at the four corners of the rectangle.

[0064] The third side has three light-transmitting holes, which are located at the three corners of the right triangle. Two of the light-transmitting holes are at the same level, and the two horizontal light-transmitting holes are located below the third light-transmitting hole.

[0065] The gimbal mechanism 12 is equipped with two miniature cameras 13 facing opposite directions.

[0066] Furthermore, a second reference part is provided at the upper end of the square tube. The second reference part is a closed cavity and a horizontal sealing plate is provided at its upper end. A red light diode is provided in the cavity. The horizontal sealing plate is provided with three light-transmitting holes, and the three light-transmitting holes are respectively located at the three corners of the direct triangle.

[0067] Furthermore, the snap-fit ​​structure is equipped with a second winch, the second winch is equipped with a second cable, and the second cable is connected to the aircraft 2;

[0068] The second winch is connected to a motor, and there is elastic transmission between the second winch and the motor. Specifically, a toothed disc is provided at the end of the motor drive shaft, and a disc is provided at the end of the second winch shaft. The disc and the toothed disc are fitted with spring plates.

[0069] When the motor is running, it drives the winch to retrieve the second cable.

[0070] The second cable was retrieved as the aircraft approached the second winch;

[0071] Even as the aircraft moves away from the second winch, the pulling force from the aircraft, which exceeds the set value, causes the spring plate to continuously slide across the teeth of the gear disc, thus allowing the second cable to continue extending.

[0072] Furthermore, one end of the mounting bridge 11 is connected to the top of the third airbag 5 near the first airbag 3, and the other end of the mounting bridge 11 is connected to the top of the fourth airbag 6 near the second airbag 4.

[0073] The second airbag 4 is equipped with an air intake valve, which is located at the end of the second airbag 4 near the fourth airbag 6.

[0074] Furthermore, the intake valve includes a valve seat 15, which is fixedly disposed on the outer wall of the second airbag 4. The valve seat 15 includes a cylinder, and a retaining ring is provided at the end of the cylinder located in the inner cavity of the second airbag 4. An internal thread is provided on the inner wall of the cylinder.

[0075] Valve seat 15 is connected to valve core 16. Valve core 16 includes mounting part 17. The outer side of mounting part 17 is threaded to valve seat 15. Mounting part 17 is connected to transition part 18. The diameter of transition part 18 is smaller than that of mounting part 17. Transition part 18 passes through retaining ring. Sealing ring 19 is provided between mounting part 17, transition part 18 and retaining ring.

[0076] The transition section 18 is connected to the air needle section 20. The mounting section 17, the transition section 18 and the air needle section 20 are provided with a communicating air passage. The end of the air needle section 20 is provided with a through hole so that the air passage communicates with the inner cavity of the second airbag 4.

[0077] The air needle section has 20 sleeves connected to a flexible rubber tube.

[0078] Furthermore, the mounting part 17 is provided with a frustum cavity, which is connected to the air passage. The center line of the frustum cavity coincides with the mounting part 17, and the diameter of the end of the frustum cavity away from the transition part 18 is smaller than that of the end near the transition part 18.

[0079] The detection device includes a helium filling mechanism, which includes a helium tank. The helium tank is connected to a gas supply pipe 21, and a filling head 22 is provided at the end of the gas supply pipe 21.

[0080] The inflation head 22 is made of rubber;

[0081] The inflation head 22 includes a limiting part, the diameter of which is larger than the frustum cavity, and the limiting part fits against the end of the mounting part 17 that is away from the transition part 18.

[0082] The limiting part is connected to the frustum part, and the frustum part is press-fitted with the cavity of the frustum part under the tension of the limiting part, thereby forming a snap-fit ​​structure.

[0083] Furthermore, when the pressure in the airway exceeds 1.3 times the atmospheric pressure, the truncated cone will detach from the truncated cone cavity under the pressure of the air.

[0084] Furthermore, a connecting tube is provided at the connection point between the first airbag 3 and the third airbag 5 and the fourth airbag 6, and the same connecting tube is provided at the connection point between the second airbag 4 and the third airbag 5 and the fourth airbag 6.

[0085] Furthermore, the outer layer of the second cable is mechanically connected to the mounting bridge 11, and the fixed connection position of the second cable to the mounting bridge 11 is located at the end of the second airbag 4 near the fourth airbag 6.

[0086] The second cable electrically connects the first rotor mechanism, the second rotor mechanism 8, the third rotor mechanism 9, the fourth rotor mechanism 10, the gimbal mechanism 12, and the camera 13;

[0087] A storage tube 23 is provided at the lower end of the positioning reference component 14, and an electromagnetic exhaust valve 26 is provided on the inner side of the third airbag 5 near the first airbag 3.

[0088] Before work begins, the storage tube 23 of the aircraft 2, which contains an uninflated connecting air pipe, and the positioning reference piece 14 are inserted together with the first cable into the lower end of the borehole 24.

[0089] Afterwards, the aircraft 2 was inflated. Once fully inflated, the aircraft 2 was powered on, the second winch was powered on, and then the aircraft 2 was controlled to take pictures in the underground cavern 25.

[0090] The image information processing device calculates the spatial position of the positioning reference member 14 based on the three light-transmitting holes of the second reference part of the positioning reference member 14.

[0091] A camera 13 of the aircraft 2 captures images of the first reference part of the positioning reference component 14, and the image information processing device determines the spatial position of the aircraft 2.

[0092] Another camera 13 of the aircraft 2 captures images of the underground cavity, and the image information processor calculates the spatial shape of the underground cavity 25.

[0093] After the work is completed, the aircraft 2 flies close to the storage tube 23, the electromagnetic exhaust valve 26 exhausts the air, and the second cable pulls the aircraft 2 into the storage tube 23 via the mounting bridge 11.

[0094] During the exhaust process, due to the design of the mounting bridge 11, the deflated airbag, the first rotor mechanism, the second rotor mechanism 8, the third rotor mechanism 9, the fourth rotor mechanism 10, and the gimbal, the deflated airbag will carry the first rotor mechanism, the second rotor mechanism 8, the third rotor mechanism 9, the fourth rotor mechanism 10, and the gimbal in a series and hang on the mounting bridge 11.

[0095] The technical features of this invention not described can be implemented by or using existing technology, and will not be repeated here. Of course, the above description is not a limitation of this invention, and this invention is not limited to the examples above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention should also be within the protection scope of this invention.

Claims

1. A device for detecting underground cavities, characterized in that, Includes a control system, which is connected to a detection device via a signal; The detection device includes a first winch, the first winch is provided with a first cable, the end of the first cable is provided with a snap-fit ​​structure, and the snap-fit ​​structure is connected to an aircraft. The aircraft includes a long strip-shaped first airbag, a second airbag, a third airbag, and a fourth airbag. The first airbag is parallel to the second airbag, and the third airbag is parallel to the fourth airbag. The two ends of the first airbag are respectively connected to one end of the third airbag and the fourth airbag, and the two ends of the second airbag are respectively connected to the other end of the third airbag and the fourth airbag. The two ends of the first and second airbags are respectively attached to the two ends of the third and fourth airbags, thereby forming a rectangular frame. The third airbag is provided with a first rotor mechanism and a second rotor mechanism inside the rectangular frame, and the fourth airbag is provided with a third rotor mechanism and a fourth rotor mechanism inside the rectangular frame. A mounting bridge connects the third airbag and the fourth airbag, and a gimbal mechanism is connected to the mounting bridge. A miniature camera is mounted on the gimbal mechanism. The gimbal mechanism is equipped with LED lights; The control system includes an image information processing device.

2. The underground cavity detection device according to claim 1, characterized in that, A positioning reference component is connected above the snap-fit ​​structure; A borehole is drilled from the underground cavity being detected to the surface, the front end of the cable passes through the borehole, and the positioning reference element is set at the lower end of the borehole; The positioning reference component includes an upright square tube with a first reference part at the lower end of the square tube. The first reference part is a closed cavity with a red light diode inside. The reference part includes a first side, a second side, a third side, and a fourth side. The first side has three light-transmitting holes located at the three corners of a right triangle, with two of the light-transmitting holes at the same level and the two horizontal light-transmitting holes above the third light-transmitting hole. Both the second and fourth sides are provided with four light-transmitting holes, which are located at the four corners of the rectangle respectively; The third side is provided with three light-transmitting holes, which are located at the three corners of the right triangle, with two of the light-transmitting holes at the same level and the two horizontal light-transmitting holes located below the third light-transmitting hole. The gimbal mechanism is equipped with two miniature cameras facing opposite directions.

3. The underground cavity detection device according to claim 2, characterized in that, The upper end of the square tube is provided with a second reference part, which is a closed cavity and has a horizontal sealing plate at its upper end. A red light diode is provided in the cavity, and the horizontal sealing plate has three light-transmitting holes, which are respectively located at the three corners of a straight triangle.

4. The underground cavity detection device according to claim 1, characterized in that, The snap-fit ​​structure is provided with a second winch, the second winch is provided with a second cable, and the second cable is connected to the aircraft; The second winch is connected to a motor, and there is elastic transmission between the second winch and the motor. Specifically, a toothed disc is provided at the end of the motor drive shaft, and a disc is provided at the end of the second winch shaft. A spring plate is provided on the disc in cooperation with the toothed disc. When the motor is in operation, it drives the winch to retrieve the second cable.

5. The underground cavity detection device according to claim 2, characterized in that, One end of the mounting bridge is connected to the top of the third airbag near the first airbag, and the other end of the mounting bridge is connected to the top of the fourth airbag near the second airbag. The second airbag is provided with an air intake valve, which is located at the end of the second airbag near the fourth airbag.

6. The underground cavity detection device according to claim 5, characterized in that, The intake valve includes a valve seat, which is fixedly disposed on the outer wall of the second airbag. The valve seat includes a cylinder, and a retaining ring is provided at the end of the cylinder located in the inner cavity of the second airbag. The inner wall of the cylinder is provided with internal threads. The valve seat is connected to a valve core, the valve core includes a mounting part, the outer side of the mounting part is threaded to the valve seat, the mounting part is connected to a transition part, the diameter of the transition part is smaller than that of the mounting part, the transition part passes through the retaining ring, and a sealing ring is provided between the mounting part, the transition part and the retaining ring; The transition section is connected to the air needle section, and the mounting section, the transition section and the air needle section are provided with a communicating air passage. The end of the air needle section is provided with a through hole so that the air passage communicates with the inner cavity of the second airbag. The air needle section is fitted with an elastic rubber tube.

7. The underground cavity detection device according to claim 6, characterized in that, The mounting part is provided with a frustum cavity, which is connected to the air passage. The center line of the frustum cavity coincides with the mounting part. The diameter of the end of the frustum cavity away from the transition part is smaller than that of the end near the transition part. The detection device includes a helium filling mechanism, which includes a helium tank. The helium tank is connected to a gas supply pipe, and a filling head is provided at the end of the gas supply pipe. The inflation head is made of rubber. The inflation head includes a limiting part, the diameter of which is larger than the frustum cavity, and the limiting part is attached to one end of the mounting part away from the transition part; The limiting part is connected to the frustum part, and the frustum part is press-fitted with the cavity of the frustum under the tension of the limiting part, thereby forming the snap-fit ​​structure.

8. The underground cavity detection device according to claim 7, characterized in that, When the pressure in the airway is greater than 1.3 times the atmospheric pressure, the frustum portion will be pushed out of the frustum cavity by the air pressure.

9. The underground cavity detection device according to claim 1, characterized in that, The first airbag is connected to the third and fourth airbags by a tube, and the second airbag is connected to the third and fourth airbags by the same tube.

10. The underground cavity detection device according to claim 5, characterized in that, The outer layer of the second cable is mechanically connected to the mounting bridge, and the fixed connection position of the second cable to the mounting bridge is located at the end of the second airbag near the fourth airbag; The second cable electrically connects the first rotor mechanism, the second rotor mechanism, the third rotor mechanism, the fourth rotor mechanism, the gimbal mechanism, and the camera; The lower end of the positioning reference component is provided with a storage tube, and the third airbag is provided with an electromagnetic exhaust valve on the inner side near the first airbag.

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