Underground karst cave visual detection method

Abstract

The invention belongs to the technical field of underground karst cave detection, and particularly relates to an underground karst cave visual detection method.The underground karst cave visual detection method uses an underground karst cave visual detection system, the detection system comprises a detection assembly, a lowering rope, a displayer and an inflation part, and the detection assembly comprises a transparent protection shell and a plurality of exhaust hoses; a camera, a distance sensor, a driving motor I and a driving motor II are arranged in the transparent protective shell, the driving motor I and the driving motor II are used for driving the camera to rotate, and an air bag is fixedly connected outside the transparent protective shell and communicated with a soft catheter. And the air outlet ports of the plurality of exhaust soft parts are coaxial with the radial direction of the transparent protective shell. According to the detection method, after the detection assembly is lowered into the karst cave, the circumferential rock wall of the karst cave can be shot by 360 degrees, the size information of the karst cave can be obtained, and the problem that the shooting angle is fixed is solved; according to the underwater detection device, after the air bag is inflated, the detection assembly can float on the water surface, the exhaust hose exhausts air to generate thrust, so that the detection assembly drifts on the water surface, and more underwater information is obtained.

Description

Technical Field

[0001] The invention belongs to the technical field of underground karst cave detection, and in particular relates to a method for visualizing underground karst cave detection. Background Art

[0002] In the geological and geomorphological environment where karst landforms are common, such as in Guizhou and other places, underground caves are common, which causes great trouble to the foundation construction of construction projects. It is necessary to treat the underground caves before carrying out foundation construction. However, the size of the caves, the development of cracks, and the filling materials inside are different, and the corresponding cave treatment methods are also different. Therefore, it is necessary to detect the caves before treating them to understand the development of the caves.

[0003] Geological exploration drilling is to drill a hole underground with a geological exploration drill, and use a drill rod and a corer to analyze the underground geological conditions. This method can only detect the location and depth of the cave at that point, but cannot find out the specific development of the cave. Therefore, the optimized cave detection method is to lower the detection structure into the cave through the geological exploration hole or pile foundation hole. The detection structure is generally based on a camera, which uses the camera to upload the picture inside the underground cave to the ground so that the staff can judge the development of the underground cave.

[0004] However, in the above detection methods, the camera is usually fixedly installed with a fixed shooting angle and a limited shooting range, which is not conducive to collecting development information of underground caves. Secondly, when there is groundwater in the underground cave, it is impossible to ensure that the detection structure floats on the water surface for detection. Summary of the invention

[0005] The present invention aims to provide a method for visualizing underground cave detection, so as to solve the problem of fixed camera shooting angle in existing detection methods.

[0006] In order to achieve the above-mentioned purpose, the scheme of the present invention is: a method for visual detection of underground caves, the detection method is carried out using a visual detection system for underground caves, the detection system includes a detection component, a lowering rope, a display and an inflatable component, the detection component includes a transparent protective shell and a plurality of exhaust hoses, a camera, a rotating frame and a driving motor I for driving the rotating frame to rotate are arranged in the transparent protective shell, the driving motor I is fixedly installed on the top inner wall of the transparent protective shell, the rotating frame includes a horizontal plate I and two vertical plates fixedly connected to the horizontal plate I and arranged oppositely, and a lighting lamp is fixedly connected to the outer wall of the camera. , a distance sensor and two relatively arranged rotating shafts, one end of the two rotating shafts away from the camera is rotatably connected to the corresponding vertical plate, one rotating shaft is coaxially fixedly connected to a driven gear, a driving motor II is fixedly installed on the rotating frame, and the output end of the driving motor II is coaxially fixedly connected to a driving gear meshing with the driven gear; an air bag is fixedly connected to the outer peripheral wall of the top end of the transparent protective shell, and the air bag is connected to a soft catheter; a plurality of exhaust hoses are evenly distributed along the circumference of the transparent protective shell, one end of the exhaust hose close to the transparent protective shell is fixedly installed on the top end of the transparent protective shell, and the exhaust port of the exhaust hose is coaxial with the radial direction of the transparent protective shell;

[0007] The detection method comprises the following steps:

[0008] S1. Drilling: Drilling to the cave layer by rotary drilling rig to obtain a detection hole;

[0009] S2. Lowering the detection assembly: lowering the detection assembly of the detection system through the detection hole into the cave by using the lowering rope;

[0010] S3, detection: After the detection component enters the cave, the shooting angle of the camera is adjusted through the drive motors I and II in the detection component to shoot 360° of the underground cave, and the images shot by the camera are transmitted to the display of the detection system; if groundwater is encountered, the airbag is inflated through the inflatable piece and the soft catheter. After the airbag is inflated, the volume increases, the buoyancy of the detection component is greater than its gravity, the transparent protective shell floats on the water surface, and the exhaust port of the exhaust hose exhausts air, pushing the transparent protective shell to drift on the water surface, shooting a large area of ​​underwater images and transmitting the images to the display of the detection system;

[0011] S4. Recover the detection component: After the detection is completed, the detection component is recovered by lowering the rope.

[0012] The working principle and beneficial effects of this scheme are as follows: in this scheme, after the detection assembly is lowered into the cave, the driving motor II drives the camera to rotate around the horizontal axis through the driving gear and the driven gear, and the driving motor I drives the rotating frame to rotate, so that the camera rotates around the vertical axis. In this way, during the detection process, the shooting angle of the camera is adjustable, and the circumferential rock wall of the cave can be photographed 360°. The shooting range is larger, which is more conducive to the staff to observe the development of the underground cave. At the same time, the distance sensor can be used to detect the distance between the axial rock wall of the cave and the camera to obtain the cave size information.

[0013] Furthermore, when the camera captures the presence of groundwater in the cave, the airbag is inflated using the inflatable piece and the soft catheter, and the airbag expands and increases in volume. When the detection component encounters water, the buoyancy is greater than the gravity, so the detection component can float on the water surface, making it easier for the distance sensor to detect the water depth. Moreover, the directional exhaust of the exhaust hose is used to push the transparent protective shell to drift on the water surface, thereby detecting the water depth over a large area, capturing more underwater images, and obtaining more underwater information. In addition, when the transparent protective shell drifts on the water surface, the inflated airbag can prevent the transparent protective shell from hitting the rocks on the shore, thereby playing a certain protective role.

[0014] Optionally, the output end of the driving motor I is coaxial with the central axis of the camera when it is in a vertical state.

[0015] In this solution, when the camera rotates around the vertical axis driven by the driving motor I, the vertical axis is coaxial with the output end of the driving motor I, and the rotation radius of the camera around the vertical axis is the smallest.

[0016] Optionally, the transparent protective shell includes a shell and a shell cover, the top wall of the shell is provided with an opening, the shell cover is used to seal the opening, the shell cover is detachably connected to the top end of the shell, and the drive motor I is fixedly mounted on the shell cover.

[0017] In this solution, the shell cover is removed from the shell, and the drive motor I and the rotating frame can be taken out from the shell, which is convenient for device maintenance.

[0018] Optionally, an annular support plate is fixedly connected to the inner circumferential wall of the shell, and a universal ball is provided between the two ends of the horizontal plate I and the annular support plate, and the universal ball is fixedly installed on the bottom surface of the horizontal plate I.

[0019] In this solution, the horizontal plate I is supported by an annular support plate, and the friction between the horizontal plate I and the annular support plate is rolling friction with small friction force. In this way, the rotating frame can rotate smoothly around the vertical axis in the shell, thereby allowing the camera to rotate 360° around the vertical axis.

[0020] Optionally, a wire hole is opened on the shell cover, and a waterproof hose is sealed and fixedly connected to the wire hole, and the waterproof hose is connected to the interior of the shell.

[0021] In this solution, the waterproof hose is used for the power cables and signal transmission cables of the devices in the transparent protective shell to pass through, and a waterproof rubber belt is used to wrap and seal the top of the waterproof hose to ensure the sealing of the transparent protective shell.

[0022] Optionally, the rotating frame further includes a horizontal plate II, which is located below the horizontal plate I, and the driving motor II is fixedly mounted on the horizontal plate II.

[0023] In this solution, when the drive motor II is installed on the horizontal plate II, the distance between the two vertical plates can be reduced, thereby reducing the outer diameter of the transparent protective shell.

[0024] Optionally, the detection system also includes a retractable roller and a drive motor III for driving the retractable roller to rotate, the lowering rope includes a main lowering rope and a plurality of branch lowering ropes, one end of the branch lowering rope away from the main lowering rope is fixedly connected to the top of the transparent protective shell, and one end of the main lowering rope away from the branch lowering rope is reeled on the retractable roller.

[0025] In this solution, the drive motor III is used to drive the retracting roller to rotate, thereby realizing the retracting and releasing of the lowering rope, avoiding manual retracting and releasing of the lowering rope, and reducing the workload of workers.

[0026] Optionally, the detection system further comprises a bottom plate, on which two mounting plates are arranged opposite to each other, the retractable roller is rotatably mounted between the two mounting plates, and the drive motor III is fixedly mounted on the mounting plate.

[0027] In this solution, the bottom plate is placed across the detection hole, and the retracting roller and the drive motor III are both located above the detection hole, so that the detection component can be lowered close to the central axis of the detection hole, thereby avoiding contact between the detection component and the side wall of the detection hole.

[0028] Optionally, at least two transverse through holes are formed on the bottom plate, and a cross bar passes through each transverse through hole.

[0029] In this solution, the cross bar is placed across the detection hole, and the cross bar and the bottom plate are perpendicular to each other, thereby preventing the bottom plate from tipping over.

[0030] Optionally, the soft conduit is connected to a soft branch pipe, and the soft branch pipe is provided with a water stop clamp.

[0031] In this solution, after the airbag is inflated, the air is deflated through the soft branch pipe to adjust the volume of the airbag, and then adjust the buoyancy of the detection component, so that the detection component can slowly sink in the water, thereby capturing underwater scenes at close range. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of a process of a method for visualizing underground cave detection in Embodiment 1 of the present invention;

[0033] Figure 2 It is a structural schematic diagram of an underground cave visualization detection system used in an underground cave visualization detection method in Embodiment 1 of the present invention;

[0034] Figure 3 for Figure 2 A is an enlarged schematic diagram;

[0035] Figure 4 It is a longitudinal partial cross-sectional view of the detection assembly in the first embodiment of the present invention;

[0036] Figure 5 It is a top view of the transparent protective housing in the first embodiment of the present invention;

[0037] Figure 6 A top view of the bottom plate in the first embodiment of the present invention;

[0038] Figure 7 for Figure 6 Right view of;

[0039] Figure 8 It is a longitudinal partial cross-sectional view of the detection assembly in the second embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following is further described in detail through specific implementation methods:

[0041] The marks in the drawings of the specification include: detection component 1, lowering rope 2, main lowering rope 201, branch lowering rope 202, display 3, inflatable part 4, bottom plate 5, retracting roller 6, drive motor III 7, transparent protective shell 8, shell 801, shell cover 802, horizontal ear plate 8021, exhaust hose 9, rubber sealing ring 10, camera 11, camera port 1101, rotating frame 12, horizontal plate I 121, vertical plate 122, horizontal plate II 123, drive motor I 13, lighting lamp 14, distance sensor 15, rotating shaft 16, driven gear 17, drive motor II 18, driving gear 19, waterproof hose 20, airbag 21, soft conduit 22, soft branch pipe 23, mounting plate 24, cross bar 25, annular support plate 26, universal ball 27, detection hole 28, cave 29, counterweight 30.

[0042] Embodiment 1

[0043] This embodiment provides a method for visually detecting underground caves, using an underground cave 29 visual detection system, such as Figure 2-Figure 7 As shown, the detection system includes a detection component 1, a lowering rope 2, a display 3, an inflatable member 4, a bottom plate 5, a retractable roller 6, and a drive motor III 7 for driving the retractable roller 6 to rotate. Figure 4As shown, the detection assembly 1 includes a transparent protective shell 8 and a plurality of exhaust hoses 9. The transparent protective shell 8 includes a shell 801 and a shell cover 802. The top wall of the shell 801 is provided with an opening. The shell cover 802 is used to seal the opening. The shell cover 802 is detachably connected to the top of the shell 801. In this embodiment, the shell cover 802 is threadedly connected to the top of the shell 801, and the shell cover 802 can be removed by rotation. In addition, a rubber sealing ring 10 is bonded to the inner wall of the shell cover 802, and the rubber sealing ring 10 is tightly pressed against the top of the shell 801, thereby ensuring the sealing of the transparent protective shell 8 and preventing external liquid from entering the interior of the transparent protective shell 8. In addition, the transparent protective shell 8 in this embodiment is a transparent plastic product or a transparent tempered glass product.

[0044] A camera 11, a rotating frame 12 and a driving motor Ⅰ13 for driving the rotating frame 12 to rotate are arranged in the transparent protective shell 8. The rotating frame 12 includes a horizontal plate Ⅰ121 and two vertical plates 122 fixedly connected to the horizontal plate Ⅰ121 and arranged opposite to each other. The driving motor Ⅰ13 is fixedly installed on the inner wall of the shell cover 802. The output end of the driving motor Ⅰ13 is fixedly connected to the horizontal plate Ⅰ121, and the output end of the driving motor Ⅰ13 is coaxial with the central axis of the camera 11 when it is in a vertical state.

[0045] An illuminating lamp 14, a distance sensor 15 and two relatively arranged rotating shafts 16 are fixedly connected to the outer wall of the camera 11, and the illuminating lamp 14 is an LED lamp; the two rotating shafts 16 are welded to the outer wall of the camera 11, and the ends of the two rotating shafts 16 away from the camera 11 are rotatably connected to the corresponding vertical plates 122, and one rotating shaft 16 is coaxially fixedly connected to a driven gear 17, and a horizontal plate II 123 is welded to the vertical plate 122, and a driving motor II 18 is fixedly installed on the horizontal plate II 123, and the output end of the driving motor II 18 is coaxially fixedly connected to a driving gear 19 meshing with the driven gear 17.

[0046] The shell cover 802 is provided with a wire hole, and a waterproof hose 20 is sealed and bonded to the wire hole. The waterproof hose 20 is connected to the interior of the shell 801, so that each power cable and signal transmission cable enters the transparent protective shell 8 through the waterproof hose 20, thereby supplying power to the drive motor I 13, the drive motor II 18, the lighting lamp 14, the camera 11, and the distance sensor 15, and transmits the image captured by the camera 11 and the distance information detected by the distance sensor 15 to the ground through the signal transmission cable for display on the display 3. The end of the waterproof hose 20 away from the transparent protective shell 8 is wrapped and sealed with a waterproof tape to ensure the sealing of the waterproof hose 20.

[0047] Combination Figure 5As shown, an airbag 21 is bonded to the outer peripheral wall of the shell cover 802, and the airbag 21 is connected to a soft conduit 22. The end of the soft conduit 22 away from the airbag 21 is connected to a soft branch pipe 23, and a water stop clamp is provided on the soft branch pipe 23, which can seal the soft branch pipe 23; a plurality of exhaust hoses 9 are evenly distributed along the circumference of the transparent protective shell 8, the exhaust hoses 9 are bonded to the shell cover 802, and the air outlet port of the exhaust hose 9 is coaxial with the radial direction of the shell cover 802. Specifically, a horizontal ear plate 8021 is integrally formed on the outer peripheral wall of the shell cover 802, and the exhaust hose 9 is bonded to the horizontal ear plate 8021; in addition, the horizontal ear plate 8021 can be located above the airbag 21 or below the airbag 21. In the present embodiment, the horizontal ear plate 8021 is located below the airbag 21, and a channel for the exhaust hose 9 to pass through is reserved between the airbag 21 and the shell cover 802. In this embodiment, there are four exhaust hoses 9, so that the transparent protective shell 8 has an exhaust hose 9 outlet port in the four directions of front, back, left, and right. In addition, the inflatable member 4 is an electric inflatable pump, and the number of the inflatable members 4 is five, one inflatable member 4 is connected to the soft conduit 22, and the remaining four inflatable members 4 are connected to four exhaust hoses 9 correspondingly.

[0048] The lowering rope 2 includes a main lowering rope 201 and a plurality of branch lowering ropes 202. In this embodiment, there are four branch lowering ropes 202. The bottom ends of the branch lowering ropes 202 are fixedly connected to the top of the shell cover 802, and the fixed connection points of the four branch lowering ropes 202 and the shell cover 802 are symmetrically arranged with the center of the shell cover 802 as the center point. The top ends of the branch lowering ropes 202 are fixedly connected to the main lowering rope 201, and the top ends of the main lowering ropes 201 are wound on the retracting roller 6. The main lowering ropes 201 are provided with scale lines. Figure 6 and Figure 7 As shown, two oppositely arranged mounting plates 24 are welded on the bottom plate 5, the two ends of the retractable roller 6 are rotatably mounted on the corresponding mounting plates 24, and the drive motor III 7 is fixedly mounted on the mounting plates 24. Two transverse through holes are provided on the bottom plate 5, each of which is penetrated by a cross bar 25, and the axial direction of the cross bar 25 is perpendicular to the length direction of the bottom plate 5.

[0049] Before the detection assembly 1 is officially used, a water immersion test is performed on the detection assembly 1. If the test finds that the detection assembly 1 cannot sink, an annular weight 30 is installed at the bottom end of the shell 801 until the detection assembly 1 can sink in the water.

[0050] This embodiment provides a method for visualizing underground cave detection. Figure 1 As shown, the following steps are included:

[0051] S1. Drilling: Drilling a hole to the cave layer by a rotary drilling rig to obtain a detection hole 28.

[0052] S2. Lower the detection assembly 1: Place the bottom plate 5 across the detection hole 28, and make the two ends of the crossbar 25 contact the ground (if a casing is placed in the detection hole 28, make the crossbar 25 across the top of the casing), so as to prevent the bottom plate 5 from tipping over. At this time, the detection assembly 1 is suspended at the top of the detection hole 28; then, the drive motor III7 is started, and the drive motor III7 drives the retracting roller 6 to rotate, and the main lowering rope 201 wound on the retracting roller 6 is released, and the detection assembly 1 moves down in the detection hole 28 until the detection assembly 1 moves down to the cave 29.

[0053] S3, detection: After the detection assembly 1 enters the cave 29, the illuminating lamp 14 illuminates the cave 29. Initially, the camera port 1101 of the camera 11 faces downward, so as to capture the development of the bottom of the cave 29, and transmit the captured image to the ground for display on the display 3; at the same time, the distance sensor 15 works to detect the distance information of the corresponding part, and transmits the distance information to the ground for display on the display 3. Subsequently, the driving motor II 18 is started, the driving gear 19 rotates, and the driven gear 17 meshing with the driving gear 19 rotates, thereby driving the rotating shaft 16 and the camera 11 to rotate, and the camera 11 rotates around the horizontal axis ("horizontal axis" refers to the axis coaxial with the rotating shaft 16), and the direction of the camera port 1101 of the camera 11 changes, so that the camera port 1101 of the camera 11 is changed from vertical downward to horizontal, and the driving motor II 18 stops working, and the camera port 1101 of the camera 11 maintains a horizontal direction. Then, the driving motor I13 is started, driving the rotating frame 12 to rotate, so that the camera 11 rotates around the vertical axis (the "vertical axis" refers to the axis coaxial with the output end of the driving motor I13), so that the camera 11 starts to rotate 360 ​​degrees, photographing the development of the circumferential rock wall of the cave 29, and transmitting the picture to the ground for display on the display 3. At the same time, the distance sensor 15 on the same side as the camera port 1101 on the camera 11 detects the distance between the distance sensor 15 and the rock wall of the cave 29, and transmits the detected distance information to the ground for display on the display 3, thereby obtaining the size information of the cave 29.

[0054] After the camera 11 rotates around the vertical axis for one circle, the drive motor III 7 is started, and the retracting roller 6 rotates to release the main lowering rope 201 within a length of 50 mm. In this embodiment, in the detection stage, each time the camera 11 rotates around the vertical axis for one circle, the main lowering rope 201 is lowered by 50 mm, that is, the detection component 1 moves down by 50 mm, and the drive motor I 13 is started again, and the camera 11 rotates 360° around the vertical axis again to shoot the rock wall of the cave 29 until the detection component 1 moves down to the bottom of the cave 29. In addition, the scale line on the main lowering rope 201 can indicate the depth of the cave 29, thereby obtaining the depth of the cave 29.

[0055] During the detection stage, if groundwater is encountered, the inflatable part 4 connected to the soft tube 22 will work, and the airbag 21 will be inflated through the soft tube 22. The volume of the airbag 21 will increase. When the detection component 1 enters the water, the buoyancy it receives is greater than the gravity, and the detection component 1 floats on the water surface. The drive motor II 18 is started, and the camera 11 rotates around the horizontal axis. The camera port 1101 of the camera 11 faces downward to capture underwater images. The distance sensor 15 detects the distance between the distance sensor 15 and the bottom of the water, thereby obtaining water depth information. In addition, for the convenience of description, the four inflatable parts 4 connected to the exhaust hose 9 are named 1#, 2#, 3#, and 4# inflatable parts 4. The exhaust hoses 9 corresponding to the 1#, 2#, 3#, and 4# inflatable parts 4 are distributed clockwise on the circumference of the shell cover 802. When the 1# inflatable part 4 is working, the corresponding exhaust hose 9's air outlet port is exhausted underwater. Driven by the reaction force, the detection component 1 drifts on the water surface, and the position of the detection component 1 on the water surface changes (in this process, the main lowering rope 201 is released to a sufficient length for the detection component 1 to move), thereby changing the shooting position of the camera 11 and obtaining water depth information at different positions. In this way, the 1#, 2#, 3#, and 4# inflatable parts 4 work individually, or the 1# and 2# inflatable parts 4 work simultaneously, or the 1# and 4# inflatable parts 4 work simultaneously, or the 2# and 3# inflatable parts 4 work simultaneously, or the 3# and 4# inflatable parts 4 work simultaneously, thereby changing the position of the detection component 1 on the water surface, and then capturing underwater images over a large area, and obtaining water depth information at many different locations.

[0056] When the detection assembly 1 is drifting on the water surface, if it is necessary to shoot underwater images at close range, the staff will open the water stop clamp on the soft branch pipe 23, and the gas in the air bag 21 will be discharged through the soft branch pipe 23, and the buoyancy of the detection assembly 1 will be reduced. When the buoyancy is less than the gravity, the water stop clamp on the soft branch pipe 23 will be closed, and the detection assembly 1 will slowly sink, thereby reducing the distance between the camera 11 and the bottom of the water, and shooting underwater images at close range can be achieved. In addition, the detection assembly 1 can be floated by re-inflating the air bag 21.

[0057] S4, retrieving the detection assembly 1: After the detection is completed, the drive motor III 7 is started, driving the retracting roller 6 to rotate in the opposite direction, reeling in the main lowering rope 201, thereby lifting and resetting the detection assembly 1. In addition, during the lifting process of the detection assembly 1, the staff should pay attention to pulling up the soft guide tube 22, the exhaust hose 9 and other pipelines.

[0058] Embodiment 2

[0059] The difference between this embodiment and the first embodiment is that: Figure 8As shown, in this embodiment, an annular support plate 26 is welded on the inner wall of the shell 801, and universal balls 27 are provided between the two ends of the horizontal plate Ⅰ121 and the annular support plate 26. The universal balls 27 are fixedly mounted on the bottom surface of the horizontal plate Ⅰ121. In this way, the annular support plate 26 is used to support the horizontal plate Ⅰ121, so that the rotating frame 12 can rotate stably and the rotating frame 12 encounters little resistance during rotation.

[0060] The above are only embodiments of the present invention. The invention is not limited to the fields involved in this implementation case. The common sense such as the known specific structures and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field to which the invention belongs before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the present invention. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to explain the content of the claims.

Claims

1. A method for visualizing underground cave detection, characterized in that: The detection method is carried out using an underground cave visualization detection system, which includes a detection component, a lowering rope, a display and an inflatable member. The detection component includes a transparent protective shell and a plurality of exhaust hoses. A camera, a rotating frame and a driving motor I for driving the rotating frame to rotate are arranged in the transparent protective shell. The driving motor I is fixedly installed on the top inner wall of the transparent protective shell. The rotating frame includes a horizontal plate I and two vertical plates fixedly connected to the horizontal plate I and arranged oppositely. An illuminating lamp, a distance sensor and two rotating shafts arranged oppositely are fixedly connected to the outer wall of the camera. One end of the two rotating shafts away from the camera is rotatably connected to the corresponding vertical plates. A rotating shaft is coaxially fixedly connected with a driven gear. A driving motor II is fixedly installed on the rotating frame. The output end of the driving motor II is coaxially fixedly connected with a driving gear meshing with the driven gear. An airbag is fixedly connected to the outer peripheral wall of the top of the transparent protective shell, and the airbag is connected with a soft catheter. A plurality of exhaust hoses are evenly distributed along the circumference of the transparent protective shell. One end of the exhaust hose close to the transparent protective shell is fixedly installed on the top of the transparent protective shell, and the air outlet port of the exhaust hose is coaxial with the radial direction of the transparent protective shell. The detection method comprises the following steps: S1. Drilling: Drilling to the cave layer by rotary drilling rig to obtain a detection hole; S2. Lowering the detection assembly: lowering the detection assembly of the detection system through the detection hole into the cave by using the lowering rope; S3, detection: After the detection component enters the cave, the shooting angle of the camera is adjusted through the drive motors I and II in the detection component to shoot 360° of the underground cave, and the images shot by the camera are transmitted to the display of the detection system; if groundwater is encountered, the airbag is inflated through the inflatable piece and the soft catheter. After the airbag is inflated, the volume increases, the buoyancy of the detection component is greater than its gravity, the transparent protective shell floats on the water surface, and the exhaust port of the exhaust hose exhausts air, pushing the transparent protective shell to drift on the water surface, shooting a large area of ​​underwater images and transmitting the images to the display of the detection system; S4. Recover the detection component: After the detection is completed, recover the detection component by lowering the rope.

2. The method for visualizing underground cave detection according to claim 1, characterized in that: The output end of the driving motor I is coaxial with the central axis of the camera when it is in a vertical state.

3. The method for visualizing underground cave detection according to claim 1, characterized in that: The transparent protective shell includes a shell and a shell cover. The top wall of the shell is provided with an opening. The shell cover is used to seal the opening. The shell cover is detachably connected to the top of the shell. The driving motor I is fixedly mounted on the shell cover.

4. The method for visualizing underground cave detection according to claim 3, characterized in that: An annular support plate is fixedly connected to the inner peripheral wall of the shell, and a universal ball is arranged between the two ends of the horizontal plate I and the annular support plate, and the universal ball is fixedly installed on the bottom surface of the horizontal plate I.

5. The method for visualizing underground cave detection according to claim 3, characterized in that: The shell cover is provided with a wire hole, the wire hole is sealed and fixedly connected with a waterproof hose, and the waterproof hose is communicated with the interior of the shell.

6. The method for visualizing underground cave detection according to claim 1, characterized in that: The rotating frame also includes a horizontal plate II, which is located below the horizontal plate I, and a driving motor II is fixedly installed on the horizontal plate II.

7. The method for visualizing underground cave detection according to claim 1, characterized in that: The detection system also includes a retractable roller and a driving motor III for driving the retractable roller to rotate. The lowering rope includes a main lowering rope and a plurality of branch lowering ropes. One end of the branch lowering rope away from the main lowering rope is fixedly connected to the top of the transparent protective shell, and one end of the main lowering rope away from the branch lowering rope is reeled on the retractable roller.

8. The method for visualizing underground cave detection according to claim 7, characterized in that: The detection system also includes a bottom plate, on which two mounting plates are arranged opposite to each other, the retractable roller is rotatably mounted between the two mounting plates, and the drive motor III is fixedly mounted on the mounting plate.

9. The method for visualizing underground cave detection according to claim 7, characterized in that: At least two transverse through holes are formed on the bottom plate, and a cross bar passes through each transverse through hole.

10. The method for visualizing underground cave detection according to claim 1, characterized in that: The soft conduit is connected with a soft branch pipe, and a water stop clamp is arranged on the soft branch pipe.

Images