A handheld laser radar scanner underground control point centering device

Abstract

The present invention belongs to the technical field of underground operations, and in particular, is a handheld laser radar scanner underground control point centering device, comprising an equipment base, the top of the equipment base is fixedly connected to an equipment housing, and the outer wall of the equipment housing is provided with a fixing module, the bottom outer wall of the equipment housing is provided with a buffer locking module, and the buffer locking module comprises a driving motor and four shaft rods, the driving motor is fixedly connected to the bottom outer wall of the equipment housing, and two shaft rods are respectively fixedly connected to the inner walls on both sides of the equipment housing. A handheld laser radar scanner underground control point centering device disclosed in the present invention solves the technical problem that the existing device must project the top control point vertically to the bottom, and must lay out standards and measure height differences to complete the work. The device has a self-leveling function that can accelerate the centering plate, can reduce pre-work, and improve work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of underground operation, and in particular to an underground control point centering device of a handheld laser radar scanner. Background Art

[0002] The biggest difference between underground operations and traditional surface operations with handheld LiDAR scanners is that there is no satellite signal in underground operations, and the scanner’s precise spatial position cannot be obtained in real time for point cloud position correction and stitching. To solve this problem, the scanner must collect a sufficient number of control points for later correction of the data when performing underground operations.

[0003] The existing device needs to collect downhole control points during use. The top control point must be vertically cast to the bottom, the standard must be laid out, and the height difference must be measured to complete the process. This process has low operating efficiency, high labor requirements, and high costs. Summary of the invention

[0004] The invention discloses a downhole control point centering device for a handheld laser radar scanner, aiming to solve the technical problems in the background technology that the existing device needs to collect downhole control points during use, and the top control point must be vertically projected to the bottom, the standard is laid out, and the height difference is measured to complete the process. This process has low operating efficiency, high labor requirements and high costs.

[0005] The present invention proposes a downhole control point centering device for a handheld laser radar scanner, comprising an equipment base, the top of the equipment base is fixedly connected to an equipment shell, and the outer wall of the equipment shell is provided with a fixing module, the bottom outer wall of the equipment shell is provided with a buffer locking module, and the buffer locking module comprises a driving motor and four shaft rods, the driving motor is fixedly connected to the bottom outer wall of the equipment shell, wherein two shaft rods are respectively fixedly connected to the inner walls on both sides of the equipment shell; one end of the four shaft rods is provided with a rotating ball, and the outer walls of the four rotating balls are respectively provided with connecting columns, wherein one end of two connecting columns is fixedly connected to the same mounting ring, one end of the other two connecting columns is fixedly connected to the same centering disk, and one end of the other two shaft rods is respectively fixedly connected to the inner wall of the mounting ring; a mounting hole is opened on the top of the centering disk, a laser point rangefinder is provided inside the mounting hole, a display screen is provided on the top of the centering disk, and a plumb bob is provided on the bottom of the centering disk.

[0006] The equipment is placed on the shaft floor by providing an equipment base, an equipment housing, a buffer locking module, a centering disk, a mounting hole, a display screen, a valve laser point distance meter, a fixing module and a plumb bob. The equipment can be fixed on the shaft floor through the fixing module, which prevents the equipment from being accidentally touched by staff during use, thereby improving the use effect of the equipment. The buffer locking module can accelerate the self-leveling function of the centering disk. The buffer locking module can lock the centering disk after automatic leveling is completed, thereby ensuring the stability of the centering disk. The laser point distance meter displays the measured distance through the display screen.

[0007] In a preferred scheme, the interior of the four shaft rods is provided with electric telescopic rods, the output ends of the four electric telescopic rods are fixedly connected with circular mounting plates, and the outer walls of one side of the four circular mounting plates are fixedly connected with clamping blocks; the output shaft of the driving motor is connected with a rotating mounting plate through a coupling, the outer wall of the rotating mounting plate is provided with four hydraulic telescopic rods, and the output ends of the four hydraulic telescopic rods are fixedly connected with rectangular connecting blocks, the tops of the four rectangular connecting blocks are fixedly connected with arc-shaped mounting seats, the tops of the four arc-shaped mounting seats are provided with circular mounting grooves, and the interiors of the four circular mounting grooves are fixedly connected with air pumps; the input ends of the four air pumps are provided with filter heads, the outer walls of one side of the four arc-shaped mounting seats are fixedly connected with arc-shaped mounting strips, the outer walls of one side of the four arc-shaped mounting strips are provided with buffer pads, and the output ends of the four air pumps are respectively connected with the four buffer pads.

[0008] By providing a buffer locking module, the buffer locking module is suitable for the buffer locking link of the centering disk, that is, when the buffer locking module is in operation, it can accelerate the self-leveling function of the centering disk. Through the buffer locking module, the centering disk can be locked after the automatic leveling is completed, thereby ensuring the stability of the centering disk. By providing a rotating ball, the centering disk can be kept in a horizontal state on the ground with different slopes, thereby improving the use effect of the device.

[0009] In a preferred solution, the fixing module includes four U-shaped mounting frames, the four U-shaped mounting frames are fixedly connected to the outer wall of the equipment housing, and the tops of the four U-shaped mounting frames are provided with circular grooves, the insides of the circular grooves are provided with universal motors, and the output shafts of the universal motors are connected to the driving gears through couplings; the tops of the four U-shaped mounting frames are fixedly connected to L-shaped limit frames, the tops of the four L-shaped limit frames are provided with limit rods, the insides of the four U-shaped mounting frames are movably connected with rotating parts, and the four rotating parts are respectively meshed with four driving gears, the insides of the four rotating parts are movably connected with threaded tubes, the tops of the four threaded tubes are provided with limit holes, and the inner walls of the four limit holes are respectively in contact with the outer walls of the four limit rods; the bottoms of the four threaded tubes are fixedly connected There is a connecting base, the outer walls of the four connecting bases are each provided with a plurality of movable slots, the inner walls of the plurality of movable slots are each movably connected with a fixing rod, one end of the plurality of fixing rods is each fixedly connected with a limiting plate, the outer walls of the plurality of fixing rods are each provided with a limiting spring, the plurality of limiting springs are respectively located inside the four connecting bases, one end of the plurality of limiting springs is respectively fixedly connected to the outer walls of the plurality of limiting plates, and the other ends of the plurality of limiting springs are respectively fixedly connected to the inner walls of the four connecting bases; micro motors are each provided inside the four threaded tubes, the output shafts of the four micro motors are connected with cams through couplings, the four cams are respectively located inside the four connecting bases, and the outer walls of the plurality of limiting plates are respectively in contact with the outer walls of the four cams, and the bottoms of the four connecting bases are each fixedly connected with a drill body.

[0010] By providing a fixing module, the fixing module is suitable for the fixing link of the device, that is, when the fixing module is running, the threaded pipe can be stably fixed in the soil on the well floor, which can enable the normal operation of the equipment, improve the stability of the device, and do not require auxiliary work by the staff, thereby increasing the use effect and operation convenience of the device.

[0011] From the above, it can be seen that the handheld laser radar scanner downhole control point centering device provided by the present invention has the function of accelerating the self-leveling of the centering disk, thereby improving the setting work efficiency. Through the buffer locking module, the centering disk can be locked after the automatic leveling is completed, thereby ensuring the stability of the centering disk. By setting a rotating ball, the centering disk can be used to maintain a horizontal state on the ground with different slopes, thereby improving the use effect of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the overall structure of a handheld laser radar scanner downhole control point centering device proposed by the present invention.

[0013] Figure 2 This is a schematic diagram of the structure of a plumb bob and an axle rod of a downhole control point centering device of a handheld laser radar scanner proposed by the present invention.

[0014] Figure 3 A schematic diagram of the internal structure of an axle rod component of a downhole control point centering device of a handheld laser radar scanner proposed in the present invention.

[0015] Figure 4 This is a schematic diagram of the structure of a drive motor and an arc-shaped mounting seat of a downhole control point centering device of a handheld laser radar scanner proposed in the present invention.

[0016] Figure 5 This is a partial structural schematic diagram of a buffer adjustment module of a downhole control point centering device of a handheld laser radar scanner proposed in the present invention.

[0017] Figure 6 This is a schematic diagram of the fixed module structure of a downhole control point centering device of a handheld laser radar scanner proposed by the present invention.

[0018] Figure 7 This is a schematic diagram of the drill bit body and connection base structure of a handheld laser radar scanner downhole control point centering device proposed by the present invention.

[0019] Figure 8 This is a schematic diagram of the micro motor and fixed rod structure of a downhole control point centering device of a handheld laser radar scanner proposed by the present invention.

[0020] In the figure: 1, equipment base; 2, equipment housing; 3, buffer locking module; 301, mounting ring; 302, shaft member; 303, connecting column; 304, rotating ball; 305, clamping block; 306, circular mounting plate; 307, electric telescopic rod; 308, arc-shaped mounting seat; 309, driving motor; 310, rotating mounting plate; 311, circular mounting groove; 312, arc-shaped mounting strip; 313, buffer pad; 314, air pump; 315, hydraulic telescopic rod; 316, rectangular connecting block; 317. Filter head; 4. Centering plate; 5. Mounting hole; 6. Display screen; 7. Laser point distance meter; 8. Fixing module; 801. U-shaped mounting bracket; 802. L-shaped limit bracket; 803. Universal motor; 804. Limit rod; 805. Rotating part; 806. Connecting base; 807. Drill body; 808. Driving gear; 809. Threaded tube; 810. Micro motor; 811. Fixing rod; 812. Limit spring; 813. Cam; 814. Limit plate; 9. Plumb body. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] A handheld laser radar scanner downhole control point centering device disclosed in the present invention is mainly used in scenarios where existing devices need to collect downhole control points during use. The top control point must be projected vertically to the bottom, the standard must be laid out, and the height difference must be measured to complete the process. This process has low operating efficiency, high labor requirements, and high costs.

[0023] Example: Refer to Figure 1-Figure 8 A handheld laser radar scanner downhole control point alignment device comprises an equipment base 1, the top of the equipment base 1 is fixedly connected to an equipment housing 2, and the outer wall of the equipment housing 2 is provided with a fixing module 8, the bottom outer wall of the equipment housing 2 is provided with a buffer locking module 3, and the buffer locking module 3 comprises a driving motor 309 and four shaft rods 302, the driving motor 309 is fixedly connected to the bottom outer wall of the equipment housing 2, wherein two shaft rods 302 are respectively fixedly connected to the inner walls of both sides of the equipment housing 2; one end of each of the four shaft rods 302 is provided with There are rotating balls 304, and the outer walls of the four rotating balls 304 are all provided with connecting columns 303, wherein one end of two connecting columns 303 is fixedly connected to the same mounting ring 301, one end of the other two connecting columns 303 is fixedly connected to the same centering plate 4, and one end of the other two shaft rods 302 is respectively fixedly connected to the inner wall of the mounting ring 301; a mounting hole 5 is opened on the top of the centering plate 4, a laser point rangefinder 7 is arranged inside the mounting hole 5, and a display screen 6 is arranged on the top of the centering plate 4, and a plumb bob 9 is arranged at the bottom of the centering plate 4.

[0024] Specifically, the equipment is placed on the floor of the shaft, and can be fixed on the floor of the shaft through the fixing module 8, which prevents the equipment from being accidentally touched by the staff during use, thereby improving the use effect of the equipment; by setting the buffer locking module 3, the self-leveling function of the centering disk 4 can be accelerated, and through the buffer locking module 3, the centering disk 4 can be locked after the automatic leveling is completed, thereby ensuring the stability of the centering disk 4; the laser point rangefinder 7 displays the measured distance through the display screen 6.

[0025] Reference Figure 1-Figure 5In a preferred embodiment, the four shaft members 302 are each provided with an electric telescopic rod 307, the output ends of the four electric telescopic rods 307 are each fixedly connected to a circular mounting plate 306, and the outer walls of one side of the four circular mounting plates 306 are each fixedly connected to a clamping block 305; the output shaft of the driving motor 309 is connected to a rotating mounting plate 310 through a coupling, and the outer wall of the rotating mounting plate 310 is provided with four hydraulic telescopic rods 315, and the output ends of the four hydraulic telescopic rods 315 are fixedly connected to a rectangular connecting block 316, and the four rectangular The top of the shaped connecting block 316 is fixedly connected to an arc-shaped mounting seat 308, and a circular mounting groove 311 is opened on the top of the four arc-shaped mounting seats 308, and the inside of the four circular mounting grooves 311 is fixedly connected to an air pump 314; the input end of the four air pumps 314 is provided with a filter head 317, and the outer wall of one side of the four arc-shaped mounting seats 308 is fixedly connected to an arc-shaped mounting strip 312, and the outer wall of one side of the four arc-shaped mounting strips 312 is provided with a buffer pad 313, and the output ends of the four air pumps 314 are respectively connected to the four buffer pads 313.

[0026] Specifically, when the equipment is in use, the centering disc 4 can level itself under the action of its own weight and the plumb bob 9, start the air pump 314, inhale air through the filter head 317, inflate the buffer pad 313 through the output pipe, start the drive motor 309 and the hydraulic telescopic rod 315, and gradually adjust the position of the rotatable arc mounting seat 308. When the plumb bob 9 contacts the buffer pad 313 during the swinging process, the swing amplitude can be reduced. By adjusting the position of the arc mounting seat 308, the position of the buffer pad 313 can be driven, and the stability of the centering disc 4 is accelerated under the action of the buffer pad 313. When the centering disc 4 is stable, the drive motor 309 and the hydraulic telescopic rod 315 are completely turned off, and the electric telescopic rod 307 is started at the same time. The electric telescopic rod 307 drives the clamping block 305 to move. When the clamping block 305 contacts the surface of the rotating ball 304, clamping and fixing are achieved, thereby achieving locking of the centering disc 4.

[0027] In a specific application scenario, the buffer locking module 3 is suitable for the buffer locking link of the centering disk 4, that is, when the buffer locking module 3 is in operation, it can accelerate the self-leveling function of the centering disk 4. Through the buffer locking module 3, the centering disk 4 can be locked after the automatic leveling is completed, thereby ensuring the stability of the centering disk 4. By setting the rotating ball 304, the centering disk 4 can be used to maintain a horizontal state on the ground with different slopes, thereby improving the use effect of the device.

[0028] Reference Figure 1 , Figures 6 to 8In a preferred embodiment, the fixing module 8 includes four U-shaped mounting frames 801, the four U-shaped mounting frames 801 are fixedly connected to the outer wall of the equipment housing 2, and the tops of the four U-shaped mounting frames 801 are provided with circular grooves, and the insides of the circular grooves are provided with universal motors 803, and the output shafts of the universal motors 803 are connected to the driving gears 808 through couplings; the tops of the four U-shaped mounting frames 801 are fixedly connected with L-shaped limit frames 802, and the tops of the four L-shaped limit frames 802 are provided with limit rods 804, the insides of the four U-shaped mounting frames 801 are bearing-connected with rotating members 805, and the four rotating members 805 are respectively meshed with the four driving gears 808, the insides of the four rotating members 805 are threadedly connected with threaded tubes 809, and the tops of the four threaded tubes 809 are provided with limit holes, and the inner walls of the four limit holes are respectively in contact with the outer walls of the four limit rods 804; the bottoms of the four threaded tubes 809 are fixedly connected with the connecting base 8 06. The outer walls of the four connecting bases 806 are each provided with a plurality of movable slots, and the inner walls of the plurality of movable slots are each slidably connected with a fixing rod 811, one end of each of the fixing rods 811 is fixedly connected with a limiting plate 814, and the outer walls of the plurality of fixing rods 811 are each provided with a limiting spring 812, and the plurality of limiting springs 812 are respectively located inside the four connecting bases 806, one end of each of the limiting springs 812 is respectively fixedly connected to the outer walls of the plurality of limiting plates 814, and the other ends of the plurality of limiting springs 812 are respectively fixedly connected to the inner walls of the four connecting bases 806; micromotors 810 are each provided inside the four threaded tubes 809, and the output shafts of the four micromotors 810 are connected with cams 813 through couplings, and the four cams 813 are respectively located inside the four connecting bases 806, and the outer walls of the plurality of limiting plates 814 are respectively in contact with the outer walls of the four cams 813, and the bottoms of the four connecting bases 806 are each fixedly connected with a drill body 807.

[0029] Specifically, after the equipment is placed in the designated position, the universal motor 803 is started, and the universal motor 803 drives the driving gear 808 to rotate, and the driving gear 808 drives the rotating part 805 to start running. When the universal motor 803 cooperates with the driving gear 808 and the rotating part 805, the threaded tube 809 rotates and descends under the action of the limit rod 804, and the connecting base 806 and the drill body 807 rotate and descend accordingly, so that the drill body 807 rotates and screws into the soil on the ground of the well, thereby improving the stability of the equipment during operation. When the threaded tube 809 descends to the designated position, the micro motor 810 is started, and the cam 813 starts to rotate under the action of the micro motor 810. When the outer wall of the cam 813 contacts the limit plate 814, the micro motor 810 stops running. At this time, the limit spring 812 will be under pressure, and the fixing rod 811 will be pushed out of the outer wall of the connecting base 806 and inserted into the soil of the side wall, thereby further improving the stability of the device.

[0030] In a specific application scenario, the fixing module 8 is suitable for the fixing link of the device, that is, when the fixing module 8 is running, the threaded pipe 809 can be stably fixed in the soil on the well floor, which can enable the normal operation of the equipment, improve the stability of the device, and does not require auxiliary work by staff, thereby increasing the use effect and operation convenience of the device.

[0031] Working principle: Specifically, the device is placed on the shaft floor, and the fixing module 8 can be used to fix the device on the shaft floor, so that the device is prevented from being accidentally touched by the staff during use, thereby improving the use effect of the device; the buffer locking module 3 is provided to accelerate the self-leveling function of the centering plate 4, and the buffer locking module 3 can be used to lock the centering plate 4 after the automatic leveling is completed, thereby ensuring the stability of the centering plate 4; the laser point rangefinder 7 displays the measured distance through the display screen 6; specifically, after the device is placed at the designated position, the universal motor 803 is started, and the universal motor 80 3 drives the driving gear 808 to rotate, and the driving gear 808 drives the rotating member 805 to start running. When the universal motor 803 cooperates with the driving gear 808 and the rotating member 805, the threaded tube 809 rotates and descends under the action of the limit rod 804 and is inserted into the soil on the ground of the well, thereby improving the stability of the equipment during operation. When the threaded tube 809 descends to the specified position, the micro motor 810 is started, and the cam 813 starts to rotate under the action of the micro motor 810. When the outer wall of the cam 813 contacts the limit plate 814, the micro motor 810 stops running, and the limit spring 812 will Under pressure, the fixing rod 811 is pushed out of the outer wall of the connection base 806 and inserted into the soil of the side wall, which further improves the stability of the device. Specifically, when the device is in use, the centering plate 4 can level itself under the action of its own weight and the plumb bob 9, start the air pump 314, suck air through the filter head 317, and inflate the buffer pad 313 through the output pipe. The drive motor 309 and the hydraulic telescopic rod 315 are started to rotate and adjust the position of the arc-shaped mounting seat 308. When the plumb bob 9 contacts the buffer pad 313 during the swinging process, the swing amplitude can be reduced. By adjusting the arc-shaped mounting seat 308, the air can be sucked in through the filter head 317, and the buffer pad 313 can be inflated through the output pipe. 08, can drive the position of the buffer pad 313, under the action of the buffer pad 313, the stability of the centering plate 4 is accelerated, when the centering plate 4 is stable, turn off the drive motor 309 and the hydraulic telescopic rod 315, and start the electric telescopic rod 307 at the same time, the electric telescopic rod 307 drives the clamping block 305 to move, when the clamping block 305 contacts the surface of the rotating ball 304, clamping and fixing are achieved, thereby achieving the locking of the centering plate 4, after the locking is completed, the handheld laser radar scanner emits rays to the laser point rangefinder 7, after the laser point rangefinder 7 measures the distance, the distance is displayed on the display screen 6.

[0032] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A handheld laser radar scanner downhole control point alignment device, comprising a device base (1), characterized in that: The top of the device base (1) is fixedly connected to a device housing (2), and a fixing module (8) is provided on the outer wall of the device housing (2); a buffer locking module (3) is provided on the bottom outer wall of the device housing (2), and the buffer locking module (3) comprises a drive motor (309) and four shaft rods (302); the drive motor (309) is fixedly connected to the bottom outer wall of the device housing (2), and two shaft rods (302) are respectively fixedly connected to the inner walls on both sides of the device housing (2); One end of each of the four shaft rods (302) is provided with a rotating ball (304), and the outer walls of the four rotating balls (304) are provided with connecting columns (303), wherein one end of two of the connecting columns (303) is fixedly connected to the same mounting ring (301), one end of the other two connecting columns (303) is fixedly connected to the same centering plate (4), and one end of the other two shaft rods (302) is respectively fixedly connected to the inner wall of the mounting ring (301); The centering disk (4) has a mounting hole (5) at the top, a laser point distance measuring instrument (7) is arranged inside the mounting hole (5), a display screen (6) is arranged at the top of the centering disk (4), and a plumb bob (9) is arranged at the bottom of the centering disk (4); The four shaft members (302) are each provided with an electric telescopic rod (307) inside, the output ends of the four electric telescopic rods (307) are each fixedly connected to a circular mounting plate (306), and one side outer wall of the four circular mounting plates (306) is each fixedly connected to a clamping block (305); The output shaft of the driving motor (309) is connected to a rotating mounting plate (310) via a coupling; four hydraulic telescopic rods (315) are provided on the outer wall of the rotating mounting plate (310); the output ends of the four hydraulic telescopic rods (315) are fixedly connected to rectangular connecting blocks (316); the tops of the four rectangular connecting blocks (316) are fixedly connected to arc-shaped mounting seats (308); the tops of the four arc-shaped mounting seats (308) are provided with circular mounting grooves (311); and the insides of the four circular mounting grooves (311) are fixedly connected to air pumps (314); The input ends of the four air pumps (314) are each provided with a filter head (317), one side outer wall of the four arc-shaped mounting seats (308) is each fixedly connected with an arc-shaped mounting bar (312), one side outer wall of the four arc-shaped mounting bars (312) is each provided with a buffer pad (313), and the output ends of the four air pumps (314) are respectively connected to the four buffer pads (313), so that when the plumb bob (9) contacts the buffer pad (313) during the swinging process, the swing amplitude can be reduced.

2. A handheld laser radar scanner downhole control point centering device according to claim 1, characterized in that: The fixing module (8) comprises four U-shaped mounting frames (801), each of which is fixedly connected to the outer wall of the device housing (2), and each of the four U-shaped mounting frames (801) has a circular groove at the top, each of which has a universal motor (803) disposed inside the circular groove, and an output shaft of the universal motor (803) is connected to a driving gear (808) via a coupling.

3. A handheld laser radar scanner downhole control point centering device according to claim 2, characterized in that: The tops of the four U-shaped mounting frames (801) are fixedly connected to L-shaped limit frames (802), the tops of the four L-shaped limit frames (802) are provided with limit rods (804), the insides of the four U-shaped mounting frames (801) are movably connected to rotating parts (805), and the four rotating parts (805) are respectively meshed with four driving gears (808), the insides of the four rotating parts (805) are movably connected to threaded tubes (809), the tops of the four threaded tubes (809) are provided with limit holes, and the inner walls of the four limit holes are respectively in contact with the outer walls of the four limit rods (804).

4. A handheld laser radar scanner downhole control point centering device according to claim 3, characterized in that: The bottoms of the four threaded tubes (809) are fixedly connected to a connection base (806), the outer walls of the four connection bases (806) are provided with a plurality of movable notches, the inner walls of the plurality of movable notches are movably connected to a fixing rod (811), one end of the plurality of fixing rods (811) is fixedly connected to a limiting plate (814), the outer walls of the plurality of fixing rods (811) are provided with a limiting spring (812), the plurality of limiting springs (812) are respectively located inside the four connection bases (806), one end of the plurality of limiting springs (812) is respectively fixedly connected to the outer walls of the plurality of limiting plates (814), and the other ends of the plurality of limiting springs (812) are respectively fixedly connected to the inner walls of the four connection bases (806).

5. A handheld laser radar scanner downhole control point centering device according to claim 4, characterized in that: A micro motor (810) is disposed inside each of the four threaded tubes (809); the output shafts of the four micro motors (810) are connected to cams (813) via couplings; the four cams (813) are respectively located inside four connection bases (806); the outer walls of the plurality of limit plates (814) are respectively in contact with the outer walls of the four cams (813); and the bottoms of the four connection bases (806) are fixedly connected to a drill body (807).

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