Inertial positioning gyroscope for underground detection

Abstract

The present invention relates to the technical field of detection adjustment, and particularly discloses an inertial positioning gyroscope for underground detection, the inertial positioning gyroscope comprises a gyroscope positioning mechanism and a pipe tail positioning assembly, one end of the pipe tail positioning assembly is provided with a combined conduction chain group, the gyroscope positioning mechanism slides along the distribution path of the combined conduction chain group, and the pipe tail positioning assembly is provided with a pipe tail positioning assembly. Single-section lowering assemblies are arranged on the upper side and the lower side of the gyroscope positioning mechanism; the pipe wall distance measuring radar can measure the offset between the gyroscope positioning mechanism and the pipe wall when the gyroscope positioning mechanism is kept in a fixed point state, and drives the annular transmission mechanism, the directional extension rail or the offset lifting mechanism according to the offset between the gyroscope positioning mechanism and the pipe wall fed back by the pipe wall distance measuring radar. Calibration among the Z axis, the X axis and the Y axis is achieved through the annular transmission mechanism, the directional extension rail or the offset lifting mechanism, the gyroscope positioning mechanism and the pipe wall are still kept at the same center point after the gyroscope positioning mechanism reaches any measurement supporting point, and offset of the selected datum plane when the inertial positioning gyroscope is used for detection is avoided.

Description

Technical Field

[0001] The invention relates to the field of detection and adjustment technology, in particular to an inertial positioning gyroscope for underground detection. Background Art

[0002] When the inertial gyroscope is used for the measurement and positioning of underground pipelines, the inertial positioning gyroscope is usually fixed with a rope, and the gyroscope is lowered to the pipeline through a wire-laying machine. After being lowered, the starting and ending positions of the pipeline are obtained according to the method of inertial navigation and multi-source data fusion. By locating the starting point, the measured positioning data is converted into spatial coordinates. When the pipeline is in a curved and turning stage, it is impossible to confirm that the starting and ending positions of the pipeline are in a vertical direction, and the rope inserted into the pipe cannot be kept at the center point of the inner diameter of the pipeline. Subject to this limitation, the traditional wire-laying machine is used to transport the gyroscope to the inside of the pipeline. After the gyroscope is inserted into the measurement position of the pipeline, it is easy for the inertial positioning gyroscope to be not at the center point of the pipeline, causing the overall tilt of the inertial positioning gyroscope to be unable to remain parallel to the pipe wall surface at the measurement position, resulting in the deviation of the reference plane selected when the inertial positioning gyroscope is used for detection, and ultimately causing measurement errors. Summary of the invention

[0003] In view of the problems in the prior art, the present invention provides an inertial positioning gyroscope for underground detection. The technical solution adopted by the present invention to solve its technical problems is: an inertial positioning gyroscope for underground detection, including a gyroscope positioning mechanism and a pipe tail positioning assembly, a combined conductive chain group is installed at one end of the pipe tail positioning assembly, the gyroscope positioning mechanism slides along the distribution path of the combined conductive chain group, single-segment lowering assemblies are provided on the upper and lower sides of the gyroscope positioning mechanism, two single-segment lowering assemblies are connected by a double-end positioning bracket, a lateral offset calibration assembly is also provided at the bottom of the gyroscope positioning mechanism, the lateral offset calibration assembly is fixedly connected to one of the single-segment lowering assemblies, the single-segment lowering assembly includes a vertical limit seat, a clamping point lifting bracket, an electromagnetic telescopic cylinder and a combined locking rod, the vertical limit seat is fixedly connected to the combined conductive chain group, the clamping point lifting bracket is fixedly connected to the top of the vertical limit seat, the combined locking rod is fixedly connected to the output end of the electromagnetic telescopic cylinder, the electromagnetic telescopic cylinder is connected to the clamping point lifting bracket, The outer shell of the point lifting bracket is fixedly connected, and the end of the merging and locking rod away from the electromagnetic telescopic cylinder is fixedly connected with an arc surface pressure sensing unit, and the electromagnetic telescopic cylinder is used to drive and adjust the contact distance between the merging and locking rod and the combined conductive chain group. A one-way merging control switch is provided at one end of the vertical limit seat, and the one-way merging control switch is connected with the arc surface pressure sensing unit signal. The one-way merging control switch is used to intermittently control the electromagnetic telescopic cylinder to perform a driving action according to the contact signal transmitted by the arc surface pressure sensing unit. The lateral offset calibration assembly includes an annular transmission mechanism, a directional extension rail, an offset lifting mechanism and an electromagnetic positioning seat. The directional extension rail is fixedly connected to the axial driving end of the annular transmission mechanism, the offset lifting mechanism is fixedly connected to the transmission end of the directional extension rail, and the electromagnetic positioning seat is fixedly connected to the output end of the offset lifting mechanism. The magnetic fixed end of the electromagnetic positioning seat is arranged at the bottom of the gyroscope positioning mechanism.

[0004] Preferably, the combined conduction chain group includes a directional guide column and a double-end limit convex head, the upper and lower ends of the directional guide column are fixedly connected to the double-end limit convex head, the gyroscope positioning mechanism is slidably connected to the outer side of the directional guide column and the double-end limit convex head, and the arc surface of the arc pressure sensing unit fits the outer diameter of the double-end limit convex head.

[0005] Preferably, the upper and lower ends of the double-end positioning bracket are respectively fixedly connected to the vertical limit seats in the two single-segment lowering components, and the double-end positioning bracket is used to reserve space for lateral tilting of the upper and lower ends of the gyroscope positioning mechanism.

[0006] Preferably, a pipe wall ranging radar and a microprocessor are fixedly connected to the outside of the gyro positioning mechanism. If the pipe wall ranging radar is distributed in a ring shape, the signal input end of the pipe wall ranging radar is connected to the microprocessor, and the signal output end of the microprocessor is connected to the lateral offset calibration component signal.

[0007] Preferably, the tube tail positioning assembly includes a base tube inner guide ring, an anti-stuck conductive wheel and a positioning propulsion mechanism, the base tube inner guide ring is fixedly connected to the outer side of the directional guide column, the anti-stuck conductive wheel is fixedly connected to the outer side of the base tube inner guide ring, and the output end of the positioning propulsion mechanism is fixedly connected to the base tube inner guide ring.

[0008] Preferably, a roll bearing seat is installed at the bottom of the gyroscope positioning mechanism, and cavities are opened at the center positions of the gyroscope positioning mechanism and the roll bearing seat, and the directional guide column and the double-end limiting protrusion can pass through the gyroscope positioning mechanism and the cavity opened at the center position of the roll bearing seat.

[0009] Compared with the prior art, the present invention has the following beneficial effects:

[0010] 1. By setting a directional guide column and a double-end limit convex head as a guide support for the gyroscope to the fixed-point measurement end in the pipe, and two groups of single-segment lowering components distributed up and down reciprocately perform clamping and loosening actions, the gyroscope positioning mechanism can be lowered one by one along the directional guide column and the double-end limit convex head distribution segments, ensuring the positioning support of the gyroscope positioning mechanism after reaching any measurement point distributed by the directional guide column and the double-end limit convex head.

[0011] 2. In the positioning support state, two groups of single-segment lowering components are supported by double-end positioning brackets, leaving a movement space for the gyro positioning mechanism to tilt and adjust, so that the pipe wall ranging radar can measure the offset between the gyro positioning mechanism and the pipe wall when the gyro positioning mechanism maintains a fixed point state, and control the annular transmission mechanism to drive the offset lifting mechanism according to the offset determined by the pipe wall ranging radar, so that the offset lifting mechanism rotates along the bottom of the gyro positioning mechanism until the offset lifting mechanism reaches the corresponding low point position of the gyro positioning mechanism and then conducts the electromagnetic positioning seat electric path, and the offset lifting mechanism pushes the electromagnetic positioning seat to lift upward and fix the gyro positioning mechanism, and drives the annular transmission mechanism, directional extension rail or offset lifting mechanism according to the deviation between the gyro positioning mechanism and the pipe wall fed back by the pipe wall ranging radar, and realizes calibration between the Z, X and Y axes respectively through the annular transmission mechanism, directional extension rail or offset lifting mechanism, so that the gyro positioning mechanism still maintains the same center point with the pipe wall after reaching any measurement support point, avoiding the deviation of the reference surface selected when the inertial positioning gyroscope is used for detection, and effectively reducing the measurement error. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0013] Figure 1 The structure of an inertial positioning gyroscope for underground detection of the present invention is shown in FIG. Figure 1 .

[0014] Figure 2 The structure of an inertial positioning gyroscope for underground detection of the present invention is shown in FIG. Figure 2 .

[0015] Figure 3 for Figure 1 Enlarged view of part A in the middle.

[0016] Figure 4 It is a partial structural schematic diagram of the combined conductive chain group, the single-segment lowering assembly, the gyroscope positioning mechanism and the pipe wall ranging radar in the present invention.

[0017] In the figure: 1. gyro positioning mechanism; 11. pipe wall ranging radar; 12. microprocessor; 2. pipe tail positioning assembly; 21. guide ring inside the base pipe; 22. anti-stuck conduction wheel; 23. positioning propulsion mechanism; 3. combined conduction chain group; 31. directional guide column; 32. double-end limit convex head; 4. double-end positioning bracket; 41. roll bearing seat; 5. lateral offset calibration assembly; 51. annular transmission mechanism; 52. directional extension rail; 53. offset lifting mechanism; 54. electromagnetic positioning seat; 6. single-segment lowering assembly; 61. vertical limit seat; 611. one-way merging control switch; 62. card point lifting bracket; 63. electromagnetic telescopic cylinder; 64. merging connection locking rod; 641. arc surface pressure sensing unit. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0019] like Figure 1 - Figure 4 As shown, an inertial positioning gyroscope for underground detection described in the present invention includes a gyroscope positioning mechanism 1 and a pipe tail positioning assembly 2, a combined conductive chain group 3 is installed at one end of the pipe tail positioning assembly 2, the gyroscope positioning mechanism 1 slides along the distribution path of the combined conductive chain group 3, and single-segment lowering assemblies 6 are provided on the upper and lower sides of the gyroscope positioning mechanism 1. The two single-segment lowering assemblies 6 are connected by a double-end positioning bracket 4. A lateral offset calibration assembly 5 is also provided at the bottom of the gyroscope positioning mechanism 1, and the lateral offset calibration assembly 5 is fixedly connected to one of the single-segment lowering assemblies 6.

[0020] The single-segment lowering assembly 6 includes a vertical limit seat 61, a clamping point lifting bracket 62, an electromagnetic telescopic cylinder 63 and a combined locking rod 64. The vertical limit seat 61 is fixedly connected to the combined conductive chain group 3, the clamping point lifting bracket 62 is fixedly connected to the top of the vertical limit seat 61, the combined locking rod 64 is fixedly connected to the output end of the electromagnetic telescopic cylinder 63, the electromagnetic telescopic cylinder 63 is fixedly connected to the outer shell of the clamping point lifting bracket 62, and the combined locking rod 64 is away from the electromagnetic telescopic cylinder One end of 63 is fixedly connected with an arc surface pressure sensing unit 641, and the electromagnetic telescopic cylinder 63 is used to drive and adjust the contact distance between the merging connection locking rod 64 and the combined conductive chain group 3. A one-way merging control switch 611 is arranged at one end of the vertical limit seat 61, and the one-way merging control switch 611 is connected with the arc surface pressure sensing unit 641 signal. The one-way merging control switch 611 is used to intermittently control the electromagnetic telescopic cylinder 63 to perform the driving action according to the contact signal transmitted by the arc surface pressure sensing unit 641.

[0021] The lateral offset calibration assembly 5 includes an annular transmission mechanism 51, a directional extension rail 52, an offset lifting mechanism 53 and an electromagnetic positioning seat 54. The directional extension rail 52 is fixedly connected to the axial driving end of the annular transmission mechanism 51, the offset lifting mechanism 53 is fixedly connected to the transmission end of the directional extension rail 52, the electromagnetic positioning seat 54 is fixedly connected to the output end of the offset lifting mechanism 53, and the magnetic fixed end of the electromagnetic positioning seat 54 is arranged toward the bottom of the gyroscope positioning mechanism 1.

[0022] In this embodiment, the electromagnetic positioning seat 54 is connected to the output end of the offset lifting mechanism 53 through a universal ball head, wherein the movable end of the universal ball head is connected to the electromagnetic positioning seat 54, and the base end of the universal ball head is fixedly connected to the output end of the offset lifting mechanism 53. Through the setting of the universal ball head, after the electromagnetic positioning seat 54 is adsorbed and fixed to the bottom of the gyroscope positioning mechanism 1, when the electromagnetic positioning seat 54 is pushed and lifted by the force of the offset lifting mechanism 53, the gyroscope positioning mechanism 1 will not be restricted due to the completion of the fixation between the electromagnetic positioning seat 54 and the electromagnetic positioning seat 54.

[0023] In this embodiment, the directional extension rail 52 can be an electric slide rail, and the directional extension rail 52 drives the offset lifting mechanism 53 to move horizontally along the Y axis, changing the support point of the electromagnetic positioning seat 54 on the bottom of the gyroscope positioning mechanism 1, so that the electromagnetic positioning seat 54 can be freely adjusted in the horizontal direction of the outer diameter or center point of the gyroscope positioning mechanism 1. The annular transmission mechanism 51 can be an annular driving motor, and the annular transmission mechanism 51 drives the directional extension rail 52 to move in an annular manner along the Z axis, so that the electromagnetic positioning seat 54 can freely adjust the support point along the circumferential direction of the gyroscope positioning mechanism 1. The offset lifting mechanism 53 can be an electromagnetic telescopic rod, and the offset lifting mechanism 53 pushes the electromagnetic positioning seat 54 to move longitudinally along the Y axis, so that the gyroscope positioning mechanism 1 can be lifted or retracted by the offset lifting mechanism 53 to freely change the support height, thereby eliminating the tilt angle of the gyroscope positioning mechanism 1. The bottom outer shell of the gyroscope positioning mechanism 1 is provided with a magnetic attraction part. When the gyroscope positioning mechanism 1 and the electromagnetic positioning seat 54 need to be fixed, the positioning can be achieved by simply energizing the electromagnetic positioning seat 54 and adsorbing it with the bottom fixing part of the gyroscope positioning mechanism 1. Among them, the electromagnetic positioning seat 54 uses a low-magnetic electromagnet, and the magnetic attraction generated by it only provides a connection support with 1. When it is subjected to the pushing force generated by the annular transmission mechanism 51, the directional extension rail 52 and the offset lifting mechanism 53, the electromagnetic positioning seat 54 can still provide a connection support to 1 under the action of the thrust while achieving movement.

[0024] In an optional implementation of the present embodiment, the combined conduction chain group 3 includes a directional guide column 31 and a double-end limit protrusion 32, and the upper and lower ends of the directional guide column 31 are fixedly connected with the double-end limit protrusion 32. The gyroscope positioning mechanism 1 is slidably connected to the outer side of the directional guide column 31 and the double-end limit protrusion 32, and the arc surface of the arc pressure sensing unit 641 fits with the outer diameter of the double-end limit protrusion 32.

[0025] In an optional implementation of the present embodiment, the tube tail positioning assembly 2 includes a base tube inner guide ring 21, an anti-stuck conductive wheel 22 and a positioning propulsion mechanism 23, the base tube inner guide ring 21 is fixedly connected to the outer side of the directional guide column 31, the anti-stuck conductive wheel 22 is fixedly connected to the outer side of the base tube inner guide ring 21, and the output end of the positioning propulsion mechanism 23 is fixedly connected to the base tube inner guide ring 21.

[0026] In this embodiment, several combined conductive chain groups 3 are connected by wire ropes and are evenly spaced along the wire ropes. The head end of the wire rope is fixed to the external wire-releasing machine, and the tail end of the wire rope is fixed to the guide ring 21 in the base pipe. The wire rope with the combined conductive chain group 3 is transported by the wire-releasing machine into the inner side of the pipe to be measured. During the transportation process, the anti-stuck conductive wheel 22 plays a role in reducing the sliding resistance. When the guide ring 21 in the base pipe is transported by the wire-releasing machine to the bottom of the pipe, the positioning propulsion mechanism 23 expands and abuts against the inner wall of the pipe to achieve fixed support, so that the wire rope with the combined conductive chain group 3 remains in a vertical state, and then the gyroscope positioning mechanism 1 can be guided to be lowered to the measurement point along the distribution path of the combined conductive chain group 3.

[0027] In this embodiment, the specific operation mode of lowering the gyro positioning mechanism 1 to the measuring point is realized by intermittently engaging and expanding the two sets of single-segment lowering components 6. The specific principle is that the electromagnetic telescopic cylinder 63 located at the upper end of the gyro positioning mechanism 1 is preferentially controlled to contract through the one-way combined control switch 611, so that the aperture after the electromagnetic telescopic cylinder 63 drives the combined locking rod 64 is larger than the outer diameter of the directional guide column 31, and the electromagnetic telescopic cylinder 63 located at the lower end of the gyro positioning mechanism 1 is controlled to extend through the one-way combined control switch 611, so that the electromagnetic telescopic cylinder 63 drives the combined locking rod 64. The combined hole diameter is smaller than the outer diameter of the directional guide post 31. At this time, the combined and connected locking rod 64 located at the upper part is no longer restricted by the directional guide post 31, so that the gyro positioning mechanism 1 falls to the next directional guide post 31 under the action of gravity. Since the combined hole diameter of the combined and connected locking rod 64 at the lower end of the gyro positioning mechanism 1 is smaller than the outer diameter of the directional guide post 31, when the gyro positioning mechanism 1 falls to the next directional guide post 31, it is blocked by the directional guide post 31 and the combined and connected locking rod 64, and contacts with the arc surface pressure sensing unit 641 at the front end of the combined and connected locking rod 64 to generate a pressure signal. After the one-way combined control switch 611 receives the pressure signal generated by the arc surface pressure sensing unit 641, the gyroscope positioning mechanism 1 can be moved to the position of the next directional guide column 31. At this time, it is only necessary to control the electromagnetic telescopic cylinder 63 at the upper end of the gyroscope positioning mechanism 1 to contract and the electromagnetic telescopic cylinder 63 at the lower end of the gyroscope positioning mechanism 1 to extend through the one-way combined control switch 611, so that the gyroscope positioning mechanism 1 can continue to fall and be blocked. By reciprocating the above-mentioned operations, the gyroscope positioning mechanism 1 can be lowered segment by segment along the distribution spacing of the combined conductive chain group 3 until it reaches the required measurement point in the pipe, thereby ensuring the positioning support of the gyroscope positioning mechanism after it reaches any measurement point distributed by the directional guide column 31 and the double-end limit protrusion 32.

[0028] In an optional implementation of this embodiment, the upper and lower ends of the double-end positioning bracket 4 are respectively fixedly connected to the vertical limit seats 61 in the two single-segment lowering components 6, and the double-end positioning bracket 4 is used to reserve space for lateral tilting of the upper and lower ends of the gyroscope positioning mechanism 1.

[0029] In an optional implementation of this embodiment, a roll bearing seat 41 is installed at the bottom of the gyro positioning mechanism 1, and a cavity is opened at the center of the gyro positioning mechanism 1 and the roll bearing seat 41, and the directional guide column 31 and the double-end limit convex head 32 can pass through the gyro positioning mechanism 1 and the cavity opened at the center of the roll bearing seat 41.

[0030] In an optional implementation of the present embodiment, a pipe wall ranging radar 11 and a microprocessor 12 are fixedly connected to the outside of the gyro positioning mechanism 1. If the pipe wall ranging radar 11 is distributed in a ring shape, the signal input end of the pipe wall ranging radar 11 is connected to the microprocessor 12, and the signal output end of the microprocessor 12 is connected to the lateral offset calibration component 5.

[0031] In this embodiment, to ensure accuracy, when the gyro positioning mechanism 1 is lowered into the pipe wall, the pipe wall distance measuring radar 11 can be used to measure the distance parameters when the gyro positioning mechanism 1 is at the center of the pipe wall and maintains a vertical state, and the distance parameters are recorded and stored by the microprocessor 12. When the gyro positioning mechanism 1 is subsequently transported to the measuring point, and the gyro positioning mechanism 1 and the pipe wall are not maintained in a parallel state, the microprocessor 12 verifies whether the distance parameters currently fed back by the pipe wall distance measuring radar 11 are consistent with the originally recorded distance parameters. In the inconsistent state, the microprocessor 12 then sends a driving signal to the annular transmission mechanism 51, the directional extension rail 52, and the offset lifting mechanism 53, so that the directional extension rail 52 preferentially drives the electromagnetic positioning seat 54 to debug the lateral path of the offset lifting mechanism 53 when pushing, until the electromagnetic positioning seat 54 extends to the pipe wall position, and then the annular transmission mechanism 51 drives the electromagnetic positioning seat 54 to adjust the lateral path of the offset lifting mechanism 53 when pushing. The gyro positioning mechanism 1 performs circular motion along the outer diameter of the bottom, and during the circular motion of the electromagnetic positioning seat 54, the offset lifting mechanism 53 slowly drives the electromagnetic positioning seat 54 to lift, so that the side of the gyro positioning mechanism 1 tilted downward is preferentially calibrated to a vertical state under the lifting effect of the electromagnetic positioning seat 54, until the distance parameter fed back by the pipe wall ranging radar 11 is consistent with the originally entered distance parameter, the gyro positioning mechanism and the pipe wall can be kept at the same center point, and at this time, the calibration between the Z, X and Y axes of the gyro positioning mechanism 1 is completed, avoiding the deviation of the reference plane selected when the inertial positioning gyroscope is used for detection.

[0032] The working principle of the present invention is: first, the wire rope with the combined conductive chain group 3 is conveyed by the wire-releasing machine into the inner side of the pipe to be measured, until the guide ring 21 in the base pipe is conveyed by the wire-releasing machine to the bottom of the pipe, and then the positioning and pushing mechanism 23 is expanded to abut against the inner wall of the pipe to achieve fixed support, so that the wire rope with the combined conductive chain group 3 remains in a vertical state. Afterwards, two groups of single-segment lowering components 6 distributed up and down reciprocately perform clamping and loosening actions, so that the gyro positioning mechanism 1 can be lowered one by one along the directional guide column 31 and the double-end limit convex head 32, until the gyro positioning mechanism 1 reaches the measuring point in the pipe, and then the electromagnetic positioning seat 54 is pushed by the offset lifting mechanism 53 to lift and fix the gyro positioning mechanism 1, and the annular transmission mechanism 51, the directional extension rail 52 or the offset lifting mechanism 53 are driven according to the deviation between the gyro positioning mechanism 1 and the pipe wall fed back by the pipe wall ranging radar 11, and the calibration between the Z, X and Y axes is respectively realized by the annular transmission mechanism 51, the directional extension rail 52 or the offset lifting mechanism 53, so that the gyro positioning mechanism 1 still maintains the same center point with the pipe wall after reaching any measurement support point.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An inertial positioning gyroscope for underground detection, comprising a gyroscope positioning mechanism (1) and a pipe tail positioning assembly (2), characterized in that: A combined conductive chain group (3) is installed at one end of the tube tail positioning assembly (2); the gyroscope positioning mechanism (1) slides along the distribution path of the combined conductive chain group (3); single-segment lowering assemblies (6) are provided on both upper and lower sides of the gyroscope positioning mechanism (1); two single-segment lowering assemblies (6) are connected via a double-end positioning bracket (4); a lateral offset calibration assembly (5) is also provided at the bottom of the gyroscope positioning mechanism (1); the lateral offset calibration assembly (5) is fixedly connected to one of the single-segment lowering assemblies (6); The single-segment lowering assembly (6) comprises a vertical limit seat (61), a clamping point lifting bracket (62), an electromagnetic telescopic cylinder (63) and a combined locking rod (64); the vertical limit seat (61) is fixedly connected to the combined conductive chain assembly (3); the clamping point lifting bracket (62) is fixedly connected to the top of the vertical limit seat (61); the combined locking rod (64) is fixedly connected to the output end of the electromagnetic telescopic cylinder (63); the electromagnetic telescopic cylinder (63) is fixedly connected to the outer shell of the clamping point lifting bracket (62); and the combined locking rod (64) is away from the electromagnetic One end of the magnetic telescopic cylinder (63) is fixedly connected to a curved surface pressure sensing unit (641), and the electromagnetic telescopic cylinder (63) is used to drive and adjust the contact distance between the merging and connecting locking rod (64) and the combined conductive chain group (3). One end of the vertical limit seat (61) is provided with a one-way merging control switch (611), and the one-way merging control switch (611) is connected to the curved surface pressure sensing unit (641) by signal. The one-way merging control switch (611) is used to intermittently control the electromagnetic telescopic cylinder (63) to perform a driving action according to the contact signal transmitted by the curved surface pressure sensing unit (641); The lateral offset calibration assembly (5) comprises an annular transmission mechanism (51), a directional extension rail (52), an offset lifting mechanism (53) and an electromagnetic positioning seat (54); the directional extension rail (52) is fixedly connected to the axial driving end of the annular transmission mechanism (51); the offset lifting mechanism (53) is fixedly connected to the transmission end of the directional extension rail (52); the electromagnetic positioning seat (54) is fixedly connected to the output end of the offset lifting mechanism (53); and the magnetic fixed end of the electromagnetic positioning seat (54) is arranged toward the bottom of the gyroscope positioning mechanism (1).

2. The inertial positioning gyroscope for underground detection according to claim 1, characterized in that: The combined conductive chain group (3) comprises a directional guide column (31) and a double-end limit convex head (32), the upper and lower ends of the directional guide column (31) are fixedly connected to the double-end limit convex head (32), the gyroscope positioning mechanism (1) is slidably connected to the outer sides of the directional guide column (31) and the double-end limit convex head (32), and the arc surface of the arc surface pressure sensing unit (641) is in contact with the outer diameter of the double-end limit convex head (32).

3. The inertial positioning gyroscope for underground detection according to claim 1, characterized in that: The upper and lower ends of the double-end positioning bracket (4) are respectively fixedly connected to the vertical limit seats (61) in the two single-segment lowering assemblies (6), and the double-end positioning bracket (4) is used to reserve space for lateral inclination of the upper and lower ends of the gyroscope positioning mechanism (1).

4. The inertial positioning gyroscope for underground detection according to claim 1, characterized in that: A pipe wall ranging radar (11) and a microprocessor (12) are fixedly connected to the outside of the gyro positioning mechanism (1); if the pipe wall ranging radar (11) is distributed in a ring shape, a signal input end of the pipe wall ranging radar (11) is connected to the microprocessor (12), and a signal output end of the microprocessor (12) is connected to the lateral offset calibration component (5).

5. The inertial positioning gyroscope for underground detection according to claim 2, characterized in that: The pipe tail positioning assembly (2) comprises a base pipe inner guide ring (21), an anti-stuck conductive wheel (22) and a positioning propulsion mechanism (23); the base pipe inner guide ring (21) is fixedly connected to the outer side of the directional guide column (31); the anti-stuck conductive wheel (22) is fixedly connected to the outer side of the base pipe inner guide ring (21); and the output end of the positioning propulsion mechanism (23) is fixedly connected to the base pipe inner guide ring (21).

6. The inertial positioning gyroscope for underground detection according to claim 5, characterized in that: A roll bearing seat (41) is installed at the bottom of the gyroscope positioning mechanism (1), and cavities are provided at the center positions of the gyroscope positioning mechanism (1) and the roll bearing seat (41), and the directional guide column (31) and the double-end limiting protrusion (32) can both pass through the cavities provided at the center positions of the gyroscope positioning mechanism (1) and the roll bearing seat (41).

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