Three-degree-of-freedom underground cavity morphology detection device and method

Abstract

The invention discloses a three-degree-of-freedom underground cavity morphology detection device and method, solves the problems that the existing detection equipment is low in degree of freedom, small in measurement hole size adaptation range and inconvenient to install, and specifically comprises a scanning unit, a deflection unit, a rotating unit, a telescopic unit and a data acquisition unit. The scanning unit is used for scanning the morphology of the underground cavity to be detected to obtain morphology data; the deflection unit is connected with the scanning unit and is used for driving the scanning unit to deflect along the same axial plane; the rotating unit is connected with the deflection unit and used for driving the scanning unit and the deflection unit to rotate simultaneously, and the rotating direction of the rotating unit is perpendicular to that of the scanning unit; the telescopic unit is connected with the rotating unit and is used for driving the scanning unit, the deflection unit and the rotating unit to perform axial telescopic movement simultaneously; and the data acquisition unit is connected with the scanning unit, the deflection unit and the rotating unit and is used for acquiring corresponding data so as to obtain a morphology model of the underground cavity to be detected.

Description

Technical Field

[0001] The present invention relates to a landform detection device and method, and in particular to a three-degree-of-freedom underground cavity topography detection device and method. Background Art

[0002] Underground explosion experiments are a key method for exploring how explosion stress waves propagate and evolve in rock and soil media, and how they affect nearby rock and soil. When an explosion occurs underground, the rock and soil near the center of the explosion are subjected to strong shock wave pressure, causing the material to undergo compression, crushing, rupture, and permanent deformation. As the shock wave spreads outward, its pressure gradually weakens until it drops below the elastic limit of the medium, at which point permanent deformation no longer occurs. In this process, a certain volume of cavity is formed around the center of the explosion. The size and shape of this cavity is crucial to research areas such as the principles of interaction between underground explosions and rock and soil media, and the coupling effect of seismic energy.

[0003] At present, the size of the cavity produced by underground explosions is usually measured by two main methods: one is direct survey on the surface, and the other is survey by excavating measuring holes. For direct surface survey, existing technical means include artificial seismic exploration and ground penetrating radar. The advantage of these methods is that they do not require ground excavation, but when the explosion depth is large, due to the limitation of detection accuracy, the existing technology or equipment cannot provide accurate cavity size and shape information. In terms of excavation measurement hole survey, although the existing technology provides professional scanning equipment, such as 3D laser scanning radar, ground penetrating radar and 3D imaging radar, these devices can solve the problem of insufficient accuracy. However, they still have the following shortcomings:

[0004] 1. The rental and use costs of professional scanning equipment are high, with low freedom and inflexibility;

[0005] 2. The existing scanning equipment has a small adaptability range for on-site measurement of hole sizes and has high construction requirements, large construction workload, and high time and labor costs;

[0006] 3. The equipment structure is integrated, which is not convenient for installation, disassembly and maintenance. Summary of the invention

[0007] The purpose of the present invention is to provide a three-degree-of-freedom underground cavity morphology detection device and method to solve the technical problems of low degree of freedom of existing detection equipment, small adaptability range of equipment to measuring hole size, and inconvenient installation, disassembly and maintenance.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] A three-degree-of-freedom underground cavity morphology detection device, which is special in that:

[0010] It includes a scanning unit, a deflection unit, a rotation unit, a telescopic unit and a data acquisition unit;

[0011] The scanning unit is used to scan the morphology of the underground cavity to be tested to obtain morphological data;

[0012] The deflection unit is connected to the scanning unit and is used to drive the scanning unit to perform deflection movement along the same axial plane;

[0013] The rotating unit is connected to the deflection unit and is used to drive the scanning unit and the deflection unit to perform rotational motion simultaneously, and the rotation direction thereof is perpendicular to the rotation direction of the scanning unit;

[0014] The telescopic unit is connected to the rotating unit and is used to drive the scanning unit, the deflection unit and the rotating unit to perform axial telescopic movement simultaneously;

[0015] The data acquisition unit is connected to the scanning unit, the deflection unit and the rotation unit respectively, and is used to collect morphological data, deflection posture data of the deflection unit and rotation posture data of the rotation unit to obtain a morphological model of the underground cavity to be measured.

[0016] Furthermore, the scanning unit includes a scanning base and a laser radar, a visible light camera and a mobile light source arranged on the scanning base;

[0017] The scanning base is fixedly connected to the active end of the deflection unit;

[0018] The laser radar, visible light camera and mobile light source are electrically connected to the data acquisition unit respectively.

[0019] Furthermore, the deflection unit comprises a U-shaped cavity seat, a rotating shaft, a deflection motor and a synchronous belt;

[0020] The U-shaped cavity seat comprises a bottom cavity seat, side cavity seats and side plates respectively arranged in parallel on both sides of the bottom cavity seat; the inner cavity of the bottom cavity seat is connected with the inner cavity of the side cavity seat;

[0021] One end of the central rotating shaft extends into the inner cavity of the side cavity seat and is rotatably connected to the side wall of the side cavity seat, and the other end of the central rotating shaft is rotatably connected to the side plate;

[0022] The deflection motor is arranged in the bottom cavity seat, and its body is fixedly connected to the bottom cavity seat;

[0023] One end of the synchronous belt is located in the side cavity seat and connected to one end of the central shaft, and the other end of the synchronous belt extends into the bottom cavity seat and connected to the rotating shaft of the deflection motor;

[0024] The scanning unit is installed in the middle of the rotating shaft;

[0025] The output end of the rotating unit is fixedly connected to the bottom cavity seat;

[0026] The data acquisition unit is electrically connected to the deflection motor.

[0027] Furthermore, the deflection unit further comprises a rotary bearing and a guard plate;

[0028] The two ends of the central rotating shaft are rotatably connected to the side wall and the side plate of the side cavity seat through a rotary bearing respectively;

[0029] The guard plate is arranged on the outside of the side plate, one end of the guard plate is fixedly connected to the bottom cavity seat or the side plate, and the other end can be rotatably sleeved on the outside of the other end of the rotating shaft and fixedly connected to the outer ring of the corresponding rotating bearing.

[0030] Further, the rotating unit includes a rotating motor;

[0031] The body of the rotating motor is fixedly connected to the telescopic unit, and the rotating shaft thereof is fixedly connected to the bottom cavity seat through a connecting piece; the rotating shaft of the rotating motor and the axis of the rotating shaft are perpendicular to each other;

[0032] The data acquisition unit is electrically connected to the rotating motor.

[0033] Further, the telescopic unit includes a rotating drum assembly, a lead screw and a telescopic motor;

[0034] One end of the rotating drum assembly is connected to the body of the rotating motor; a supporting wheel is provided on the outer wall thereof; the supporting wheel is used to be supported on the side wall of the underground cavity to be tested and can slide along the side wall of the underground cavity to be tested;

[0035] One end of the lead screw extends into the drum assembly and is threadedly connected to the drum assembly, and the other end of the lead screw is coaxially connected to the rotating shaft of the telescopic motor through a coupling.

[0036] Furthermore, the telescopic unit also includes a push rod arranged on the telescopic motor body, which is used to push the entire measuring device into a preset position in the underground cavity to be measured.

[0037] Further, the push rod is a telescopic rod;

[0038] The deflection motor is a brushless motor.

[0039] A three-degree-of-freedom underground cavity morphology detection method is special in that it includes the following steps:

[0040] Step 1, insert the above-mentioned three-degree-of-freedom underground cavity morphology detection device into the underground cavity to be tested, and start the scanning unit;

[0041] Step 2: driving the scanning unit into the underground cavity to be tested at a preset distance through the telescopic unit;

[0042] Step 3: drive the scanning unit to scan the underground cavity morphology to be measured step by step along the same axial plane at the same interval angle through the deflection unit, and send the scanned morphology data and the deflection posture data of the deflection unit to the data acquisition unit;

[0043] Step 4: After the scanning unit has completely scanned along the same plane, the scanning unit and the deflection unit are driven by the rotation unit to rotate at a preset angle once at the same time, and step 3 is repeated until one rotation is completed, and the rotation posture data corresponding to the rotation unit is sent to the data acquisition unit;

[0044] Step 5, repeating steps 2 and 4 until the morphology of the underground cavity to be tested is completely scanned;

[0045] Step 6: The morphological data, deflection attitude data and rotation attitude data acquired by the data acquisition unit are fused and spliced ​​into point clouds to obtain a morphological model of the underground cavity to be tested, thereby completing the morphological detection.

[0046] Furthermore, before step 1, the method also includes the steps of inspecting and debugging the above-mentioned three-degree-of-freedom underground cavity morphology detection device.

[0047] Beneficial effects of the present invention:

[0048] 1. The present invention provides a three-degree-of-freedom underground cavity morphology detection device and method, which has three degrees of freedom: pitch, deflection and telescopic. The scanning is more flexible when facing the measurement conditions of large explosion depth and small measurement aperture;

[0049] 2. The three-degree-of-freedom underground cavity morphology detection device provided by the present invention is easy to install, disassemble and carry.

[0050] 3. The three-degree-of-freedom underground cavity morphology detection device provided by the present invention synchronously saves the laser radar and camera data, the rotation posture data corresponding to the rotating motor, and the deflection posture data of the deflection motor, and sends them to the data acquisition unit to realize the fusion and splicing of the point cloud, so as to obtain high-precision measurement of the cavity morphology and size. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a structural schematic diagram of an embodiment of a three-degree-of-freedom underground cavity morphology detection device of the present invention;

[0052] Figure 2 Schematic diagram of the structure of the scanning base in the embodiment of the present invention.

[0053] Figure Number:

[0054] 1- scanning unit, 11- scanning base;

[0055] 2-deflection unit, 21-U-shaped cavity seat, 211-bottom cavity seat, 212-side cavity seat, 213-side plate, 22-transfer shaft, 23-deflection motor, 24-synchronous belt, 25-rotation bearing, 26-guard plate;

[0056] 3-rotating unit, 31-rotating motor, 32-connecting piece;

[0057] 4- telescopic unit, 41- drum assembly, 42- lead screw, 43- telescopic motor, 44- push rod;

[0058] 5-Underground cavity to be tested. DETAILED DESCRIPTION

[0059] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] An embodiment of the present invention provides a three-degree-of-freedom underground cavity morphology detection device, such as Figure 1 , Figure 2 As shown, it includes a scanning unit 1, a deflection unit 2, a rotation unit 3, a telescopic unit 4 and a data acquisition unit;

[0061] The scanning unit 1 is used to scan the morphology of the underground cavity 5 to be tested to obtain morphological data; specifically, the scanning unit 1 includes a scanning base 11 and a laser radar, a visible light camera and a mobile light source arranged on the scanning base 11; the scanning base 11 is fixedly connected to the active end of the deflection unit 2; the laser radar, the visible light camera and the mobile light source are electrically connected to the data acquisition unit respectively.

[0062] The deflection unit 2 is connected to the scanning unit 1 and is used to drive the scanning unit 1 to deflect along the same axial plane; specifically, the deflection unit 2 includes a U-shaped cavity seat 21, a rotating shaft 22, a deflection motor 23, a synchronous belt 24, a rotating bearing 25 and a guard plate 26; the U-shaped cavity seat 21 includes a bottom cavity seat 211, side cavity seats 212 and side plates 213 respectively arranged on both sides of the bottom cavity seat 211 in parallel; the inner cavity of the bottom cavity seat 211 is connected to the inner cavity of the side cavity seat 212; one end of the rotating shaft 22 extends into the inner cavity of the side cavity seat 212 and is connected to the side cavity through the rotating bearing 25. The side wall of the seat 212 is rotatably connected, and the other end of the rotating shaft 22 is rotatably connected to the side plate 213 through the rotating bearing 25; the deflection motor 23 is arranged in the bottom cavity seat 211, and its body is fixedly connected to the bottom cavity seat 211; one end of the synchronous belt 24 is located in the side cavity seat 212 and connected to one end of the rotating shaft 22, and the other end of the synchronous belt 23 extends into the bottom cavity seat 211 and is connected to the rotating shaft of the deflection motor 23; the scanning unit 1 is installed in the middle of the rotating shaft 22; the rotating unit 3 is fixedly connected to the bottom cavity seat 211; and the data acquisition unit is electrically connected to the deflection motor 23. The guard plate 26 is arranged on the outside of the side plate 213, one end of the guard plate 26 is fixedly connected to the bottom cavity seat 211 or the side plate 213, and the other end can be rotatably sleeved outside the other end of the rotating shaft 22 and is fixedly connected to the outer ring of the corresponding rotating bearing 25. The deflection motor 23 is a brushless motor. The deflection motor 23 drives the scanning base 11 and the laser radar, visible light camera and mobile light source arranged on the scanning base 11 to rotate simultaneously through the synchronous belt 24 to achieve pitch scanning.

[0063] The rotating unit 3 is connected to the deflection unit 2, and is used to drive the scanning unit 1 and the deflection unit 2 to rotate simultaneously; specifically, the rotating unit 3 includes a rotating motor 31; the body of the rotating motor 31 is fixedly connected to the telescopic unit 4, and its rotating shaft is fixedly connected to the bottom cavity seat 211 through a connecting piece 32, and its rotating shaft is perpendicular to the axis of the rotating shaft 22; the data acquisition unit is electrically connected to the rotating motor 31. The rotating motor 31 drives the deflection unit 2 and the scanning unit 1 to rotate circumferentially through the connecting piece 32 to realize deflection scanning.

[0064] The telescopic unit 4 is connected to the rotating unit 3, and is used to drive the scanning unit 1, the deflection unit 2 and the rotating unit 3 to perform axial telescopic movement at the same time; specifically, the telescopic unit 4 includes a rotating drum assembly 41, a lead screw 42 and a telescopic motor 43, and also includes a push rod 44 arranged on the body of the telescopic motor 43; one end of the rotating drum assembly 41 is connected to the body of the rotating motor 31; a support wheel is arranged on its outer wall; the support wheel is used to support on the side wall of the underground cavity 5 to be measured, and can slide along the side wall of the underground cavity 5 to be measured; one end of the lead screw 42 extends into the rotating drum assembly 41 and is threadedly connected to the rotating drum assembly 41, and the other end of the lead screw 42 is coaxially connected to the rotating shaft of the telescopic motor 43 through a coupling. The push rod 44 is a telescopic rod, which is used to push the entire measuring device into a preset position in the underground cavity 5 to be measured.

[0065] The data acquisition unit is connected to the scanning unit 1, the deflection unit 2 and the rotation unit 3 respectively, and is used to collect the topographic data, the deflection attitude data of the deflection unit 2 and the rotation attitude data of the rotation unit 3 to obtain the topographic model of the underground cavity 5 to be measured. The data acquisition unit is arranged on the body of the rotating motor 31.

[0066] Inspection and debugging before use:

[0067] Check whether all components are intact, make electrical connections between the laser radar, visible light camera, mobile light source, deflection unit 23, rotating motor 31, and telescopic motor 43, and perform connection debugging to ensure that all parts operate normally; install the laser radar, visible light camera, and mobile light source on the scanning base 11 and fix them with screws; pass the rotating shaft 22 through the scanning base 11, and rotatably connect the two ends of the rotating shaft 22 to the side cavity seat 212 and the side plate 213 respectively. Install a gear at one end of the rotating shaft 22 located in the side cavity seat 212, and fix one end of the guard plate 26 to the bottom cavity seat 211 or the side plate 213 with screws, and the other end can be rotatably mounted on the other end of the rotating shaft 22 and fixed to the outer ring of the corresponding rotating bearing 25. Install the deflection motor 23 in the bottom cavity seat 211, install a gear on its rotating shaft with interference fit, and install a synchronous belt on the two gears; start detection, and the specific detection steps are as follows:

[0068] Step 1, insert the detection device into the underground cavity 5 to be detected, and start the scanning unit 1;

[0069] Step 2: drive the scanning unit 1 into the underground cavity 5 to be tested at a preset distance through the telescopic unit 4;

[0070] Step 3, the deflection unit 2 drives the scanning unit 1 to gradually pitch and scan the morphology of the underground cavity 5 to be measured by ±170° at an interval of 5° along the same axial plane, and sends the scanned morphology data and the deflection posture data of the deflection unit 2 to the data acquisition unit through the connecting cable, and then outputs it to the terminal through the cable;

[0071] Step 4: After the scanning unit 1 has completely scanned along the same plane, the scanning unit 1 and the deflection unit 2 are driven to rotate at a preset angle once by the rotating unit 3, and step 3 is repeated until one rotation is completed. At the same time, the rotation posture data corresponding to the rotating unit 3 is sent to the data acquisition unit through the connecting cable, and then output to the terminal through the cable;

[0072] Step 5, repeating steps 2 and 4 until the morphology of the underground cavity 5 to be tested is completely scanned;

[0073] Step 6: The morphological data, deflection attitude data and rotation attitude data acquired by the data acquisition unit are subjected to point cloud fusion and splicing to obtain a morphological model of the underground cavity 5 to be tested, thereby completing the morphological detection.

[0074] After detection, disassemble and store the components according to the reverse process of installation.

[0075] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A three-degree-of-freedom underground cavity morphology detection device, characterized in that: It comprises a scanning unit (1), a deflection unit (2), a rotation unit (3), a telescopic unit (4) and a data acquisition unit; The scanning unit (1) is used to scan the morphology of the underground cavity (5) to be tested to obtain morphological data; The deflection unit (2) is connected to the scanning unit (1) and is used to drive the scanning unit (1) to perform deflection movement along the same axial plane; The rotating unit (3) is connected to the deflection unit (2) and is used to drive the scanning unit (1) and the deflection unit (2) to simultaneously perform a rotating motion, wherein the rotating direction is perpendicular to the rotating direction of the scanning unit (1); The telescopic unit (4) is connected to the rotating unit (3) and is used to drive the scanning unit (1), the deflection unit (2) and the rotating unit (3) to simultaneously perform axial telescopic movement; The data acquisition unit is respectively connected to the scanning unit (1), the deflection unit (2) and the rotation unit (3), and is used to collect morphological data, deflection posture data of the deflection unit (2) and rotation posture data of the rotation unit (3), so as to obtain a morphological model of the underground cavity (5) to be measured.

2. The three-degree-of-freedom underground cavity morphology detection device according to claim 1, characterized in that: The scanning unit (1) comprises a scanning base (11) and a laser radar, a visible light camera and a mobile light source arranged on the scanning base (11); The scanning base (11) is fixedly connected to the active end of the deflection unit (2); The laser radar, visible light camera and mobile light source are electrically connected to the data acquisition unit respectively.

3. The three-degree-of-freedom underground cavity morphology detection device according to claim 1 or 2, characterized in that: The deflection unit (2) comprises a U-shaped cavity seat (21), a rotating shaft (22), a deflection motor (23) and a synchronous belt (24); The U-shaped cavity seat (21) comprises a bottom cavity seat (211), side cavity seats (212) and side plates (213) respectively arranged in parallel on both sides of the bottom cavity seat (211); the inner cavity of the bottom cavity seat (211) is communicated with the inner cavity of the side cavity seat (212); One end of the central rotating shaft (22) extends into the inner cavity of the side cavity seat (212) and is rotatably connected to the side wall of the side cavity seat (212), and the other end of the central rotating shaft (22) is rotatably connected to the side plate (213); The deflection motor (23) is arranged in the bottom cavity seat (211), and its body is fixedly connected to the bottom cavity seat (211); One end of the synchronous belt (24) is located in the side cavity seat (212) and connected to one end of the rotating shaft (22), and the other end of the synchronous belt (23) extends into the bottom cavity seat (211) and is connected to the rotating shaft of the deflection motor (23); The scanning unit (1) is installed in the middle of the rotating shaft (22); The output end of the rotating unit (3) is fixedly connected to the bottom cavity seat (211); The data acquisition unit is electrically connected to the deflection motor (23).

4. The three-degree-of-freedom underground cavity morphology detection device according to claim 3, characterized in that: The deflection unit (2) further comprises a rotary bearing (25) and a guard plate (26); The two ends of the central rotating shaft (22) are rotatably connected to the side wall of the side cavity seat (212) and the side plate (213) through the rotary bearing (25); The guard plate (26) is arranged on the outside of the side plate (213), one end of the guard plate (26) is fixedly connected to the bottom cavity seat (211) or the side plate (213), and the other end can be rotatably sleeved on the outside of the other end of the rotating shaft (22) and is fixedly connected to the outer ring of the corresponding rotating bearing (25).

5. The three-degree-of-freedom underground cavity morphology detection device according to claim 4, characterized in that: The rotating unit (3) comprises a rotating motor (31); The body of the rotating motor (31) is fixedly connected to the telescopic unit (4), and the rotating shaft thereof is fixedly connected to the bottom cavity seat (211) via a connecting piece (32); the rotating shaft of the rotating motor (31) and the axis of the rotating shaft (22) are perpendicular to each other; The data acquisition unit is electrically connected to the rotating motor (31).

6. The three-degree-of-freedom underground cavity morphology detection device according to claim 5, characterized in that: The telescopic unit (4) comprises a rotating drum assembly (41), a lead screw (42) and a telescopic motor (43); One end of the rotating drum assembly (41) is connected to the body of the rotating motor (31); a support wheel is provided on the outer wall thereof; the support wheel is used to be supported on the side wall of the underground cavity (5) to be tested and can slide along the side wall of the underground cavity (5) to be tested; One end of the lead screw (42) extends into the drum assembly (41) and is threadedly connected to the drum assembly (41), and the other end of the lead screw (42) is coaxially connected to the rotating shaft of the telescopic motor (43) through a coupling.

7. The three-degree-of-freedom underground cavity morphology detection device according to claim 6, characterized in that: The telescopic unit (4) further comprises a push rod (44) arranged on the body of the telescopic motor (43) and used for pushing the entire measuring device into a preset position in the underground cavity (5) to be measured.

8. The three-degree-of-freedom underground cavity morphology detection device according to claim 7, characterized in that: The push rod (44) is a telescopic rod; The deflection motor (23) is a brushless motor.

9. A three-degree-of-freedom underground cavity morphology detection method, characterized in that: The following steps are involved: Step 1, inserting the three-degree-of-freedom underground cavity morphology detection device described in any one of claims 1 to 7 into the underground cavity (5) to be detected, and starting the scanning unit (1); Step 2: driving the scanning unit (1) into the underground cavity (5) to be tested at a preset distance through the telescopic unit (4); Step 3, the deflection unit (2) drives the scanning unit (1) to scan the morphology of the underground cavity (5) to be measured step by step along the same axial plane at the same interval angle, and sends the scanned morphology data and the deflection posture data of the deflection unit (2) to the data acquisition unit; Step 4: After the scanning unit (1) has completely scanned along the same plane, the scanning unit (1) and the deflection unit (2) are driven by the rotation unit (3) to rotate at a preset angle once, and step 3 is repeated until one rotation is completed. At the same time, the rotation posture data corresponding to the rotation unit (3) is sent to the data acquisition unit; Step 5, repeating steps 2 and 4 until the morphology of the underground cavity (5) to be tested is completely scanned; Step 6: The morphological data, deflection attitude data and rotation attitude data acquired by the data acquisition unit are subjected to point cloud fusion and splicing to obtain a morphological model of the underground cavity (5) to be tested, thereby completing the morphological detection.

10. The three-degree-of-freedom underground cavity morphology detection method according to claim 9, characterized in that: Before step 1, the method also includes the steps of inspecting and debugging the three-degree-of-freedom underground cavity morphology detection device described in any one of claims 1-7.

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