Intelligent surveying and mapping device for underground engineering construction

Abstract

The invention discloses an intelligent surveying and mapping device for underground engineering construction, and belongs to the technical field of underground engineering construction surveying and mapping. An intelligent surveying and mapping device for underground engineering construction comprises a center shaft sleeve, advancing units and a remote sensing probe, the remote sensing probe is installed at the front end of the center shaft sleeve, a wiring tail box is arranged at the other end of the center shaft sleeve, and the three advancing units are installed on the periphery of the center shaft sleeve respectively. In order to solve the problems that the surveying and mapping result is not accurate enough, repeated measurement is needed, and time and labor are consumed due to the fact that two existing surveying and mapping detection methods are limited by the detection distance of equipment and the quality of an underground soil layer, a remote sensing probe can axially rotate relative to a center shaft sleeve; 360-degree dead-angle-free sound wave detection can be realized by matching with a universal device in the remote sensing probe, the conditions of the top and the bottom of a tunnel path and surrounding soil layers can be effectively detected, the surveying and mapping efficiency is improved, and the construction safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of underground engineering construction surveying and mapping, and in particular to an intelligent surveying and mapping device for underground engineering construction. Background Art

[0002] The surveying and mapping work carried out in the planning, design, construction, completion and operation and management stages of underground projects includes engineering surveying and mapping of railway tunnels, road tunnels, urban subways, underground air defense buildings, underground factories, etc. When surveying and mapping underground projects, it is necessary to conduct geological surveys and detections to determine the appropriate bearing layer, determine the foundation type based on the bearing capacity of the foundation of the bearing layer, and calculate the foundation parameters. The purpose is to find out the quality and quantity of minerals, as well as the technical conditions for mining and utilization, provide the mineral reserves and geological data required for mine construction design, and conduct investigations and research on the geological conditions such as rocks, strata, structures, minerals, hydrology, and landforms in a certain area. Therefore, multifunctional surveying and mapping equipment is needed to monitor various safety and environmental data of mines in real time, especially for tunnel projects planned to be opened to traffic, which need to ensure the safe construction of mines.

[0003] Existing underground projects mostly use ground vertical detection or underground horizontal detection when conducting surveying and mapping. The above two types of surveying and detection are limited by the detection distance of the equipment and the quality of the underground soil layer, resulting in inaccurate surveying and mapping results. Repeated measurements are required, which is time-consuming and labor-intensive. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent surveying and mapping device for underground engineering construction. The remote sensing probe itself and the central axis sleeve can be axially rotated, and the universal joint inside the remote sensing probe can realize ° blind-angle sound wave detection. In this way, the top and bottom of the tunnel path and the surrounding soil layers can be effectively detected, the surveying and mapping efficiency can be improved, the construction safety can be ensured, and the problems in the prior art can be solved.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent surveying and mapping device for underground engineering construction, comprising a central axis sleeve, a traveling unit and a remote sensing probe, wherein the remote sensing probe is installed at the front end of the central axis sleeve, and a terminal box is provided at the other end of the central axis sleeve, wherein three groups of the traveling units are respectively installed around the central axis sleeve, a universal joint is provided inside the remote sensing probe, a base is provided outside the terminal box, the base is connected to the central axis sleeve by bolts, a power supply assembly is provided inside the central axis sleeve, a terminal is provided at one end of the power supply assembly, wherein the other end of the power supply assembly extends to the inside of the base.

[0006] Furthermore, the remote sensing probe includes a shell, a ring track is arranged inside the shell, wherein the ring track adopts a ring track structure, two pulleys are arranged inside the ring track, four sets of claw rods are arranged on the outside of the pulley, and the claw rods are arranged as a retractable structure, wherein the universal joint is connected to the pulley through the claw rods, and the two ends of the universal joint are clamped and fixed by the claw rods. The pulley can be used to control the universal joint to rotate along the universal joint, and the rotation of the remote sensing probe itself can be used to realize lateral flipping operation, and the universal joint itself is responsible for axial adjustment in four directions of front, back, left and right.

[0007] Furthermore, the gimbal includes an X-axis kit, a Y-axis kit and a sonic radar, wherein the X-axis kit includes a double-barrel sleeve and a double-track shaft, the double-barrel sleeves are connected by a double-track shaft, a micro motor is arranged on the inner side of the double-barrel sleeve, and the micro motor is connected to the double-barrel sleeve by screws.

[0008] Furthermore, the gimbal includes an X-axis kit, a Y-axis kit and a sonic radar, wherein the X-axis kit includes a double-barrel sleeve and a double-track shaft, the double-barrel sleeves are connected by a double-track shaft, a micro motor is arranged on the inner side of the double-barrel sleeve, and the micro motor is connected to the double-barrel sleeve by screws.

[0009] Furthermore, a positioning pulley is provided inside the card plate, a motor pulley is provided at one end of the micro motor, and four groups of axial pulleys are provided on the inner side of the cross sleeve shaft. The axial pulleys are respectively connected to the positioning pulley and the motor pulley through belt transmission, and every two adjacent axial pulleys between the four groups of axial pulleys are respectively connected to the positioning pulley and the motor pulley at one end of the X-axis kit and the Y-axis kit. The four-way adjustment movement between the X-axis kit and the Y-axis kit can be controlled by two groups of micro motors. When the two groups of motor pulleys move in the same direction, the movement operation of the Y-axis kit can be controlled, and when the two groups of motor pulleys rotate forward and reverse respectively, the movement of the X-axis kit can be controlled.

[0010] Furthermore, the remote sensing probe is rotatably connected to the middle axis sleeve, a front fork strut is arranged between the traveling unit and the middle axis sleeve, a tail fork strut is arranged on the inner side of the front fork strut, wherein the tail fork strut and the front fork strut are parallel to each other, a hydraulic strut is arranged on the outer side of the tail fork strut, damping couplings are arranged at both ends of the front fork strut, the tail fork strut and the hydraulic strut, the spacing between each traveling unit and the middle axis sleeve can be adjusted by contraction of the hydraulic strut, so that the traveling unit can be firmly attached to the rock wall during traveling inside the hole, thereby ensuring the friction required for the driving of the device.

[0011] Furthermore, a sliding sleeve is provided on the outer surface of the middle shaft sleeve, and the sliding sleeve and the middle shaft sleeve are slidably connected via a guide rod, one end of the hydraulic strut is connected to the sliding sleeve via a damping coupling, one end of the front fork strut and the tail fork strut are connected to the middle shaft sleeve via a damping coupling, and a traveling track is provided on the outer surface of the traveling unit.

[0012] Furthermore, a sliding sleeve is provided on the outer surface of the middle shaft sleeve, and the sliding sleeve and the middle shaft sleeve are slidably connected via a guide rod, one end of the hydraulic strut is connected to the sliding sleeve via a damping coupling, one end of the front fork strut and the tail fork strut are connected to the middle shaft sleeve via a damping coupling, and a traveling track is provided on the outer surface of the traveling unit.

[0013] Furthermore, an electrically controlled locking shaft is provided on one side of the front fork strut and the hydraulic strut of one of the traveling units, and the electrically controlled locking shaft is respectively connected to the front fork strut and the hydraulic strut by screws, and the electrically controlled locking shaft includes a rocker arm and a pin rod, wherein the rocker arm is rotatably connected to the electrically controlled locking shaft, one end of the pin rod is connected to the rocker arm by a slot, and the other end of the pin rod is respectively connected to the front fork strut and the hydraulic strut, and an electrically controlled locking shaft structure is provided at the front fork strut and the hydraulic strut of one group of traveling units, and the electrically controlled locking shaft can lock the current traveling unit by controlling the rotation angle of the rocker arm, and the rotation of the rocker arm will drive the pin rod, and at this time the front fork strut and the hydraulic strut cannot be telescopically adjusted, and at this time the device travels with the travel unit as support, thereby avoiding the vibration caused by tension adjustment between the three groups of traveling units during the traveling process.

[0014] Furthermore, a locking hoop is provided on one side of the sliding sleeve, visual probes are provided on both sides of the locking hoop, a wiring tube is provided at one end of the visual probe, and the wiring tube extends to the interior of the central shaft sleeve.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention performs transverse drilling inside an existing tunnel, and the drilling direction is consistent with the path direction. Then, the surveying and mapping device is placed inside the borehole. At this time, the traveling unit equipped with crawlers on the outside of the surveying and mapping device will fit inside the borehole. The terminal box is connected to the power supply line. After the power is started, the traveling unit is operated to move inside the borehole. The remote sensing probe at the front end of the central axis sleeve is used for acoustic wave detection. The remote sensing probe itself and the central axis sleeve can be axially rotated. With the universal joint inside the remote sensing probe, the acoustic wave detection of degrees without dead angle can be realized. In this way, the top and bottom of the tunnel path and the surrounding soil layers can be effectively detected, thereby improving the surveying and mapping efficiency and ensuring the construction safety.

[0017] 2. In the present invention, every two adjacent axial pulleys among the four sets of axial pulleys are respectively connected to the positioning pulley and the motor pulley at one end of the X-axis kit and the Y-axis kit, and the four-way adjustment movement between the X-axis kit and the Y-axis kit can be controlled by two sets of micro motors. When the two sets of motor pulleys move in the same direction, the movement operation of the Y-axis kit can be controlled, and when the two sets of motor pulleys rotate forward and reverse respectively, the movement of the X-axis kit can be controlled;

[0018] 3. In the present invention, an electric-controlled locking shaft structure is provided at the front fork strut and the hydraulic strut of one group of traveling units. The electric-controlled locking shaft can lock the current traveling unit by controlling the rotation angle of the rocker arm. The rotation of the rocker arm will drive the pin rod. At this time, the front fork strut and the hydraulic strut cannot be telescopically adjusted. At this time, the device travels with the travel unit as support. In this way, the vibration caused by the tension adjustment between the three groups of traveling units during the travel process can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall front view of the present invention;

[0020] Figure 2 It is an overall side view of the present invention;

[0021] Figure 3 It is a schematic diagram of the overall cross-sectional structure of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the traveling unit of the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of the remote sensing probe of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the universal device of the present invention;

[0025] Figure 7 It is a schematic diagram of the structure of the sonic radar of the present invention.

[0026] In the figure: 1, middle shaft sleeve; 2, terminal box; 3, travel unit; 4, remote sensing probe; 5, electric control lock shaft; 6, universal joint; 101, lock hoop; 102, visual probe; 103, sliding sleeve; 104, guide rod; 1021, wiring tube; 201, base; 202, power supply assembly; 2021, terminal; 301, travel track; 302, front fork support rod; 303, tail fork support rod; 304, hydraulic support rod; 305, damping coupling; 3011, support roller; 3012, transmission Moving roller; 3013, driving motor; 401, housing; 402, ring rail; 403, pulley; 4031, claw rod; 501, rocker arm; 502, pin rod; 601, X-axis kit; 602, Y-axis kit; 603, positioning pulley; 604, cross sleeve; 605, micro motor; 606, sonic radar; 6011, double-barrel sleeve; 6012, double-track shaft; 6021, pallet; 6022, single-track shaft; 6041, axial pulley; 6051, motor pulley. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0028] In order to solve the problem that the existing underground projects usually adopt vertical detection on the ground or horizontal detection underground during surveying, the above two types of surveying and detection are limited by the detection distance of the equipment and the quality of the underground soil layer, resulting in inaccurate surveying and mapping results, requiring repeated measurements, which is time-consuming and labor-intensive; please refer to Figure 1-7 , this embodiment provides the following technical solutions:

[0029] Embodiment 1:

[0030] An intelligent surveying and mapping device for underground engineering construction comprises a central axis sleeve 1, a traveling unit 3 and a remote sensing probe 4, wherein the remote sensing probe 4 is installed at the front end of the central axis sleeve 1, and a terminal box 2 is arranged at the other end of the central axis sleeve 1, wherein three groups of traveling units 3 are respectively installed around the central axis sleeve 1, a universal joint 6 is arranged inside the remote sensing probe 4, a base 201 is arranged outside the terminal box 2, and the base 201 is connected to the central axis sleeve 1 by bolts, a power supply component 202 is arranged inside the central axis sleeve 1, and a terminal 2021 is arranged at one end of the power supply component 202, wherein the other end of the power supply component 202 extends to the inside of the base 201, and the remote sensing probe 4 is provided with a plurality of connecting terminals 2021, wherein the connecting terminals 2021 are connected to the central axis sleeve 1 by bolts, and ... The housing 401 includes a ring track 402, wherein the ring track 402 adopts a ring track structure, two pulleys 403 are arranged inside the ring track 402, and four groups of claw rods 4031 are arranged outside the pulleys 403, and the claw rods 4031 are arranged as a retractable structure, wherein the universal joint 6 is connected to the pulley 403 through the claw rods 4031, and the two ends of the universal joint 6 are clamped and fixed by the claw rods 4031, and the universal joint 6 can be controlled to rotate along the universal joint 6 in cooperation with the pulley 403, and the lateral flipping operation can be realized in cooperation with the rotation of the remote sensing probe 4 itself, and the universal joint 6 itself is responsible for axial adjustment in four directions of front, back, left and right;

[0031] On the basis of existing underground detection, all-round surveying and mapping operations are realized. A horizontal hole is drilled inside the existing tunnel. The drilling direction is consistent with the path direction. Then the surveying and mapping device is placed inside the borehole. At this time, the traveling unit 3 with a crawler on the outside of the surveying and mapping device will fit inside the borehole. The terminal box 2 is connected to the power supply line. After the power is started, the traveling unit 3 is operated to move inside the borehole. The remote sensing probe 4 at the front end of the central axis sleeve 1 is used for acoustic wave detection. The remote sensing probe 4 itself and the central axis sleeve 1 can be axially rotated. With the universal joint 6 inside the remote sensing probe 4, 360° sound wave detection without dead angles can be realized. In this way, the top and bottom of the tunnel path and the surrounding soil layers can be effectively detected, thereby improving surveying and mapping efficiency and ensuring construction safety.

[0032] Embodiment 2:

[0033] The gimbal 6 includes an X-axis kit 601, a Y-axis kit 602 and a sonic radar 606, wherein the X-axis kit 601 includes a double-barrel sleeve shaft 6011 and a double-track shaft rod 6012, the double-barrel sleeve shafts 6011 are connected by the double-track shaft rod 6012, a micro motor 605 is arranged on the inner side of the double-barrel sleeve shaft 6011, and the micro motor 605 is connected to the double-barrel sleeve shaft 6011 by screws, the Y-axis kit 602 includes a card plate 6021 and a single-track shaft rod 6022, the card plates 6021 are connected by the single-track shaft rod 6022, a cross sleeve shaft 604 is arranged between the single-track shaft rod 6022 and the double-track shaft rod 6012, the cross sleeve shaft 604 is respectively slidably connected to the single-track shaft rod 6022 and the double-track shaft rod 6012, the sonic radar 606 is installed on the outer side of the cross sleeve shaft 604, and a Positioning pulley 603, one end of micro motor 605 is provided with motor pulley 6051, the inner side of cross sleeve shaft 604 is provided with four groups of axial pulleys 6041, the axial pulleys 6041 are respectively connected with positioning pulley 603 and motor pulley 6051 through belt transmission, and every two adjacent axial pulleys 6041 among the four groups of axial pulleys 6041 are respectively connected with positioning pulley 603 and motor pulley 6051 at one end of X-axis kit 601 and Y-axis kit 602, and the four-way adjustment movement between X-axis kit 601 and Y-axis kit 602 can be controlled by two groups of micro motors 605, when the two groups of motor pulleys 6051 move in the same direction, the movement operation of Y-axis kit 602 can be controlled, and when the two groups of motor pulleys 6051 are respectively rotated forward and reversed, the movement of X-axis kit 601 can be controlled;

[0034] Embodiment 3:

[0035] The remote sensing probe 4 is rotatably connected to the middle shaft sleeve 1, a front fork support rod 302 is arranged between the traveling unit 3 and the middle shaft sleeve 1, a tail fork support rod 303 is arranged on the inner side of the front fork support rod 302, wherein the tail fork support rod 303 and the front fork support rod 302 are parallel to each other, a hydraulic support rod 304 is arranged on the outer side of the tail fork support rod 303, damping couplings 305 are arranged at both ends of the front fork support rod 302, the tail fork support rod 303 and the hydraulic support rod 304, and a sliding sleeve 103 is arranged on the outer surface of the middle shaft sleeve 1 The sliding sleeve 103 is slidably connected to the middle shaft sleeve 1 through the guide rod 104, one end of the hydraulic strut 304 is connected to the sliding sleeve 103 through the damping coupling 305, and one end of the front fork strut 302 and the tail fork strut 303 are connected to the middle shaft sleeve 1 through the damping coupling 305. The spacing between each traveling unit 3 and the middle shaft sleeve 1 can be adjusted by contraction of the hydraulic strut 304, so that the traveling unit 3 can be firmly attached to the rock wall during traveling inside the hole, ensuring the friction required for the device to travel;

[0036] The outer surface of the traveling unit 3 is provided with a traveling track 301, and the inner side of the traveling track 301 is provided with a driving roller 3012, and the driving roller 3012 is meshed with the inner surface of the traveling track 301. A plurality of supporting rollers 3011 are provided on one side of the driving roller 3012, and the supporting rollers 3011 are fitted with the inner side of the traveling track 301. A driving roller 3012 is provided on the other side of the driving roller 3012, and the driving rollers 3012 are connected with the driving rollers 3012 through gears. An electric control lock shaft 5 is provided on one side of the front fork support rod 302 and the hydraulic support rod 304 of a traveling unit 3, and the electric control lock shaft 5 is respectively connected to the front fork support rod 302 and the hydraulic support rod 304 through screws, and the electric control lock shaft 5 includes a rocker arm 501 and a pin rod 50 2, wherein the rocker arm 501 is rotatably connected to the electric lock shaft 5, one end of the pin rod 502 is connected to the rocker arm 501 through a slot, and the other end of the pin rod 502 is respectively connected to the front fork support rod 302 and the hydraulic support rod 304, wherein the front fork support rod 302 and the hydraulic support rod 304 of one group of traveling units 3 are provided with an electric lock shaft 5 structure, and the electric lock shaft 5 can lock the current traveling unit 3 by controlling the rotation angle of the rocker arm 501, and the rotation of the rocker arm 501 will drive the pin rod 502, at which time the front fork support rod 302 and the hydraulic support rod 304 cannot be telescopically adjusted, and at this time the device travels with the travel unit 3 as support, so as to avoid the vibration caused by the tension adjustment between the three groups of traveling units 3 during the travel process;

[0037] A locking clamp 101 is provided on one side of the sliding sleeve 103, and visual probes 102 are provided on both sides of the locking clamp 101. A wiring tube 1021 is provided at one end of the visual probe 102, and the wiring tube 1021 extends to the interior of the central axis sleeve 1. The visual probes 102 are distributed on both sides of the visual probe 102. The path information in front of the device can be detected through the visual probe 102, and it is also convenient for the staff to intuitively understand the distribution of the rock formations in the borehole.

[0038] Working principle: perform horizontal drilling inside the existing tunnel, and the drilling direction is consistent with the path direction. Then put the surveying device into the borehole. At this time, the traveling unit 3 with tracks on the outside of the surveying device will fit into the inside of the borehole, connect the terminal box 2 to the power supply line, and operate the traveling unit 3 to move into the borehole after the power is started. Use the remote sensing probe 4 at the front end of the central axis sleeve 1 to perform acoustic wave detection. The remote sensing probe 4 itself and the central axis sleeve 1 can be axially rotated, and the universal joint 6 inside the remote sensing probe 4 can achieve 360° acoustic wave detection without dead angles.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0040] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An intelligent surveying and mapping device for underground engineering construction, characterized in that: The invention comprises a central axis sleeve (1), a traveling unit (3) and a remote sensing probe (4), wherein the remote sensing probe (4) is mounted at the front end of the central axis sleeve (1), and a terminal box (2) is arranged at the other end of the central axis sleeve (1), wherein three groups of the traveling units (3) are respectively mounted around the central axis sleeve (1), a universal joint (6) is arranged inside the remote sensing probe (4), a base (201) is arranged on the outside of the terminal box (2), and the base (201) is connected to the central axis sleeve (1) by bolts, and a power supply assembly (202) is arranged inside the central axis sleeve (1), and a terminal (2021) is arranged at one end of the power supply assembly (202), wherein the other end of the power supply assembly (202) extends to the inside of the base (201).

2. The intelligent surveying and mapping device for underground engineering construction according to claim 1, characterized in that: The remote sensing probe (4) comprises a shell (401), wherein a ring track (402) is arranged inside the shell (401), wherein the ring track (402) adopts a ring track structure, wherein two pulleys (403) are arranged inside the ring track (402), and four groups of claw rods (4031) are arranged outside the pulleys (403), and the claw rods (4031) are arranged as a retractable structure, wherein the universal joint (6) is connected to the pulley (403) via the claw rods (4031).

3. The intelligent surveying and mapping device for underground engineering construction according to claim 2 is characterized in that: The universal joint (6) comprises an X-axis kit (601), a Y-axis kit (602) and a sonic radar (606), wherein the X-axis kit (601) comprises a double-barrel sleeve shaft (6011) and a double-track shaft rod (6012), the double-barrel sleeve shafts (6011) are connected via the double-track shaft rod (6012), a micro motor (605) is arranged on the inner side of the double-barrel sleeve shaft (6011), and the micro motor (605) is connected to the double-barrel sleeve shaft (6011) via screws.

4. The intelligent surveying and mapping device for underground engineering construction according to claim 3 is characterized in that: The Y-axis kit (602) includes a card plate (6021) and a monorail shaft (6022), the card plates (6021) are connected via the monorail shaft (6022), a cross sleeve (604) is arranged between the monorail shaft (6022) and the double-rail shaft (6012), the cross sleeve (604) is slidably connected to the monorail shaft (6022) and the double-rail shaft (6012), and the sonic radar (606) is installed on the outside of the cross sleeve (604).

5. The intelligent surveying and mapping device for underground engineering construction according to claim 4, characterized in that: A positioning pulley (603) is arranged inside the clamping plate (6021), a motor pulley (6051) is arranged at one end of the micro motor (605), and four groups of axial pulleys (6041) are arranged on the inner side of the cross sleeve (604), and the axial pulleys (6041) are respectively connected to the positioning pulley (603) and the motor pulley (6051) through belt transmission.

6. The intelligent surveying and mapping device for underground engineering construction according to claim 1, characterized in that: The remote sensing probe (4) is rotatably connected to the middle shaft sleeve (1); a front fork support rod (302) is arranged between the travel unit (3) and the middle shaft sleeve (1); a tail fork support rod (303) is arranged on the inner side of the front fork support rod (302); the tail fork support rod (303) and the front fork support rod (302) are parallel to each other; a hydraulic support rod (304) is arranged on the outer side of the tail fork support rod (303); and damping couplings (305) are arranged at both ends of the front fork support rod (302), the tail fork support rod (303) and the hydraulic support rod (304).

7. The intelligent surveying and mapping device for underground engineering construction according to claim 6, characterized in that: The outer surface of the middle shaft sleeve (1) is provided with a sliding sleeve (103), and the sliding sleeve (103) and the middle shaft sleeve (1) are slidably connected via a guide rod (104); one end of the hydraulic support rod (304) is connected to the sliding sleeve (103) via a damping coupling (305); one end of the front fork support rod (302) and the tail fork support rod (303) are connected to the middle shaft sleeve (1) via a damping coupling (305); and the outer surface of the traveling unit (3) is provided with a traveling crawler (301).

8. The intelligent surveying and mapping device for underground engineering construction according to claim 7, characterized in that: A transmission roller (3012) is arranged on the inner side of the traveling crawler (301), and the transmission roller (3012) and the inner surface of the traveling crawler (301) are meshed with each other; a plurality of supporting rollers (3011) are arranged on one side of the transmission roller (3012), and the supporting rollers (3011) are in contact with the inner side of the traveling crawler (301); a transmission roller (3012) is arranged on the other side of the transmission roller (3012), and the transmission rollers (3012) and the transmission rollers (3012) are connected to each other through gears.

9. The intelligent surveying and mapping device for underground engineering construction according to claim 8, characterized in that: An electric lock shaft (5) is provided on one side of a front fork support rod (302) and a hydraulic support rod (304) of a traveling unit (3), and the electric lock shaft (5) is respectively connected to the front fork support rod (302) and the hydraulic support rod (304) by screws, and the electric lock shaft (5) comprises a rocker arm (501) and a pin rod (502), wherein the rocker arm (501) is rotatably connected to the electric lock shaft (5), one end of the pin rod (502) is connected to the rocker arm (501) by a slot, and the other end of the pin rod (502) is respectively connected to the front fork support rod (302) and the hydraulic support rod (304).

10. The intelligent surveying and mapping device for underground engineering construction according to claim 1, characterized in that: A locking hoop (101) is provided on one side of the sliding sleeve (103), visual probes (102) are provided on both sides of the locking hoop (101), a wiring tube (1021) is provided at one end of the visual probe (102), and the wiring tube (1021) extends to the interior of the central shaft sleeve (1).

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