Underground space three-dimensional information measuring device and scanning method

Abstract

The invention discloses an underground space three-dimensional information measuring device and a scanning method, and relates to the technical field of underground space three-dimensional information scanning measurement, and the underground space three-dimensional information measuring device comprises an outer shell; the bottom of the outer shell is fixedly connected with a first fixing box, a first motor is fixedly connected into the first fixing box, and the output end of the first motor penetrates through the bottom wall of the first fixing box and is fixedly connected with a radio measuring instrument. The radio measuring instrument and the outer shell can be prevented from directly colliding with the inner wall of the duct casing pipe when moving to the ground along the duct casing pipe through the first protection assembly and the second protection assembly; meanwhile, the first protection assembly comprises a plurality of protection rods which are elastically and rotationally connected to the outer shell through first rotating rods and first torsion springs and surround the radio measuring instrument, so that the impact force borne by the outer shell and the radio measuring instrument can be effectively reduced after the protection rods collide with the inner wall of the hole channel sleeve.

Description

Technical Field

[0001] The present invention relates to the technical field of underground space three-dimensional information scanning and measurement, and in particular to an underground space three-dimensional information measurement device and a scanning method.

[0002] Background technology Deep underground salt caverns can be used as storage sites for oil and natural gas. They are created by water-soluble mining, so the shape of the underground cavity is difficult to control. In order to obtain the ideal shape of the underground cavity, it is necessary to explore the three-dimensional information of the cavity many times during the cavity creation process, so as to take the next control measures and optimize the cavity shape. After the cavity is built, it is necessary to obtain the three-dimensional spatial information of the cavity in order to analyze and evaluate its stability.

[0003] Since people cannot enter this type of underground space, the existing technical means is to send various scanning and measuring equipment into the designated underground location through holes drilled in the bottom surface, and then use the scanning and measuring equipment to scan and measure the terrain near the underground location at the designated depth. In this way, the shape and size of the three-dimensional space at the designated underground location can be obtained more accurately.

[0004] However, when the existing measuring equipment passes through the hole and enters the bottom, it cannot remain vertical due to the depth of the hole and extends downward in a curved shape. As a result, the scanning measuring equipment is prone to scratching and colliding with the hole wall when moving along the hole toward the ground, making the scanning measuring equipment easily damaged. Summary of the invention

[0005] The purpose of the present invention is to provide a three-dimensional information measuring device and scanning method for underground space to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an underground space three-dimensional information measuring device, comprising: an outer shell; a first fixed box is fixedly connected to the bottom of the outer shell, a first motor is fixedly connected inside the first fixed box, an output end of the first motor passes through the bottom wall of the first fixed box and is fixedly connected to a radio measuring instrument, a fixed block is fixedly connected to the top of the outer shell, a connector is fixedly connected to the top of the fixed block, a first protective component and a second protective component are connected to the side of the outer shell, and the first protective component is located directly below the second protective component; The first protection assembly comprises a plurality of first rotating seats fixedly connected to the outer peripheral surface of the housing in an annular shape and at equal angles, and a plurality of protection rods are rotatably connected to the plurality of first rotating seats in an annular shape and at equal angles through a first rotating rod and a first torsion spring, and the plurality of protection rods surround the radio measuring instrument; The second protection component is used to provide buffer protection for the upper part of the outer shell.

[0007] Preferably, the second protective component includes a plurality of first elastic telescopic rods connected to the outer circumference of the outer shell in a ring-shaped and equiangular manner, and a plurality of rollers are fixedly connected to the end of the plurality of first elastic telescopic rods away from the outer shell in a ring-shaped and equiangular manner through a fixed seat. The second protective component also includes a first folding mechanism connected to the outer shell, and the first folding mechanism is used to drive the plurality of first elastic telescopic rods to swing in a direction away from or close to the outer shell. The advantage of such a configuration is that, through the cooperation of the first elastic telescopic rods with the rollers, when the outer shell is about to collide with the inner wall of the channel casing, the rollers first collide with the inner wall of the channel casing, and under the elastic action of the first elastic telescopic rods, they can provide reliable buffering protection for the outer shell, thereby ensuring the safety of the internal parts of the outer shell, and at the same time, through the first folding mechanism, the rollers can be rotated to a position close to the outer circumference of the outer shell when protection is not needed, thereby avoiding the rollers from obstructing the downward movement of the outer shell along the channel casing, thereby ensuring that the scanning and measurement work can be carried out smoothly.

[0008] Preferably, the first folding mechanism includes a plurality of first hinge blocks connected to the outer peripheral surface of the shell body in an annular and equiangular rotation manner through a plurality of second rotating seats, a second rotating rod and a second torsion spring, a second motor is fixedly connected to the side surfaces of the plurality of second rotating seats, an output end of the second motor is fixedly connected to the end of the second rotating rod, and the plurality of first hinge blocks are fixedly connected to the ends of the plurality of first elastic telescopic rods on the sides away from the shell body respectively, the first folding mechanism also includes a plurality of travel switches fixedly connected to the outer peripheral surface of the shell body in an annular and equiangular manner, the first folding mechanism also includes a trigger block fixedly connected to the top of the plurality of protective rods in an annular and equiangular manner, and the plurality of trigger blocks can respectively trigger a plurality of travel switches. The advantage of such a setting is that when a certain protective rod collides with the inner wall of the channel casing, the protective rod will rotate and drive the trigger block to trigger the travel switch, and then the second motor starts and drives the first elastic telescopic rod and the roller to swing in a direction away from the shell body through the second rotating rod so that the roller opens, thereby avoiding the outer shell body from colliding with the inner side wall of the channel casing that is about to pass, and effectively protecting the safety of the outer shell body and its internal parts.

[0009] Preferably, the second protection component also includes an auxiliary protection component connected to the outer shell, the auxiliary protection component includes a plurality of first cross plates respectively fixedly connected to the sides of the plurality of first hinge blocks, the bottoms of the plurality of first cross plates are fixedly connected to the first pressure sensors, the auxiliary protection component also includes a plurality of second cross plates respectively fixedly connected to the sides of the plurality of fixed seats, a plurality of first elastic members are respectively fixedly connected between the tops of the plurality of second cross plates and the bottoms of the plurality of first cross plates, the advantage of such an arrangement is that the pressure exerted on the roller can be detected by the first elastic member, the first cross plate and the first pressure sensor, so that when the pressure exerted on the roller is greater than a set value, the second motor is started to drive the roller to move a certain angle toward the direction close to the outer shell to reduce the resistance pressure between the roller and the inner wall of the channel casing, thereby ensuring that the outer shell can move more smoothly along the channel casing toward the underground.

[0010] Preferably, a clamping and limiting assembly is also provided on the outer peripheral surface of the outer shell, and the clamping and limiting assembly is used to clamp and limit the outer shell on the inner wall of the channel casing. The advantage of such a setting is that when the radio measuring instrument performs scanning measurement, the outer shell can be clamped and limited on the inner wall of the channel casing, thereby ensuring the positional stability of the entire measuring device to improve the accuracy of the scanning measurement, thereby effectively improving the reliability of the measuring device.

[0011] Preferably, the clamping and limiting assembly includes a plurality of receiving grooves that are equiangularly annularly opened on the outer wall of the outer shell body, and the tops of the plurality of receiving grooves pass through the top wall of the outer shell body. The clamping and limiting assembly also includes a second hinge block that is rotatably connected to the outer peripheral surface of the outer shell body by a plurality of second rotating seats and a third rotating rod at an equal angle. The bottoms of the plurality of second hinge blocks are fixedly connected to a connecting rod, and the ends of the plurality of connecting rods away from the second hinge block are fixedly connected to a resistance block. The clamping and limiting assembly also includes a second folding mechanism connected to the outer shell body, and the second folding mechanism is used to drive the plurality of resistance blocks to rotate in a direction of entering or leaving the folding groove. The advantage of such an arrangement is that when scanning measurement is required, the plurality of resistance blocks are driven by the second folding mechanism to swing in a direction away from the outer shell body until the plurality of resistance blocks are tightly against the inner wall of the channel casing, thereby reliably completing the clamping and limiting of the outer shell body.

[0012] Preferably, the outer shell is also connected to an auxiliary clamping assembly, which is used to cooperate with the resistance block to better clamp the outer shell on the inner wall of the channel casing. The advantage of such a setting is that it can enhance the firmness of the clamping and limiting between the outer shell and the inner wall of the channel casing, ensuring that the scanning measurement work can be carried out more smoothly.

[0013] Preferably, the auxiliary clamping assembly includes multiple pairs of mounting cavities respectively opened at the top of the interference block, and the inner side walls of each pair of two mounting cavities are symmetrically rotatably connected with two hinged plates through a fourth rotating rod. The auxiliary clamping assembly also includes multiple pairs of third motors fixedly connected to the side surfaces of multiple interference blocks in an annular shape with equal angles, and the output ends of the multiple pairs of third motors are respectively fixedly connected to the ends of the multiple pairs of fourth rotating rods. Two groups of swing plates are symmetrically hinged on the top of each pair of two hinged plates, and each group of multiple swing plates is connected to the rotation end to end from bottom to top through a fifth rotating rod and a fifth torsion spring. Together, a pair of second elastic telescopic rods are symmetrically fixedly connected to the sides away from each other of the two groups of swing plates, and each pair of two second elastic telescopic rods are rotatably connected to two contact plates on one end away from the swing plates through a sixth rotating rod and a sixth torsion spring. The advantage of this arrangement is that each pair of two third motors drive the two groups of swing plates to move toward the inner wall of the channel casing until the two groups of contact plates can be tightly against the inner wall of the channel casing, thereby effectively enhancing the firmness of the clamping limit between the outer shell and the inner wall of the channel casing, ensuring that the scanning measurement work can be carried out more smoothly.

[0014] Preferably, the fixed block is connected to an angle adjustment component, and the angle adjustment component includes two fourth motors symmetrically fixedly connected to the front and rear sides of the fixed block, a swivel is fixedly connected between the output ends of the two fourth motors, and a plurality of the second hinge blocks are respectively connected to the outer side of the swivel by a plurality of second rotating seats and a third rotating rod at equal angles in a circular manner, and a level measuring instrument is installed inside the outer shell. The advantage of such a configuration is that after the outer shell is clamped and limited on the inner wall of the channel casing by the clamping limit assembly and the auxiliary clamping assembly, the level measuring instrument is used to determine whether the radio measuring instrument is in a horizontal position. If it is not in a horizontal position, the fourth motor is started to drive the outer shell and the radio measuring instrument to rotate until the radio measuring instrument is in a horizontal position, thereby ensuring the accuracy and reliability of the scanning measurement results of the measuring device.

[0015] A scanning method for the above technical solution comprises the following steps: S1: Fix the connector and the lifting and traction device together; S2: Then the lifting and traction device is started to send the outer shell and the radio measuring instrument along the borehole casing toward the ground until the radio measuring instrument reaches the bottom of the currently drilled borehole; S3: When the radio measuring instrument reaches the bottom of the currently drilled hole, the second motor is started to drive the radio measuring instrument to rotate 360 ​​degrees to scan and measure the three-dimensional information of the bottom space of the bottom of the currently drilled hole; S4: After the scanning measurement is completed, it is determined that the bottom of the current hole is suitable for continued drilling, and the radio measuring instrument is pulled out of the hole casing through the lifting and traction device, and then the hole is continued to be drilled downward, and then steps S1-S3 are repeated. This cycle is repeated to ensure that the drilled hole is safe and reliable enough.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention can prevent the radio measuring instrument and the outer shell from directly colliding with the inner wall of the hole casing when moving toward the ground along the hole casing through the first protective component and the second protective component. At the same time, the first protective component includes a plurality of protective rods that are elastically rotatably connected to the outer shell through the first rotating rod and the first torsion spring and surround the radio measuring instrument. In this way, after the protective rods collide with the inner wall of the hole casing, the impact force on the outer shell and the radio measuring instrument can be effectively reduced, thereby protecting the safety of the internal parts of the outer shell and the radio measuring instrument and ensuring that the measurement work can be carried out smoothly and reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the first structure of the present invention; Figure 2 It is a schematic diagram of the second structure of the present invention; Figure 3 It is a schematic diagram of the third structure of the present invention; Figure 4 It is a schematic diagram of a first partial structure of the first protection component in the present invention; Figure 5 It is a schematic diagram of a second partial structure of the first protection component in the present invention; Figure 6 It is a schematic diagram of the partial structure of the clamping and limiting assembly in the present invention; Figure 7 For the present invention Figure 1 The enlarged schematic diagram of point A in the middle; Figure 8 For the present invention Figure 2 The enlarged schematic diagram of point B in the middle; Fig. 9 For the present invention Figure 5 Enlarged schematic diagram of point C in the middle.

[0018] In the figure: 1, outer shell; 11, first fixed box; 12, radio measuring instrument; 13, fixed block; 14, connector; 2, first protective assembly; 21, first rotating seat; 22, protective rod; 23, support rod; 24, connecting cavity; 3, second protective assembly; 31, first elastic telescopic rod; 32, roller; 33, auxiliary protective assembly; 331, first horizontal plate; 332, first pressure sensor; 333, second horizontal plate; 334, first elastic member; 34, first folding mechanism; 341, second motor; 3 42. First hinge block; 343. Travel switch; 344. Trigger block; 4. Clamping limit assembly; 41. Accommodating groove; 42. Second hinge block; 43. Connecting rod; 44. Resistance block; 45. Second folding mechanism; 451. Second fixed box; 452. Straight rod; 453. Resistance block; 5. Auxiliary clamping assembly; 51. Mounting cavity; 52. Hinge plate; 53. Third motor; 54. Swing plate; 55. Second elastic telescopic rod; 56. Resistance plate; 6. Angle adjustment assembly; 61. Fourth motor; 62. Swivel. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figure 1-Figure 9 , a three-dimensional information measuring device for underground space shown in the figure comprises: an outer shell 1; a first fixed box 11 is fixedly connected to the bottom of the outer shell 1, a first motor is fixedly connected inside the first fixed box 11, an output end of the first motor passes through the bottom wall of the first fixed box 11 and is fixedly connected to a radio measuring instrument 12, a fixed block 13 is fixedly connected to the top of the outer shell 1, a connector 14 is fixedly connected to the top of the fixed block 13, a first protective component 2 and a second protective component 3 are connected to the side of the outer shell 1, and the first protective component 2 is located directly below the second protective component 3; A control circuit board is installed in the outer shell 1, and the control circuit board is connected to the controller on the ground. The control circuit board and the first pressure sensor 332, the second pressure sensor, the first motor, the second motor 341, the third motor 53, the fourth motor 61 and the fifth motor are electrically connected together; The first protection assembly 2 includes a plurality of first rotating seats 21 fixedly connected to the outer peripheral surface of the outer shell 1 in an annular shape and at equal angles, and a plurality of protection rods 22 are rotatably connected to the plurality of first rotating seats 21 in an annular shape and at equal angles through a first rotating rod and a first torsion spring, and the plurality of protection rods 22 surround the radio measuring instrument 12; The second protection component 3 is used to provide buffer protection for the upper part of the outer shell 1 .

[0021] See also Figure 1 , Figure 2 , Figure 3 and Figure 8 The second protection component 3 includes a plurality of first elastic telescopic rods 31 connected to the outer peripheral surface of the outer shell 1 at equal angles in a ring shape, and a plurality of rollers 32 are fixedly connected to the end of the plurality of first elastic telescopic rods 31 away from the outer shell 1 at equal angles in a ring shape through a fixed seat. The second protection component 3 also includes a first folding mechanism 34 connected to the outer shell 1, and the first folding mechanism 34 is used to drive the plurality of first elastic telescopic rods 31 to swing in a direction away from or close to the outer shell 1.

[0022] Specifically, by cooperating with the roller 32 through the first elastic telescopic rod 31, when the outer shell 1 is about to collide with the inner wall of the channel sleeve, the roller 32 collides with the inner wall of the channel sleeve first, and under the elastic action of the first elastic telescopic rod 31, it can provide reliable buffering protection for the outer shell 1, thereby ensuring the safety of the internal parts of the outer shell 1. At the same time, through the first folding mechanism 34, the roller 32 can be rotated to a position close to the outer peripheral surface of the outer shell 1 when protection is not needed, thereby avoiding the roller 32 from obstructing the downward movement of the outer shell 1 along the channel sleeve, thereby ensuring that the scanning measurement work can be carried out smoothly.

[0023] See also Figure 8 The first folding mechanism 34 includes a plurality of first hinge blocks 342 connected to the outer peripheral surface of the outer shell 1 in annular and equiangular rotation manner through a plurality of second rotating seats, a second rotating rod and a second torsion spring, and a second motor 341 is fixedly connected to the side surfaces of the plurality of second rotating seats, and the output end of the second motor 341 is fixedly connected to the end of the second rotating rod. The plurality of first hinge blocks 342 are fixedly connected to the ends of the plurality of first elastic telescopic rods 31 on the side surfaces away from the outer shell 1 respectively, and the first folding mechanism 34 also includes a plurality of travel switches 343 fixedly connected to the outer peripheral surface of the outer shell 1 in annular and equiangular manner. The first folding mechanism 34 also includes a trigger block 344 fixedly connected to the top of the plurality of protective rods 22 in annular and equiangular manner, and the plurality of trigger blocks 344 can trigger the plurality of travel switches 343 respectively.

[0024] Specifically, when a certain protective rod 22 collides with the inner wall of the channel casing, the protective rod 22 will rotate and drive the trigger block 344 to trigger the travel switch 343, and then the second motor 341 will start and drive the first elastic telescopic rod 31 and the roller 32 to swing away from the outer shell 1 through the second rotating rod so that the roller 32 opens, thereby preventing the outer shell 1 from colliding with the inner wall of the channel casing that is about to pass, effectively protecting the safety of the outer shell 1 and its internal parts.

[0025] See also Figure 8 The second protection component 3 also includes an auxiliary protection component 33 connected to the outer shell 1, the auxiliary protection component 33 includes a plurality of first cross plates 331 respectively fixedly connected to the sides of the plurality of first hinge blocks 342, the bottoms of the plurality of first cross plates 331 are all fixedly connected with first pressure sensors 332, the auxiliary protection component 33 also includes a plurality of second cross plates 333 respectively fixedly connected to the sides of the plurality of fixed seats, a plurality of first elastic members 334 are respectively fixedly connected between the tops of the plurality of second cross plates 333 and the bottoms of the plurality of first cross plates 331.

[0026] Specifically, the pressure on the roller 32 can be detected by the first elastic member 334, the first cross plate 331 and the first pressure sensor 332. When the pressure on the roller 32 is greater than a set value, the second motor 341 is started to drive the roller 32 to move toward the outer shell 1 by a certain angle to reduce the resistance pressure between the roller 32 and the inner wall of the channel casing, thereby ensuring that the outer shell 1 can move more smoothly along the channel casing toward the ground.

[0027] See also Figure 1 , Figure 2 , Figure 3 and Figure 6 A clamping and limiting assembly 4 is also provided on the outer peripheral surface of the outer shell 1, and the clamping and limiting assembly 4 is used to clamp and limit the outer shell 1 on the inner side wall of the channel sleeve.

[0028] Specifically, when the radio measuring instrument 12 performs scanning measurement, the outer shell 1 can be clamped and limited on the inner wall of the channel casing, thereby ensuring the position stability of the entire measuring device to improve the accuracy of the scanning measurement, and effectively improving the reliability of the measuring device.

[0029] See also Figure 1 , Figure 2 , Figure 3 and Figure 6 The clamping and limiting assembly 4 includes a plurality of receiving grooves 41 which are annularly provided at equal angles on the outer wall of the outer shell 1, and the tops of the plurality of receiving grooves 41 penetrate the top wall of the outer shell 1. The clamping and limiting assembly 4 also includes a second hinge block 42 which is annularly rotatably connected to the outer peripheral surface of the outer shell 1 at equal angles through a plurality of second rotating seats and a third rotating rod, and the bottoms of the plurality of second hinge blocks 42 are fixedly connected to connecting rods 43, and the ends of the plurality of connecting rods 43 away from the second hinge blocks 42 are fixedly connected to resisting blocks 44, and the clamping and limiting assembly 4 also includes a second folding mechanism 45 connected to the outer shell 1, and the second folding mechanism 45 is used to drive the plurality of resisting blocks 44 to rotate in a direction of entering or leaving the receiving grooves 41; The second folding mechanism 45 includes a plurality of fifth motors respectively fixedly connected to the side surfaces of the plurality of second rotating seats, a plurality of connecting cavities 24 are provided at equal angles in a circular shape on the side surfaces of the bottom ends of the plurality of protective rods 22, the second folding mechanism 45 also includes a plurality of second fixed boxes 451 respectively fixedly connected to the plurality of connecting cavities 24, a second pressure sensor is installed in the second fixed box 451, a straight rod 452 is fixedly connected to the second pressure sensor, the bottom end of the straight rod 452 passes through the bottom wall of the second fixed box 451 and is fixedly connected to a stop block 453, and the bottom end of the straight rod 452 is fixed on the side surface of the bottom end of the protective rod 22. A support rod 23 is connected, and the bottom end of the support rod 23 is located on the upper side of the stop block 453, so that when the radio measuring instrument 12 is about to collide with the bottom end of the channel, the stop block 453 will collide with the bottom end of the channel first, thereby protecting the safety of the radio measuring instrument 12, and after the stop block 453 is hit, the impact force will be transmitted to the second pressure sensor through the straight rod 452, and then the fifth motor is started to drive the stop block 44 to press tightly against the inner wall of the channel casing to complete the clamping and limiting operation of the outer shell 1, thereby preparing for the subsequent scanning measurement work of the radio measuring instrument 12.

[0030] Specifically, when scanning measurement is required, the second folding mechanism 45 drives the multiple resistance blocks 44 to swing away from the outer shell 1 until the multiple resistance blocks 44 are tightly against the inner wall of the channel sleeve, so that the clamping and limiting of the outer shell 1 can be reliably completed.

[0031] See also Figure 1 , Figure 2 , Figure 3 and Figure 6 The outer shell 1 is also connected to an auxiliary clamping assembly 5, which is used to cooperate with the abutment block 44 to better clamp the outer shell 1 on the inner side wall of the channel sleeve.

[0032] Specifically, the firmness of the clamping and limiting between the outer shell 1 and the inner wall of the channel casing can be enhanced, ensuring that the scanning and measuring work can be carried out more smoothly.

[0033] See also Figure 6The auxiliary clamping assembly 5 includes multiple pairs of mounting cavities 51 respectively opened at the top of the resistance block 44, and two hinged plates 52 are symmetrically rotatably connected between the inner side walls of each pair of two mounting cavities 51 through a fourth rotating rod. The auxiliary clamping assembly 5 also includes multiple pairs of third motors 53 fixedly connected to the side surfaces of multiple resistance blocks 44 in a ring shape at equal angles, and the output ends of the multiple pairs of third motors 53 are respectively fixedly connected to the ends of the multiple pairs of fourth rotating rods. Two groups of swing plates 54 are symmetrically hinged at the top of each pair of two hinged plates 52, and each group of multiple swing plates 54 is connected together by a fifth rotating rod and a fifth torsion spring from bottom to top. A pair of second elastic telescopic rods 55 are symmetrically fixedly connected on the sides away from each other of the two groups of swing plates 54, and two resistance plates 56 are rotatably connected on the end away from the swing plate 54 of each pair of two second elastic telescopic rods 55 through a sixth rotating rod and a sixth torsion spring.

[0034] Specifically, each pair of two third motors 53 drives the two groups of swing plates 54 to move toward the inner wall of the channel casing until the two groups of contact plates 56 can be tightly against the inner wall of the channel casing. This can effectively enhance the firmness of the clamping limit between the outer shell 1 and the inner wall of the channel casing, ensuring that the scanning measurement work can be carried out more smoothly.

[0035] See also Figure 1 and Figure 7 An angle adjustment component 6 is connected to the fixed block 13, and the angle adjustment component 6 includes two fourth motors 61 symmetrically fixedly connected to the front and rear sides of the fixed block 13, and a swivel 62 is fixedly connected between the output ends of the two fourth motors 61. A plurality of second hinge blocks 42 are respectively connected to the outer surface of the swivel 62 in a circular manner through a plurality of second rotating seats and a third rotating rod at equal angles, and a level measuring instrument is installed inside the outer shell 1.

[0036] Specifically, after the outer shell 1 is clamped and limited on the inner wall of the channel casing by the clamping limit assembly 4 and the auxiliary clamping assembly 5, the level measuring instrument is used to determine whether the radio measuring instrument 12 is in a horizontal position. If it is not in a horizontal position, the fourth motor 61 is started to drive the outer shell 1 and the radio measuring instrument 12 to rotate until the radio measuring instrument 12 is in a horizontal position, thereby ensuring the accuracy and reliability of the scanning measurement results of the measuring device.

[0037] A method for scanning three-dimensional information of underground space, comprising the following steps: S1: The connector 14 is fixedly connected to the lifting and traction device; S2: Then the lifting and traction device is started to send the outer shell 1 and the radio measuring instrument 12 along the tunnel casing toward the ground until the radio measuring instrument 12 reaches the bottom of the currently drilled tunnel; S3: When the radio measuring instrument 12 reaches the bottom of the currently drilled hole, the first motor is started to drive the radio measuring instrument 12 to rotate 360 ​​degrees to scan and measure the three-dimensional information of the bottom space of the bottom of the currently drilled hole; S4: After the scanning measurement is completed, after determining that the bottom of the current hole is suitable for continued drilling, the radio measuring instrument 12 is pulled out of the hole casing by the lifting and traction device, and then the hole is continued to be drilled downward, and then steps S1-S3 are repeated, and this cycle is repeated to ensure that the drilled hole is sufficiently safe and reliable.

[0038] Working principle: During scanning measurement, the connector 14 is first fixedly connected to the lifting and traction device, and then the lifting and traction device is started to send the outer shell 1 and the radio measuring instrument 12 along the tunnel casing toward the ground until the radio measuring instrument 12 reaches the bottom of the currently drilled tunnel; When the radio measuring instrument 12 reaches the bottom of the currently drilled hole, the stop block 453 will collide with the bottom of the hole first, thereby protecting the safety of the radio measuring instrument 12, and after the stop block 453 is hit, the impact force will be transmitted to the second pressure sensor through the straight rod 452, and then the fifth motor will start to drive the stop block 44 to press tightly against the inner wall of the hole casing to complete the clamping and limiting operation of the outer shell 1, thereby preparing for the subsequent scanning measurement work of the radio measuring instrument 12.

[0039] Then start the level measuring instrument to determine whether the radio measuring instrument 12 is in a horizontal position. If it is not in a horizontal position, start the fourth motor 61 to drive the outer shell 1 and the radio measuring instrument 12 to rotate until the radio measuring instrument 12 is in a horizontal position, thereby ensuring the accuracy and reliability of the scanning measurement results of the measuring device.

[0040] Then, the first motor is started to drive the radio measuring instrument 12 to rotate 360 ​​degrees to scan and measure the three-dimensional information of the bottom space at the bottom of the currently drilled hole; After the scanning measurement is completed, after determining that the bottom of the current hole is suitable for continued drilling, the radio measuring instrument 12 is pulled out of the hole casing by the lifting and traction device, and then the hole is continued to be drilled downward, and then the above steps are repeated, and this cycle is repeated to ensure that the drilled hole is sufficiently safe and reliable.

[0041] When the outer shell 1 and the radio measuring instrument 12 move downward along the inner wall of the hole casing driven by the lifting and traction device, if the radio measuring instrument 12 collides with the inner wall of the hole casing, the protective rod 22 will collide with the inner wall of the hole casing first, thereby effectively protecting the radio measuring instrument 12.

[0042] After the protective rod 22 collides with the inner wall of the channel casing, it will rotate and drive the trigger block 344 to trigger the travel switch 343. Then the second motor 341 starts and drives the first elastic telescopic rod 31 and the roller 32 to swing away from the outer shell 1 through the second rotating rod to make the roller 32 open.

[0043] At this time, the roller 32 will collide with the inner wall of the channel sleeve, and under the elastic action of the first elastic telescopic rod 31, it can provide reliable buffering protection for the outer shell 1, thereby ensuring the safety of the internal parts of the outer shell 1. At the same time, through the first folding mechanism 34, the roller 32 can be rotated to a position close to the outer peripheral surface of the outer shell 1 when protection is not needed, thereby avoiding the roller 32 from hindering the downward movement of the outer shell 1 along the channel sleeve, thereby ensuring that the scanning measurement work can be carried out smoothly.

[0044] In this way, when the outer shell 1 and the radio measuring instrument 12 move downward along the bend of the channel, it can be ensured that the outer shell 1 and the radio measuring instrument 12 will not collide with the inner wall of the channel casing when they swing as the channel bends, thereby protecting the safety of the internal parts of the outer shell 1 and the radio measuring instrument 12.

[0045] 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.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for measuring three-dimensional information of underground space, comprising: An outer shell (1); characterized in that a first fixed box (11) is fixedly connected to the bottom of the outer shell (1), a first motor is fixedly connected inside the first fixed box (11), an output end of the first motor passes through the bottom wall of the first fixed box (11) and is fixedly connected to a radio measuring instrument (12), a fixed block (13) is fixedly connected to the top of the outer shell (1), a connector (14) is fixedly connected to the top of the fixed block (13), a first protective component (2) and a second protective component (3) are connected to the side of the outer shell (1), and the first protective component (2) is located directly below the second protective component (3); The first protection assembly (2) comprises a plurality of first rotating seats (21) fixedly connected to the outer peripheral surface of the outer shell (1) in an annular shape and at equal angles, a plurality of protection rods (22) are connected to the plurality of first rotating seats (21) in an annular shape and at equal angles via a first rotating rod and a first torsion spring, and the plurality of protection rods (22) surround the radio measuring instrument (12); The second protection component (3) is used to provide buffer protection for the upper part of the outer shell (1).

2. The underground space three-dimensional information measuring device according to claim 1, characterized in that: The second protection component (3) comprises a plurality of first elastic telescopic rods (31) connected to the outer peripheral surface of the outer shell (1) in an annular shape at equal angles, and a plurality of rollers (32) are fixedly connected to the ends of the plurality of first elastic telescopic rods (31) away from the outer shell (1) in an annular shape at equal angles via a fixing seat. The second protection component (3) also comprises a first folding mechanism (34) connected to the outer shell (1), and the first folding mechanism (34) is used to drive the plurality of first elastic telescopic rods (31) to swing in a direction away from or towards the outer shell (1).

3. The underground space three-dimensional information measuring device according to claim 2, characterized in that: The first folding mechanism (34) comprises a plurality of first hinge blocks (342) connected to the outer peripheral surface of the outer shell (1) in an annular and equiangular manner through a plurality of second rotating seats, a second rotating rod and a second torsion spring, a second motor (341) is fixedly connected to the side surfaces of the plurality of second rotating seats, an output end of the second motor (341) is fixedly connected to the end of the second rotating rod, and the side surfaces of the plurality of first hinge blocks (342) away from the outer shell (1) are respectively fixedly connected to the ends of the plurality of first elastic telescopic rods (31), the first folding mechanism (34) further comprises a plurality of travel switches (343) fixedly connected to the outer peripheral surface of the outer shell (1) in an annular and equiangular manner, and the first folding mechanism (34) further comprises a trigger block (344) fixedly connected to the top ends of the plurality of protective rods (22) in an annular and equiangular manner, and the plurality of trigger blocks (344) can respectively trigger the plurality of travel switches (343).

4. The underground space three-dimensional information measuring device according to claim 3, characterized in that: The second protection component (3) further comprises an auxiliary protection component (33) connected to the outer shell (1), the auxiliary protection component (33) comprising a plurality of first transverse plates (331) respectively fixedly connected to the sides of the plurality of first hinge blocks (342), the bottoms of the plurality of first transverse plates (331) being fixedly connected to a first pressure sensor (332), the auxiliary protection component (33) further comprises a plurality of second transverse plates (333) respectively fixedly connected to the sides of the plurality of fixing seats, a plurality of first elastic members (334) being respectively fixedly connected between the tops of the plurality of second transverse plates (333) and the bottoms of the plurality of first transverse plates (331).

5. The underground space three-dimensional information measuring device according to claim 4, characterized in that: A clamping and limiting assembly (4) is also provided on the outer peripheral surface of the outer shell (1), and the clamping and limiting assembly (4) is used to clamp and limit the outer shell (1) on the inner side wall of the channel sleeve.

6. The underground space three-dimensional information measuring device according to claim 5, characterized in that: The clamping and limiting assembly (4) comprises a plurality of receiving grooves (41) which are formed in an annular shape at equal angles on the outer wall of the outer shell (1), the tops of the plurality of receiving grooves (41) passing through the top wall of the outer shell (1), the clamping and limiting assembly (4) further comprises a second hinge block (42) which is connected to the outer peripheral surface of the outer shell (1) in an annular shape at equal angles via a plurality of second rotating seats and a third rotating rod, the bottoms of the plurality of second hinge blocks (42) are all fixedly connected to a connecting rod (43), and the ends of the plurality of connecting rods (43) which are away from the second hinge block (42) are all fixedly connected to a resistance block (44), the clamping and limiting assembly (4) further comprises a second folding mechanism (45) connected to the outer shell (1), the second folding mechanism (45) being used to drive the plurality of resistance blocks (44) to rotate in a direction of entering the receiving groove (41) or leaving the receiving groove (41).

7. The underground space three-dimensional information measuring device according to claim 6, characterized in that: The outer shell (1) is also connected to an auxiliary clamping assembly (5), and the auxiliary clamping assembly (5) is used to cooperate with the abutment block (44) to better clamp the outer shell (1) on the inner side wall of the channel sleeve.

8. The underground space three-dimensional information measuring device according to claim 7, characterized in that: The auxiliary clamping assembly (5) comprises a plurality of pairs of mounting cavities (51) respectively provided at the top of the abutment blocks (44); two hinged plates (52) are symmetrically rotatably connected between the inner side walls of each pair of two mounting cavities (51) via a fourth rotating rod; the auxiliary clamping assembly (5) further comprises a plurality of pairs of third motors (53) fixedly connected to the side surfaces of the plurality of abutment blocks (44) at equal angles in a ring shape; the output ends of the plurality of pairs of third motors (53) are respectively fixedly connected to the ends of the plurality of pairs of fourth rotating rods; two groups of swing plates (54) are symmetrically hingedly connected at the top of each pair of two hinged plates (52); each group of the plurality of swing plates (54) are connected together by rotation from bottom to top in an end-to-end manner via a fifth rotating rod and a fifth torsion spring; a pair of second elastic telescopic rods (55) are symmetrically fixedly connected to the side surfaces away from each other of the two groups of swing plates (54); and two contact plates (56) are rotatably connected to the ends of each pair of the second elastic telescopic rods (55) away from the swing plates (54) via a sixth rotating rod and a sixth torsion spring.

9. The underground space three-dimensional information measuring device according to claim 8, characterized in that: The fixed block (13) is connected to an angle adjustment component (6), the angle adjustment component (6) comprising two fourth motors (61) symmetrically fixedly connected to the front and rear side surfaces of the fixed block (13), a rotating ring (62) fixedly connected between the output ends of the two fourth motors (61), a plurality of second hinge blocks (42) are respectively connected to the outer surface of the rotating ring (62) in a circular manner through a plurality of second rotating seats and third rotating rods at equal angles, and a level measuring instrument is installed inside the outer shell (1).

10. A scanning method for the underground space three-dimensional information measuring device according to any one of claims 1 to 9, characterized in that: The steps include: S1: The connecting head (14) is fixedly connected to the lifting and traction device; S2: Then, the lifting and traction device is started to send the outer shell (1) and the radio measuring instrument (12) along the tunnel casing toward the ground until the radio measuring instrument (12) reaches the bottom of the currently drilled tunnel; S3: When the radio measuring instrument (12) reaches the bottom of the currently drilled hole, the second motor (11) is started to drive the radio measuring instrument (12) to rotate 360 ​​degrees to scan and measure the three-dimensional information of the bottom space of the bottom of the currently drilled hole; S4: After the scanning measurement is completed, after determining that the bottom of the current hole is suitable for continued drilling, the radio measuring instrument (12) is pulled out of the hole casing by the lifting and traction device, and then the hole is continued to be drilled downward, and then steps S1-S3 are repeated, and this cycle is repeated to ensure that the drilled hole is sufficiently safe and reliable.

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