Underground karst cave edge detection device and detection method

Abstract

The invention belongs to the field of karst cave detection, and particularly discloses an underground karst cave edge detection device and a detection method.The underground karst cave edge detection device comprises a supporting rod, a fixing base is arranged at the lower end of the supporting rod, a first probe is arranged on the bottom face of the fixing base, a plurality of telescopic rods are hinged to the fixing base in the circumferential direction, and second probes are arranged at the far ends of the telescopic rods; a magnet block located on the fixing base is arranged above the telescopic rod, the upper end of the supporting rod is detachably connected with a driving motor, the driving motor drives the supporting rod to rotate at the rotating speed increasing step by step, and the telescopic rod firstly rotates in the horizontal state in the rotating speed increasing process and is attracted by the magnet block. And the telescopic rod is in an extension state and drives the second probe to approach the edge of the karst cave along with continuous increase of the rotating speed. The internal structure of the karst cave is detected and sampled in a camera shooting mode, meanwhile, detail areas of the side wall of the karst cave can be detected, the structure characteristics of the karst cave can be analyzed conveniently, and the use amount of filler can be checked more conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of karst cave detection, and in particular to an underground karst cave edge detection device and a detection method. Background Art

[0002] A karst cave is a natural cave located below the ground. During the construction process, the cave needs to be filled to improve the strength of the foundation. Before filling, a hole needs to be drilled into the bottom, and then the situation inside the cave needs to be obtained through video and sound waves. However, video and sound waves can only obtain some macroscopic shapes, and some small cracks cannot be detected. When filling the interior, it is easy for some uncured fillers with good fluidity to fill the internal gaps, resulting in a large difference between the prescribed amount and the actual amount. Summary of the Invention

[0003] The purpose of the present invention is to provide an underground cave edge detection device and detection method, which uses video to detect and sample the internal structure of the cave, and can also detect the detailed areas of the cave side walls, which is convenient for analyzing the structural characteristics of the cave and is more conducive to determining the amount of filling material.

[0004] In order to solve the above technical problems, the present invention adopts the following solutions: A device for detecting the edge of an underground cave comprises a support rod, a fixed seat is provided at the lower end of the support rod, a first probe is provided on the bottom surface of the fixed seat, a plurality of telescopic rods are hingedly connected to the fixed seat in a circumferential direction, a second probe is provided at the distal end of the telescopic rod, a magnet block located on the fixed seat is provided above the telescopic rod, a drive motor is detachably connected to the upper end of the support rod, and the drive motor drives the support rod to rotate at a gradually increasing speed. As the speed increases, the telescopic rod first rotates to a horizontal state and is attracted by the magnet block. Then, as the speed continues to increase, the telescopic rod is in an extended state and drives the second probe to approach the edge of the cave.

[0005] In this solution, the support rod is used to extend the fixing seat and the telescopic rod into the cave through the pre-opened filling hole. After being extended into the cave, the telescopic rod is in a vertical state, and the upper end of the support rod is located outside the cave. The support rod is driven to rotate at a gradually increasing speed by the driving motor. The rotation of the support rod drives the telescopic rod to rotate with it until the centrifugal force generated causes the telescopic rod to rotate upward and be adsorbed and fixed by the magnet block. At this time, the telescopic rod is in a horizontal state. The centrifugal force generated by the speed at this time is not enough to overcome the friction force of the extension of the telescopic rod. The telescopic rod still remains in an unextended state. Then the speed is further increased until the centrifugal force generated can overcome the friction force of the extension of the telescopic rod, and the telescopic rod is in an extended state. State and drive the second probe to approach the side wall of the cave. After the telescopic rod is extended, it will maintain the extended state. At this time, reduce the rotation speed of the support rod and start to slowly rotate the support rod. The support rod drives the extended telescopic rod to make slow circumferential rotation in the plane. The slow rotation of the telescopic rod drives the second probe to make slow circumferential rotation in the plane. At this time, the second probe can detect the details of the side wall of the cave, the first probe detects the bottom of the cave, and moves the support rod up and down, so that the entire edge area of the cave can be detected, which is convenient for analyzing the structural characteristics of the cave, and better understanding the gaps and inner wall conditions inside the cave, which is more conducive to determining the amount of filling material and improving the filling quality.

[0006] Optionally, the telescopic rod includes at least two sleeves, namely a first sleeve and a second sleeve that are slidably sleeved with each other, one end of the first sleeve is connected to the second probe, and the other end is inserted into the second sleeve, and the end of the second sleeve away from the second probe is hinged to the side wall of the fixed seat, and the rotation speed required when the first sleeve and the second sleeve undergo relative displacement is greater than the rotation speed required when the telescopic rod is in a horizontal state.

[0007] Optionally, the outer diameter of the first sleeve is smaller than the inner diameter of the second sleeve, and the end of the second sleeve away from the fixed seat is provided with a damping mechanism that generates friction resistance with the outer wall of the first sleeve. The damping mechanism includes a fixed sleeve and a damping member located on the inner wall of the fixed sleeve. The fixed sleeve is connected to the end of the second sleeve away from the fixed seat, and the end of the first sleeve away from the fixed seat passes through the fixed sleeve and is connected to the second probe, and the outer wall of the first sleeve is in contact with the damping member.

[0008] Optionally, the inner diameter of the fixed sleeve is smaller than the inner diameter of the second sleeve, the outer diameter of the first sleeve is adapted to the inner diameter of the fixed sleeve, a limit plate is provided at one end of the first sleeve located inside the second sleeve, and the first probe and the second probe are both cameras.

[0009] Optionally, the damping member is an annular damping plate, and the surface of the damping plate in contact with the outer wall of the first sleeve is a rough surface, and the friction coefficient of the rough surface is adapted to the rotation speed required when the first sleeve and the second sleeve move relative to each other.

[0010] Optionally, the damping member is an annular airbag, which is arranged on the inner wall of the fixed sleeve. The airbag is a rubber airbag, and the airbag is connected to an air pump. The air pump inflates the airbag to adjust the clamping force between the airbag and the first sleeve.

[0011] Optionally, two telescopic rods are provided, and the two telescopic rods are symmetrically distributed on both sides of the support rod.

[0012] Optionally, the magnet block is arranged on the top surface of the fixing seat, one end of the magnet block is located outside the fixing seat, and the bottom surface of the magnet block is an arc-shaped surface adapted to the telescopic rod.

[0013] A detection method comprises the following steps: S1: Insert the detection device into the cave through the preset filling hole above the cave; S2: Connect the upper end of the support rod of the detection device to the output end of the drive motor. The drive motor drives the support rod to rotate, and the rotation speed increases step by step until the telescopic rod is in a horizontal state under the action of centrifugal force and is attracted by the magnet block. Continue to increase the rotation speed of the support rod until the centrifugal force generated overcomes the friction between the first sleeve and the second sleeve. The first sleeve extends and drives the second probe close to the edge of the cave. The two second probes detect the side walls of the cave in the same plane, and the first probe detects the bottom of the cave. After one rotation, the horizontal height of the telescopic rod is changed, and the support rod continues to rotate until the side walls of the cave are completely detected. S3: After the test is completed, lift the support rod upwards. Under the limiting action of the filling hole, the telescopic rod is squeezed out of the magnet block and rotated to a vertical state, and the entire test assembly is taken out.

[0014] Optionally, the first probe and the second probe transmit data to an external controller, and the controller constructs a three-dimensional cave model according to the received graphic data.

[0015] The present invention has the beneficial effects: 1. In the present invention, the support rod is used to extend the fixing seat and the telescopic rod into the interior of the cave through the pre-opened filling hole. After being extended into the cave, the support rod is driven to rotate at a gradually increasing speed by the driving motor. The rotation of the support rod drives the telescopic rod to rotate accordingly until the centrifugal force generated causes the telescopic rod to rotate upward and be fixed by the magnet block. At this time, the telescopic rod is in a horizontal state. The centrifugal force generated by the speed at this time is not sufficient to overcome the friction force of the extension of the telescopic rod. The telescopic rod remains in an unextended state. Then the speed is further increased until the centrifugal force generated can overcome the friction force of the extension of the telescopic rod. The telescopic rod is in the extended state and drives the second probe to approach the side wall of the cave. The support rod is slowly rotated. The support rod drives the extended telescopic rod to rotate slowly. At this time, the second probe also rotates with the telescopic rod to detect the details of the side wall of the cave. The first probe detects the bottom of the cave and moves the support rod up and down. In this way, the entire edge area of the cave can be detected, which is convenient for analyzing the structural characteristics of the cave and better understanding the gaps and inner wall conditions inside the cave. It is more conducive to determining the amount of filler and improving the filling quality.

[0016] 2. A damping mechanism is provided at the end of the second sleeve away from the fixed seat. The damping mechanism can adjust the friction resistance between the second sleeve and the first sleeve, thereby adjusting the centrifugal force required for relative sliding between the first sleeve and the second sleeve, thereby obtaining different rotation speeds to better control the centrifugal force required for the extension of the telescopic rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural diagram of the telescopic rod when it rotates; Figure 3 Schematic diagram of the structure when the telescopic rod is extended; Figure 4 is a structural diagram of a damping member that is a damping plate; Figure 5 This is a structural diagram in which the damping element is an airbag.

[0018] Figure numerals: 1-support rod, 2-fixing seat, 3-first probe, 4-second probe, 5-first sleeve, 6-damping mechanism, 601-fixing sleeve, 602-damping plate, 603-airbag, 7-second sleeve, 8-magnet block, 9-cavity, 10-limiting plate. DETAILED DESCRIPTION

[0019] The present invention will be further described in detail below with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0020] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inside", "outside", "front", "back", "top", "bottom", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0021] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "having," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific contexts.

[0022] Example 1 A device for detecting the edge of an underground cave comprises a support rod 1, a fixed seat 2 is provided at the lower end of the support rod 1, a first probe 3 is provided on the bottom surface of the fixed seat 2, a plurality of telescopic rods are hingedly connected to the fixed seat 2 in a circumferential direction, a second probe 4 is provided at the distal end of the telescopic rod, a magnet block 8 located on the fixed seat 2 is provided above the telescopic rod, a drive motor is detachably connected to the upper end of the support rod 1, and the drive motor drives the support rod 1 to rotate at a gradually increasing speed. As the speed increases, the telescopic rod first rotates to a horizontal state and is adsorbed by the magnet block 8. Then, as the speed continues to increase, the telescopic rod is in an extended state and drives the second probe 4 to approach the edge of the cave 9.

[0023] In this embodiment, this solution is suitable for a cave 9 with a relatively regular internal cavity and no high obstacles such as stalactites. In the early stage, the general structure of the cave 9 can be obtained based on the exploration data of the cave 9, such as Figure 1 As shown, when in use, the support rod 1 is used to extend the fixing seat 2 and the telescopic rod into the interior of the cave 9 through the pre-opened filling hole. The size of the filling hole is larger than the entire detection device. After the lower part of the support rod 1 is extended into the cave 9, the telescopic rod is in a vertical state, and the upper end of the support rod 1 is located outside the cave 9. The external drive motor is connected to the upper end of the support rod 1 through a coupling. In order to facilitate operation, a bracket can be set on the ground to facilitate the installation of the drive motor (not marked in the figure). Figure 2As shown, the driving motor drives the support rod 1 to rotate at a gradually increasing speed, and the support rod 1 rotates and drives the telescopic rod to rotate accordingly. The speed increases until the centrifugal force generated is just enough to make the telescopic rod rotate upward and be adsorbed and fixed by the magnet block 8. At this time, the telescopic rod is in a horizontal state. The centrifugal force generated by the speed at this time is not enough to overcome the friction force of the extension of the telescopic rod, and the telescopic rod remains in an unextended state. Figure 3 As shown, the rotation speed is further increased until the centrifugal force generated can overcome the friction force of the extension of the telescopic rod. The telescopic rod is in an extended state and drives the second probe 4 to approach the side wall of the cave 9. After the telescopic rod is extended, the rotation speed of the support rod 1 needs to be reduced. The telescopic rod is in a horizontal state again and will not retract after the rotation speed is reduced. Then slowly rotate the support rod 1 (it can be driven manually or by a motor). The support rod 1 drives the extended telescopic rod to rotate slowly in a circular direction in the plane. The rotation of the telescopic rod drives the second probe 4 to rotate in a circular direction in the plane. At this time, the second probe 4 can slowly rotate to detect the details of the edge of the side wall of the cave 9, and the first probe 3 detects the bottom of the cave 9. The first probe 3 and the second probe 4 are both cameras.

[0024] In order to further detect the edge of the cave 9, after the telescopic rod is extended, the connection between the support rod 1 and the drive motor can be disassembled, and then one or more support rods 1 can be directly connected to the support rod 1 to increase the overall length of the support rod 1. In this way, the vertical position of the support rod 1 in the cave 9 can be changed. The up and down movement of the support rod 1 can detect the edge area of the cave 9 in various vertical planes, which is convenient for analyzing the structural characteristics of the cave 9 and better understanding the gaps and inner walls of the cave 9. It is more conducive to determining the amount of filling material and improving the filling quality. It should be noted that the speed required for the telescopic rod to rotate into the plane and the speed required for the telescopic rod to extend can be determined in advance through experiments.

[0025] Furthermore, the telescopic rod includes at least two sleeves, namely a first sleeve 5 and a second sleeve 7 that are slidably connected to each other. One end of the first sleeve 5 is connected to the second probe 4, and the other end is inserted into the second sleeve 7. The end of the second sleeve 7 away from the second probe 4 is hinged to the side wall of the fixed base 2. The rotation speed required when the first sleeve 5 and the second sleeve 7 undergo relative displacement is greater than the rotation speed required when the telescopic rod is in a horizontal state.

[0026] Specifically, the telescopic rod is composed of at least two sleeves that are connected to each other. In this embodiment, two sleeves are used as an example, but three or four sleeves can also be selected as needed. The two sleeves are respectively a first sleeve 5 and a second sleeve 7. The first sleeve 5 is inserted into the second sleeve 7. The end of the first sleeve 5 is connected to the second probe 4. One end of the second sleeve 7 is hinged to the fixed base 2. There is a certain amount of friction between the first sleeve 5 and the second sleeve 7. This prevents relative sliding between the first sleeve 5 and the second sleeve 7 during the initial rotation of the support rod 1. The rotation speed corresponding to the centrifugal force required to overcome this friction is greater than the rotation speed when the telescopic rod is in a horizontal state, achieving the purpose of first deploying and then extending the telescopic rod. To prevent large shaking during the rotation of the support rod 1, the diameter of the support rod 1 is larger than the diameter of the telescopic rod.

[0027] Furthermore, the outer diameter of the first sleeve 5 is smaller than the inner diameter of the second sleeve 7. The end of the second sleeve 7 away from the fixed seat 2 is provided with a damping mechanism 6 that generates friction resistance with the outer wall of the first sleeve 5. The damping mechanism 6 includes a fixed sleeve 601 and a damping member located on the inner wall of the fixed sleeve 601. The fixed sleeve 601 is connected to the end of the second sleeve 7 away from the fixed seat 2. The end of the first sleeve 5 away from the fixed seat 2 passes through the fixed sleeve 601 and is connected to the second probe 4. The outer wall of the first sleeve 5 is in contact with the damping member.

[0028] Furthermore, the inner diameter of the fixed sleeve 601 is smaller than the inner diameter of the second sleeve 7, the outer diameter of the first sleeve 5 is adapted to the inner diameter of the fixed sleeve 601, and a limit plate 10 is provided at one end of the first sleeve 5 located inside the second sleeve 7, and the first probe 3 and the second probe 4 are both cameras.

[0029] Specifically, a damping mechanism 6 is installed at the end of the second sleeve 7 away from the fixed seat 2. One end of the first sleeve 5 passes through the damping mechanism 6 and then is inserted into the second sleeve 7. The damping mechanism 6 mainly includes a fixed sleeve 601 and a damping member. The damping member directly contacts the outer wall of the first sleeve 5 to generate friction resistance. The fixed sleeve 601 is staggeredly connected to the end of the second sleeve 7. The damping member is installed on the inner wall of the fixed sleeve 601. The inner cavity size of the first sleeve 5 is adapted to the inner cavity size of the fixed sleeve 601. The inner cavity diameter of the fixed sleeve 601 is smaller than the inner cavity diameter of the second sleeve 7. A limiting plate 10 is provided at one end of the first sleeve 5 located in the second sleeve 7. The limiting plate 10 can slide in the second sleeve 7, but cannot slide out of the fixed sleeve 601. This can prevent the first sleeve 5 and the second sleeve 7 from disengaging during rotation.

[0030] Furthermore, the damping member is an annular damping plate 602 , and the surface of the damping plate 602 in contact with the outer wall of the first sleeve 5 is a rough surface, and the friction coefficient of the rough surface is adapted to the rotation speed required when the first sleeve 5 and the second sleeve 7 move relative to each other.

[0031] Specifically, such as Figure 4 As shown, the damping member in this embodiment adopts an annular damping plate 602, which is fixed on the inner wall of the fixed sleeve 601, and one end of the first sleeve 5 passes through the damping plate 602 and is inserted into the second sleeve 7. The surface where the damping plate 602 contacts the outer wall of the first sleeve 5 is a rough surface. The roughness of the rough surface determines its friction coefficient, and the friction coefficient determines the friction resistance when the first sleeve 5 and the second sleeve 7 slide relative to each other. In this way, the centrifugal force required to overcome the friction force can be determined, and then the rotation speed of the support rod 1 when the required centrifugal force is generated can be known. By replacing the damping plates 602 with different friction coefficients, the corresponding rotation speed of the support rod 1 can be obtained, so that the rotation speed required for the telescopic rod to extend can be greater than the rotation speed when the telescopic rod rotates to the horizontal state.

[0032] Furthermore, the damping member is an annular airbag 603, which is arranged on the inner wall of the fixed sleeve 601. The airbag 603 is a rubber airbag. The airbag 603 is connected to an air pump, which inflates the airbag 603 to adjust the clamping force between the airbag 603 and the first sleeve 5.

[0033] Specifically, such as Figure 5 As shown, the damping member in this embodiment is an annular airbag 603, which is fixed on the inner wall of the fixed sleeve 601. The airbag 603 is connected to an air pump, which can inflate or deflate the airbag 603. The air pump adopts a micro air pump (existing product), which can be fixed inside the fixing base 2. The fixing base 2 can be provided with a mounting cavity. The air pump and the airbag 603 are connected through a thin hose (not shown in the figure). The thin hose can directly pass through the side wall of the fixing base 2 and the side wall of the fixing sleeve 601 and then be connected to the airbag 603. The thin hose has a certain margin and does not affect the initial rotation of the telescopic rod. A battery is also provided in the installation cavity to power the air pump. A wireless transceiver module can also be provided to receive signals from an external controller and control the operation of the air pump. When inflated, the clamping force between the airbag 603 and the first sleeve 5 is increased, which is equivalent to increasing the friction force. In this way, by adjusting the inflation and deflation state of the airbag 603, the clamping force between the first sleeve 5 can be adjusted, thereby controlling the centrifugal force required for relative sliding between the first sleeve 5 and the second sleeve 7.

[0034] Furthermore, two telescopic rods are provided, and the two telescopic rods are symmetrically distributed on both sides of the support rod 1.

[0035] Specifically, two telescopic rods are provided, which are symmetrically distributed on both sides of the support rod 1. In this way, during the rotation process, the stability of the entire device is high and it is not easy to shake significantly.

[0036] Furthermore, the magnet block 8 is arranged on the top surface of the fixing base 2, one end of the magnet block 8 is located outside the fixing base 2, and the bottom surface of the magnet block 8 is an arc-shaped surface adapted to the telescopic rod.

[0037] Specifically, the magnet block 8 can be fixed to the top surface of the fixing base 2 by bolts, one end of the magnet block 8 extends to the outside of the fixing base 2, the magnet block 8 is horizontally arranged, the magnet block 8 can be a permanent magnet, and the ground of the magnet block 8 is arc-shaped, which is convenient for fitting with the second sleeve 7 and has a better adsorption effect on the second sleeve 7.

[0038] Example 2 A detection method comprises the following steps: S1: Insert the detection device into the cave 9 through the preset filling hole above the cave 9; S2: Connect the upper end of the support rod 1 of the detection device to the output end of the drive motor. The drive motor drives the support rod 1 to rotate, and the rotation speed increases step by step until the telescopic rod is in a horizontal state under the action of centrifugal force and is attracted by the magnet block 8. Continue to increase the rotation speed of the support rod 1 until the centrifugal force generated overcomes the friction between the first sleeve 5 and the second sleeve 7. The first sleeve 5 extends and drives the second probe 4 to approach the edge of the cave 9. The two second probes 4 detect the side walls of the cave 9 in the same plane, and the first probe 3 detects the bottom of the cave 9. After rotating one circle, change the horizontal height of the telescopic rod and continue to rotate until the side walls of the cave 9 are completely detected. S3: After the test is completed, the support rod 1 is lifted upwards. Under the limiting effect of the filling hole, the telescopic rod is squeezed and separated from the magnet block 8, and rotated to a vertical state, and the entire test assembly is taken out.

[0039] Furthermore, the first probe 3 and the second probe 4 transmit data to an external controller, and the controller constructs a three-dimensional cave 9 model according to the received graphic data.

[0040] In this embodiment, the detection method is specifically as follows: first, the fixing seat 2 and the telescopic rod are extended into the cave 9 from the filling hole above the cave 9 through the support rod 1, and then a bracket (not shown in the figure) is set on the ground, and a driving motor is installed on the bracket, which is connected and fixed to the upper end of the support rod 1 through a coupling, and the driving motor is started. The driving motor drives the support rod 1 to rotate, and the speed of the driving motor gradually increases until the telescopic rod can be rotated upward to a horizontal state under the action of centrifugal force and is adsorbed and fixed by the magnet block 8, and then the driving motor continues to increase the speed until the centrifugal force generated can overcome the friction between the first sleeve 5 and the second sleeve 7, the first sleeve 5 slides out in the direction away from the fixing seat 2, and the telescopic rod extends, thereby driving the second probe 4 to approach the edge of the cave 9, and then stops rotating, and the support rod 1 and the driving motor are disassembled. After unloading, the support rod 1 is slowly rotated manually to allow the second probe 4 on the first casing 5 to perform detailed detection on the edge of the cave 9 in the same plane. The operator moves the position of the support rod 1 up or down to change the vertical position of the second probe 4, and performs detailed detection on the edge of the cave 9 in another plane. When the first probe 3 is close to the bottom of the cave 9, the details of the bottom of the cave 9 can be detected. In this way, detailed detection of the edge of the entire cave 9 can be achieved. The data detected by the first probe 3 and the second probe 4 can be sent to the controller wirelessly. The controller can construct a three-dimensional cave 9 model based on the received graphic data in multiple planes, so that the details on the edge of the cave 9 can be known more clearly, and a more accurate reference basis for filling fillers can be made, thereby improving the quality of later filling.

[0041] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Based on the technical essence of the present invention and within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement of the above embodiment shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An underground cave edge detection device, characterized in that: The invention comprises a support rod (1), a fixing seat (2) is provided at the lower end of the support rod (1), a first probe (3) is provided on the bottom surface of the fixing seat (2), a plurality of telescopic rods are circumferentially hinged to the fixing seat (2), a second probe (4) is provided at the far end of the telescopic rod, a magnet block (8) located on the fixing seat (2) is provided above the telescopic rod, and a drive motor is detachably connected to the upper end of the support rod (1), and the drive motor drives the support rod (1) to rotate at a gradually increasing speed. During the process of increasing the speed, the telescopic rod first rotates to a horizontal state and is adsorbed by the magnet block (8), and then as the speed continues to increase, the telescopic rod is in an extended state and drives the second probe (4) to approach the edge of the cave (9).

2. The underground cave edge detection device according to claim 1, characterized in that: The telescopic rod comprises at least two sleeves, namely a first sleeve (5) and a second sleeve (7) which are slidably sleeved with each other. One end of the first sleeve (5) is connected to the second probe (4), and the other end is inserted into the second sleeve (7). The end of the second sleeve (7) away from the second probe (4) is hinged to the side wall of the fixing seat (2). The rotation speed required when the first sleeve (5) and the second sleeve (7) are relatively displaced is greater than the rotation speed required when the telescopic rod is in a horizontal state.

3. The underground cave edge detection device according to claim 2, characterized in that: The outer diameter of the first sleeve (5) is smaller than the inner diameter of the second sleeve (7), and the end of the second sleeve (7) away from the fixed seat (2) is provided with a damping mechanism (6) that generates friction resistance with the outer wall of the first sleeve (5), and the damping mechanism (6) includes a fixed sleeve (601) and a damping member located on the inner wall of the fixed sleeve (601), the fixed sleeve (601) is connected to the end of the second sleeve (7) away from the fixed seat (2), and the end of the first sleeve (5) away from the fixed seat (2) passes through the fixed sleeve (601) and is connected to the second probe (4), and the outer wall of the first sleeve (5) is in contact with the damping member.

4. The underground cave edge detection device according to claim 3, characterized in that: The inner diameter of the fixed sleeve (601) is smaller than the inner diameter of the second sleeve (7), the outer diameter of the first sleeve (5) is adapted to the inner diameter of the fixed sleeve (601), and a limit plate (10) is provided at one end of the first sleeve (5) located inside the second sleeve (7). Both the first probe (3) and the second probe (4) are cameras.

5. The underground cave edge detection device according to claim 3, characterized in that: The damping member is an annular damping plate (602), and the surface of the damping plate (602) in contact with the outer wall of the first sleeve (5) is a rough surface, and the friction coefficient of the rough surface is adapted to the rotation speed required when the first sleeve (5) and the second sleeve (7) move relative to each other.

6. The underground cave edge detection device according to claim 3, characterized in that: The damping member is an annular airbag (603), which is arranged on the inner wall of the fixed sleeve (601). The airbag (603) is a rubber airbag. The airbag (603) is connected to an air pump, which inflates the airbag (603) to adjust the clamping force between the airbag (603) and the first sleeve (5).

7. The underground cave edge detection device according to claim 1, characterized in that: There are two telescopic rods, which are symmetrically distributed on both sides of the support rod (1).

8. The underground cave edge detection device according to claim 1, characterized in that: The magnet block (8) is arranged on the top surface of the fixing seat (2), one end of the magnet block (8) is located outside the fixing seat (2), and the bottom surface of the magnet block (8) is an arc-shaped surface adapted to the telescopic rod.

9. A detection method for implementing the underground cave edge detection device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: inserting the detection device into the cave (9) through a preset filling hole above the cave (9); S2: Connect the upper end of the support rod (1) of the detection device to the output end of the driving motor, and the driving motor drives the support rod (1) to rotate, and the rotation speed increases step by step until the telescopic rod is in a horizontal state under the action of centrifugal force and is adsorbed by the magnet block (8). Continue to increase the rotation speed of the support rod (1) until the centrifugal force generated overcomes the friction between the first sleeve (5) and the second sleeve (7). The first sleeve (5) extends and drives the second probe (4) close to the edge of the cave (9). The two second probes (4) detect the side walls of the cave (9) in the same plane, and the first probe (3) detects the bottom of the cave (9). After rotating one circle, change the horizontal height of the telescopic rod, and continue to rotate the support rod (1) until the side walls of the cave (9) are detected. S3: After the test is completed, the support rod (1) is lifted upwards. Under the limiting effect of the filler hole, the telescopic rod is squeezed and separated from the magnet block (8), and rotated to a vertical state, and the entire test assembly is taken out.

10. A detection method according to claim 9, characterized in that: The first probe (3) and the second probe (4) transmit data to an external controller, and the controller constructs a three-dimensional cave (9) model based on the received graphic data.

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