A karst cave edge detection device and a detection method

Abstract

The application belongs to the field of karst cave detection, and specifically discloses a device and a method for detecting the edge of an underground karst cave, which comprises a supporting rod, a fixed seat arranged at the lower end of the supporting rod, a first probe arranged on the bottom surface of the fixed seat, a plurality of telescopic rods circumferentially hinged to the fixed seat, a second probe arranged at the distal end of each telescopic rod, a magnet block arranged above the telescopic rods on the fixed seat, a driving motor detachably connected to the upper end of the supporting rod, and the driving motor drives the supporting rod to rotate at a gradually increasing rotating speed, the telescopic rods first rotate in a horizontal state and are attracted by the magnet block in the process of increasing the rotating speed, and then the telescopic rods are in an elongated state and drive the second probe to approach the edge of the karst cave as the rotating speed continues to increase. The device detects and samples the internal structure of the karst cave in the form of photographing, can detect the detail area of the side wall of the karst cave at the same time, is convenient for analyzing the structural features of the karst cave, and is more conducive to determining the amount of filling material.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of karst cave detection, and particularly relates to a karst cave edge detection device and a detection method. BACKGROUND

[0002] A karst cave is a natural cave below the ground surface. In the construction process, the karst cave needs to be filled to improve the strength of the foundation. Before filling, a hole needs to be opened into the lower part, and then a camera and sound waves are used to obtain the internal condition of the karst cave. However, the camera and sound waves can only obtain the macro shape, and cannot detect some small cracks. When filling the interior, some un-solidified filling materials with good fluidity can easily fill the internal cracks, resulting in a large difference between the specified amount and the actual amount. SUMMARY

[0003] The present application aims to provide a karst cave edge detection device and a detection method. The internal structure of the karst cave is detected and sampled by using a camera, and the details of the side wall of the karst cave can be detected at the same time. This is convenient for analyzing the structural characteristics of the karst cave and is more conducive to determining the amount of filling material.

[0004] To solve the above technical problems, the present application adopts the following scheme:

[0005] A karst cave edge detection device comprises a support rod, a fixed seat is arranged at the lower end of the support rod, a first probe is arranged on the bottom surface of the fixed seat, a plurality of telescopic rods are hingedly connected to the circumference of the fixed seat, a second probe is arranged at the distal end of the telescopic rod, a magnet block is arranged above the telescopic rod and on the fixed seat, a driving motor is detachably connected to the upper end of the support rod, the driving motor drives the support rod to rotate at an increasing rotational speed, the telescopic rod first rotates in a horizontal state and is attracted by the magnet block during the increasing of the rotational speed, and then the telescopic rod is in an elongated state and drives the second probe to approach the edge of the karst cave as the rotational speed continues to increase.

[0006] In the scheme, the support rod is used to extend the fixed seat and the telescopic rod into the solution cave through the pre-formed filler hole. After extending into the solution cave, the telescopic rod is in a vertical state, and the upper end of the support rod is located outside the solution cave. The support rod is driven to rotate by the driving motor at an increasing speed. The rotation of the support rod drives the telescopic rod to rotate, until the centrifugal force generated by the rotation makes the telescopic rod rotate upward and be attracted and fixed by the magnet block. At this time, the telescopic rod is in a horizontal state. At this time, the centrifugal force generated by the rotation speed is not enough to overcome the friction of the telescopic rod in the elongation state, and the telescopic rod remains in the un-elongated state. Then the rotation speed is further increased, until the centrifugal force generated by the rotation speed can overcome the friction of the telescopic rod in the elongation state, and the telescopic rod is in the elongation state and drives the second probe to move closer to the side wall of the solution cave. After the telescopic rod is elongated, it will remain in the elongated state. At this time, the rotation speed of the support rod is reduced, and the support rod starts to rotate slowly. The elongated telescopic rod rotates slowly in the plane, and the second probe also rotates slowly in the plane. At this time, the second probe can detect the details of the side wall of the solution cave. The first probe detects the bottom of the solution cave and moves the support rod up and down. In this way, the entire edge area of the solution cave can be detected, which is convenient for analyzing the structural characteristics of the solution cave, understanding the gap and inner wall condition of the solution cave, and is more conducive to determining the amount of filler and improving the filling quality.

[0007] Optionally, the telescopic rod comprises at least two sleeves, namely a first sleeve and a second sleeve which 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. The end of the second sleeve away from the second probe is hinged to the side wall of the fixed seat. The rotation speed required when the first sleeve and the second sleeve move relative to each other is greater than the rotation speed required when the telescopic rod is in a horizontal state.

[0008] Optionally, the outer diameter of the first sleeve is smaller than the inner diameter of the second sleeve. The end of the second sleeve away from the fixed seat is provided with a damping mechanism which generates frictional resistance with the outer wall of the first sleeve. The damping mechanism comprises a fixed sleeve and a damping piece 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. The end of the first sleeve away from the fixed seat penetrates through the fixed sleeve and is connected to the second probe. The outer wall of the first sleeve is in contact with the damping piece.

[0009] 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 matched with the inner diameter of the fixed sleeve. The end of the first sleeve located in the second sleeve is provided with a limiting plate. The first probe and the second probe are both cameras.

[0010] Optionally, the damping piece is an annular damping plate. One side of the damping plate in contact with the outer wall of the first sleeve is a rough surface. The friction coefficient of the rough surface is matched with the rotation speed required when the first sleeve and the second sleeve move relative to each other.

[0011] Optionally, the damping member is a ring-shaped air bag, the air bag is arranged on the inner wall of the fixed sleeve, the air bag is a rubber air bag, and the air bag is connected with an air pump, and the air pump is used for inflating the air bag to adjust the clamping force between the air bag and the first sleeve pipe.

[0012] Optionally, two telescopic rods are arranged, and the two telescopic rods are symmetrically arranged on two sides of the support rod.

[0013] Optionally, the magnet block is arranged on the top surface of the fixed seat, one end of the magnet block is located outside the fixed seat, and the bottom surface of the magnet block is an arc surface matched with the telescopic rod.

[0014] A detection method comprises the following steps:

[0015] S1: the detection device is inserted into the karst cave through a preset filler hole above the karst cave;

[0016] S2: the upper end of the support rod of the detection device is connected with the output end of the driving motor, the driving motor drives the support rod to rotate, the rotating speed is gradually increased, until the telescopic rod is in a horizontal state and is attracted by the magnet block under the action of centrifugal force, the rotating speed of the support rod is continuously increased, until the centrifugal force generated overcomes the frictional force between the first sleeve pipe and the second sleeve pipe, the first sleeve pipe is elongated and drives the second probe to approach the edge of the karst cave, the two second probes detect the side walls of the karst cave in the same plane, the first probe detects the bottom of the karst cave, after one rotation, the horizontal height of the telescopic rod is changed, the support rod is continuously rotated, and the side walls of the karst cave are detected.

[0017] S3: after detection, the support rod is lifted upward, under the limiting action of the filler hole, the telescopic rod is extruded and separated from the magnet block, and the detection assembly is taken out after being rotated to a vertical state.

[0018] Optionally, the first probe and the second probe transmit data to an external controller, and the controller constructs a three-dimensional karst cave model according to received graphic data.

[0019] The present application has the beneficial effects:

[0020] 1. In the present application, the support rod is used to extend the fixing seat and the telescopic rod into the solution cave through the pre-formed filler hole, after extending into the solution cave, the support rod is driven to rotate at gradually increasing speed by the driving motor, the rotation of the support rod drives the telescopic rod to rotate, until the centrifugal force generated by the rotation makes the telescopic rod rotate upwards and be attracted and fixed by the magnet block, at this time, the telescopic rod is in a horizontal state, at this time, the centrifugal force generated by the rotation speed is not enough to overcome the friction of the telescopic rod in the elongation state, and the telescopic rod remains in the un-elongated state, then the rotation speed is further increased, until the centrifugal force generated by the rotation speed can overcome the friction of the telescopic rod in the elongation state, and the telescopic rod is in the telescopic state and drives the second probe to approach the side wall of the solution cave, slowly rotating the support rod, the support rod drives the telescopic rod in the elongated state to rotate slowly, at this time, the second probe also rotates with the telescopic rod and can detect the details of the side wall of the solution cave, the first probe detects the bottom of the solution cave and moves the support rod up and down, so that the whole edge area of the solution cave can be detected, which is convenient for analyzing the structural characteristics of the solution cave, and the gap and the inner wall condition of the solution cave are better understood, which is more conducive to determining the amount of filler and improving the filling quality.

[0021] 2. The damping mechanism is arranged at the end of the second sleeve away from the fixing seat, the damping mechanism can adjust the frictional resistance between the first sleeve and the second sleeve, so as to adjust the centrifugal force required when the first sleeve and the second sleeve slide relative to each other, and then obtain different rotation speeds, so as to better control the centrifugal force required for the elongation of the telescopic rod. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present application;

[0023] Figure 2 It is a structural schematic diagram of the rotation of the telescopic rod;

[0024] Figure 3 It is a structural schematic diagram of the elongation of the telescopic rod;

[0025] Figure 4 It is a structural diagram of the damping member being a damping plate;

[0026] Figure 5 It is a structural schematic diagram of the damping member being an air bag.

[0027] The drawings show that: 1 is a support rod, 2 is a fixing seat, 3 is a first probe, 4 is a second probe, 5 is a first sleeve, 6 is a damping mechanism, 601 is a fixing sleeve, 602 is a damping plate, 603 is an air bag, 7 is a second sleeve, 8 is a magnet block, 9 is a solution cave, 10 is a limiting plate. DETAILED DESCRIPTION

[0028] The present application will be further described in detail below in combination with embodiments and drawings, but the embodiments of the present application are not limited thereto.

[0029] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inner", "outer", "front", "back", "top", "bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0030] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "provided", "opened", "mounted", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] Embodiment 1

[0032] A cave edge detection device, comprising a support rod 1, a fixed seat 2 is arranged at the lower end of the support rod 1, a first probe 3 is arranged on the bottom surface of the fixed seat 2, a plurality of telescopic rods are circumferentially hinged to the fixed seat 2, the distal end of the telescopic rod is provided with a second probe 4, a magnet block 8 is arranged above the telescopic rod and located on the fixed seat 2, a driving motor is detachably connected to the upper end of the support rod 1, the driving motor drives the support rod 1 to rotate at an increasing speed, the telescopic rod first rotates in a horizontal state and is attracted by the magnet block 8 during the speed increasing process, and then the telescopic rod is in an elongated state and drives the second probe 4 to approach the edge of the cave 9 as the speed continues to increase.

[0033] In this embodiment, the present scheme is suitable for a cave 9 with a relatively regular internal cavity and without high obstacles such as stalactites inside, the approximate structure of the internal cavity of the cave 9 can be obtained according to the exploration data of the cave 9 in the early stage, as shown in Figure 1 When in use, the support rod 1 is used to extend the fixed seat 2 and the telescopic rod into the internal cavity of the cave 9 through a pre-formed filler hole, the size of the filler hole is larger than the entire detection device, after the lower part of the support rod 1 extends into the internal cavity of the cave 9, the telescopic rod is in a vertical state, the upper end of the support rod 1 is located outside the cave 9, the driving motor outside is connected to the upper end of the support rod 1 through a shaft coupling, in order to facilitate operation, a support can be arranged on the ground, the support is convenient for mounting the driving motor (not marked in the figure), as shown in Figure 2As shown, the driving motor drives the support rod 1 to rotate at gradually increasing speed, the support rod 1 rotates and drives the telescopic rod to rotate, the speed is increased to a centrifugal force just enough to make the telescopic rod rotate upward and be absorbed and fixed by the magnet block 8, at this time the telescopic rod is in a horizontal state, at this time the centrifugal force generated by the speed is not enough to overcome the friction of the telescopic rod elongation, the telescopic rod remains in an unextended state, as shown in Figure 3 As shown, then the speed is further increased until the centrifugal force generated can overcome the friction of the telescopic rod elongation, the telescopic rod is in an elongated state and drives the second probe 4 to approach the side wall of the karst cave 9, after the telescopic rod is elongated, the speed of the support rod 1 needs to be reduced, the telescopic rod is in a horizontal state again, after the speed is reduced, it will not retract, then the support rod 1 is slowly rotated (it can be manually driven or driven by a motor), the support rod 1 drives the elongated telescopic rod to rotate slowly in a circle in the plane, the telescopic rod drives the second probe 4 to rotate in a circle in the plane, at this time the second probe 4 can slowly rotate to detect the details of the edge of the karst cave 9, the first probe 3 detects the bottom of the karst cave 9, the first probe 3 and the second probe 4 are both cameras.

[0034] In order to further detect the edge in the karst cave 9, after the telescopic rod is elongated, the connection between the support rod 1 and the driving motor can be disassembled, 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, so that the vertical position of the support rod 1 in the karst cave 9 can be changed, the up and down movement of the support rod 1 can detect the edge area of the karst cave 9 in each vertical plane, which is convenient for analyzing the structural characteristics of the karst cave 9 and understanding the gap and inner wall conditions in the karst cave 9, which is more conducive to determining the amount of filler and improving the filling quality. It should be noted that the speed required for the telescopic rod to rotate in the plane and the speed required for the telescopic rod to elongate can be obtained through experiments in advance.

[0035] Further, the telescopic rod includes at least two sleeves, namely the first sleeve 5 and the second sleeve 7 which are slidably connected to each other, one end of the first sleeve 5 is connected to the second probe 4, the other end is inserted into the second sleeve 7, one end of the second sleeve 7 away from the second probe 4 is hingedly connected to the side wall of the fixed seat 2, the speed required for the first sleeve 5 to displace relative to the second sleeve 7 is greater than the speed required when the telescopic rod is in a horizontal state.

[0036] Specifically, the telescopic rod is composed of at least two sleeves, and in the embodiment, two sleeves are taken as an example, and three or four sleeves can also be selected according to needs. The two sleeves are a first sleeve 5 and a second sleeve 7. The first sleeve 5 is inserted into the second sleeve 7. The first sleeve 5 is connected to the second probe 4 at an end. The second sleeve 7 is hingedly connected to the fixed seat 2 at one end. The first sleeve 5 and the second sleeve 7 have a certain frictional resistance therebetween. In this way, relative sliding between the first sleeve 5 and the second sleeve 7 is avoided when the support rod 1 is initially rotated. In turn, the rotational speed corresponding to the centrifugal force required to overcome the frictional resistance is greater than the rotational speed when the telescopic rod is in a horizontal state. The purpose of unfolding and then lengthening the telescopic rod is achieved. In order to avoid large shaking of the support rod 1 when the support rod 1 rotates, the diameter of the support rod 1 is greater than the diameter of the telescopic rod.

[0037] Further, the outer diameter of the first sleeve 5 is less 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 frictional resistance with the outer wall of the first sleeve 5. The damping mechanism 6 includes a fixed sleeve 601 and a damping piece 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 piece.

[0038] Further, the inner diameter of the fixed sleeve 601 is less than the inner diameter of the second sleeve 7. The outer diameter of the first sleeve 5 is adapted to the size of the inner diameter of the fixed sleeve 601. The end of the first sleeve 5 located in the second sleeve 7 is provided with a limiting plate 10. The first probe 3 and the second probe 4 are both cameras.

[0039] Specifically, the damping mechanism 6 is installed at the end of the second sleeve 7 away from the fixed seat 2. The 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 piece. The damping piece directly contacts the outer wall of the first sleeve 5 to generate frictional resistance. The fixed sleeve 601 is connected to the end of the second sleeve 7 in a staggered manner. The damping piece is installed on the inner wall of the fixed sleeve 601. The size of the inner cavity of the first sleeve 5 is adapted to the fixed sleeve 601. The inner cavity diameter of the fixed sleeve 601 is less than the inner cavity diameter of the second sleeve 7. The end of the first sleeve 5 located in the second sleeve 7 is provided with a limiting plate 10. The limiting plate 10 can slide in the second sleeve 7 but cannot slide out of the fixed sleeve 601. In this way, the first sleeve 5 and the second sleeve 7 can be prevented from being separated when rotating.

[0040] Further, the damping piece is a ring-shaped damping plate 602. One side of the damping plate 602 in contact with the outer wall of the first sleeve 5 is a rough surface. The friction coefficient of the rough surface is adapted to the rotational speed required when the first sleeve 5 and the second sleeve 7 move relative to each other.

[0041] Specifically, such as Figure 4 As shown, in this embodiment, the damping component is an annular damping plate 602, which is fixed to the inner wall of the fixed sleeve 601. One end of the first sleeve 5 passes through the damping plate 602 and is inserted into the second sleeve 7. The surface of the damping plate 602 that contacts the outer wall of the first sleeve 5 is a rough surface. The roughness of the rough surface determines its coefficient of friction, which in turn determines the frictional resistance when the first sleeve 5 and the second sleeve 7 slide relative to each other. This allows us to determine the centrifugal force required to overcome the friction, and thus the rotational speed of the support rod 1 when the required centrifugal force is generated. By replacing the damping plate 602 with different coefficients of friction, we can obtain the corresponding rotational speed of the support rod 1, thereby allowing the rotational speed required for the telescopic rod to extend to be greater than the rotational speed required for the telescopic rod to rotate to a horizontal state.

[0042] Furthermore, the damping component is an annular airbag 603, which is disposed on the inner wall of the fixed sleeve 601. The airbag 603 is a rubber airbag and is connected to an air pump. The air pump inflates the airbag 603 to adjust the clamping force between the airbag 603 and the first sleeve 5.

[0043] Specifically, such as Figure 5 As shown, the damping element in this embodiment is an annular airbag 603. The airbag 603 is fixed to the inner wall of the fixing sleeve 601. The airbag 603 is connected to an air pump, which can inflate or deflate the airbag 603. The air pump is a miniature air pump (an existing product), which can be fixed inside the fixing base 2. The fixing base 2 can be provided with an installation cavity. The air pump and the airbag 603 are connected by a thin flexible tube (not shown in the figure). The thin flexible tube can directly pass through the side wall of the fixing base 2 and the side wall of the fixing sleeve 601 and then connect to the airbag 603. The thin flexible tube has a certain margin, which does not affect the initial rotation of the telescopic rod. A battery is also installed in the installation cavity to power the air pump. A wireless transceiver module can also be set up to receive signals from an external controller and control 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. In this way, by adjusting the inflation and deflation state of the airbag 603, the clamping force between it and the first sleeve 5 can be adjusted, thereby controlling the magnitude of the centrifugal force required when the first sleeve 5 and the second sleeve 7 slide relative to each other.

[0044] Furthermore, the telescopic rod is provided in two parts, which are symmetrically distributed on both sides of the support rod 1.

[0045] Specifically, there are two telescopic rods, symmetrically distributed on both sides of the support rod 1. This ensures high stability of the entire device during rotation and prevents significant shaking.

[0046] Furthermore, the magnet block 8 is disposed on the top surface of the fixed base 2, one end of the magnet block 8 is located outside the fixed base 2, and the bottom surface of the magnet block 8 is an arc-shaped surface adapted to the telescopic rod.

[0047] Specifically, the magnet block 8 can be fixed on the top surface of the fixed seat 2 by bolts, one end of the magnet block 8 extends to the outside of the fixed seat 2, the magnet block 8 is horizontally arranged, the magnet block 8 can adopt a permanent magnet, and the ground surface of the magnet block 8 is arc-shaped, so as to facilitate the adhesion with the second sleeve 7 and better adsorption effect on the second sleeve 7.

[0048] Embodiment 2

[0049] A detection method comprises the following steps:

[0050] S1: The detection device is inserted into the karst cave 9 through the pre-set filler hole above the karst cave 9;

[0051] S2: The upper end of the support rod 1 of the detection device is connected with the output end of the driving motor, the driving motor drives the support rod 1 to rotate, the rotating speed is gradually increased, until the telescopic rod is in a horizontal state under the action of centrifugal force and is adsorbed by the magnet block 8, the rotating speed of the support rod 1 is continuously increased, until the centrifugal force generated overcomes the frictional force between the first sleeve 5 and the second sleeve 7, the first sleeve 5 is elongated and drives the second probe 4 to approach the edge of the karst cave 9, the two second probes 4 detect the side walls of the karst cave 9 in the same plane, the first probe 3 detects the bottom of the karst cave 9, after one rotation, the horizontal height of the telescopic rod is changed, and the rotation is continued until the side wall of the karst cave 9 is detected.

[0052] S3: After detection, the support rod 1 is lifted upward, the telescopic rod is extruded and separated from the magnet block 8 under the limiting action of the filler hole, and is rotated to a vertical state, and the whole detection assembly is taken out.

[0053] Further, the first probe 3 and the second probe 4 transmit data to an external controller, and the controller constructs a three-dimensional karst cave 9 model according to the received graphic data.

[0054] In the embodiment, the detection method is specifically as follows: first, the fixed seat 2 and the telescopic rod are inserted into the karst cave 9 from the filling hole above the karst cave 9 through the support rod 1, then a support (not marked in the figure) is arranged on the ground, a driving motor is installed on the support, and the driving motor is connected and fixed with the upper end of the support rod 1 through a shaft coupling; the driving motor is started to drive the support rod 1 to rotate, the rotating speed of the driving motor is gradually increased, until the telescopic rod is rotated upward to a horizontal state under the action of centrifugal force and is adsorbed and fixed by the magnet block 8, then the rotating speed of the driving motor is continuously increased until the centrifugal force generated can overcome the frictional force between the first sleeve 5 and the second sleeve 7, the first sleeve 5 slides out in the direction away from the fixed seat 2, the telescopic rod is elongated to drive the second probe 4 to approach the edge of the karst cave 9, then the rotation is stopped, the support rod 1 and the driving motor are disassembled, and then the support rod 1 is slowly rotated manually, so that the second probe 4 on the first sleeve 5 can detect the details of the edge of the karst cave 9 in the same plane, the position of the support rod 1 is moved upward or downward to change the vertical position of the second probe 4, and the details of the edge of the karst cave 9 in another plane are detected, the first probe 3 can detect the details of the bottom of the karst cave 9 when the first probe 3 approaches the bottom of the karst cave 9, in this way, the details of the edge of the entire karst cave 9 can be detected, the data detected by the first probe 3 and the second probe 4 can be sent to the controller in a wireless mode, the controller can construct a three-dimensional karst cave 9 model according to the received graphic data in multiple planes, the details on the edge of the karst cave 9 can be more clearly known, a more accurate reference basis for filling the filler can be made, and the filling quality in the later period is improved.

[0055] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. According to the technical essence of the present application, any simple modification, equivalent replacement and improvement of the above embodiment within the spirit and principles of the present application are still within the protection scope of the technical scheme of the present application.

Claims

1. An underground cave edge detection apparatus, characterized by, The support rod (1) is provided with a fixed seat (2) at the lower end, the bottom surface of the fixed seat (2) is provided with a first probe (3), a plurality of telescopic rods are hingedly connected to the circumference of the fixed seat (2), the distal end of the telescopic rod is provided with a second probe (4), a magnet block (8) is arranged above the telescopic rod and on the fixed seat (2), the upper end of the support rod (1) is detachably connected with a driving motor, the driving motor drives the support rod (1) to rotate at an increasing rotational speed, the telescopic rod is first rotated in a horizontal state and is attracted by the magnet block (8) during the increasing of the rotational speed, and then the telescopic rod is in an elongated state and drives the second probe (4) to approach the edge of the karst cave (9) as the rotational speed continues to increase. The telescopic rod comprises at least two sleeves, i.e., 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 with the second probe (4), the other end is inserted into the second sleeve (7), one end of the second sleeve (7) away from the second probe (4) is hingedly connected with the side wall of the fixed seat (2), and the rotational speed required when the first sleeve (5) and the second sleeve (7) are relatively displaced is greater than the rotational speed required when the telescopic rod is in a horizontal state.

2. The device of claim 1, wherein, The outer diameter of the first sleeve (5) is smaller than the inner diameter of the second sleeve (7), one end of the second sleeve (7) away from the fixed seat (2) is provided with a damping mechanism (6) which generates frictional resistance with the outer wall of the first sleeve (5), the damping mechanism (6) comprises a fixed sleeve (601) and a damping piece on the inner wall of the fixed sleeve (601), the fixed sleeve (601) is connected with one end of the second sleeve (7) away from the fixed seat (2), the other end of the first sleeve (5) away from the fixed seat (2) penetrates through the fixed sleeve (601) and is connected with the second probe (4), and the outer wall of the first sleeve (5) is attached to the damping piece.

3. The device of claim 2, wherein, 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 matched with the inner diameter of the fixed sleeve (601), one end of the first sleeve (5) located in the second sleeve (7) is provided with a limiting plate (10), and the first probe (3) and the second probe (4) are both cameras.

4. The device of claim 2, wherein, The damping piece is an annular damping plate (602), one side 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 matched with the rotational speed required when the first sleeve (5) and the second sleeve (7) are relatively displaced.

5. The device of claim 2, wherein, The damping piece is an annular air bag (603), the air bag (603) is arranged on the inner wall of the fixed sleeve (601), the air bag (603) is a rubber air bag, and a gas pump is connected with the air bag (603), the gas pump adjusts the clamping force between the air bag (603) and the first sleeve (5) by inflating the air bag (603).

6. The device of claim 1, wherein, The telescopic rod is provided with two telescopic rods which are symmetrically distributed on both sides of the support rod (1).

7. The device of claim 1, wherein, The magnet block (8) is arranged on the top surface of the fixed seat (2), one end of the magnet block (8) is located outside the fixed seat (2), and the bottom surface of the magnet block (8) is an arc surface matched with the telescopic rod.

8. A method of detecting a karst cave edge using the device according to any one of claims 1 to 7, wherein The method comprises the following steps: S1: The detection device is inserted into the karst cave (9) through a pre-set filler hole above the karst cave (9); S2: the upper end of the support rod (1) of the detection device is connected with the output end of the driving motor, the driving motor drives the support rod (1) to rotate, the rotating speed is increased gradually, until the telescopic rod is in the horizontal state under the action of the centrifugal force and is adsorbed by the magnet block (8), the rotating speed of the support rod (1) is continuously increased, until the centrifugal force generated overcomes the frictional force between the first sleeve (5) and the second sleeve (7), the first sleeve (5) is elongated and drives the second probe (4) to approach the edge of the karst cave (9), the two second probes (4) detect the side wall of the karst cave (9) in the same plane, the first probe (3) detects the bottom of the karst cave (9), after one rotation, the horizontal height of the telescopic rod is changed, the support rod (1) is continuously rotated, until the side wall of the karst cave (9) is detected; S3: after the detection, the support rod (1) is lifted upward, under the limiting action of the filler hole, the telescopic rod is extruded and separated from the magnet block (8), and is rotated to the vertical state, the whole detection assembly is taken out.

9. The method of claim 8, wherein, The first probe (3) and the second probe (4) transmit data to the external controller, and the controller constructs a three-dimensional karst cave (9) model according to the received graphic data.

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