Underground television system for exploring deep karst cave of bridge pile foundation

Abstract

The invention discloses an underground television system for exploring a deep karst cave of a bridge pile foundation, the underground television system comprises a hoisting mechanism and an underground camera module, the hoisting mechanism drives the underground camera module to go in and out of the deep position of the pile foundation, and the underground camera module comprises a camera module, a gyroscope module, a power supply module, a signal transmission module and a vertical cage type frame; the camera module and the gyroscope module are arranged in the cage type frame in a spaced mode in the vertical direction, the gyroscope module is used for keeping the posture of the underground camera module stable, the camera module comprises a camera, a searchlighting unit and a camera servo rotary table, the camera is rotatably installed in the cage type frame through the camera servo rotary table, and the power supply module supplies power to the underground camera module. The signal transmission module transmits imaging information of the camera module to the outside. By arranging the underground camera module with a high-brightness light source, controllable posture and clear imaging, the development and communication conditions of the deep karst cave of the pile foundation can be stably and effectively explored, meanwhile, personnel do not need to go down to a well for investigation, and safety is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of geotechnical engineering investigation, and particularly relates to an underground television system for deep karst cave exploration of bridge pile foundation. BACKGROUND

[0002] Karst landforms are widely distributed in China, have the characteristics of strong water power development, good water chemical environment, strong geological structure uplift movement and diversified karst development, and are rare "natural karst archives".

[0003] Due to the concealed and random development characteristics of karst, the distribution scale, connection form and other characteristics of underground karst caves cannot be completely found out through small-diameter geological drilling in the investigation process, and karst caves that are not found out during the investigation are often found during the construction process. For bridge engineering, if a karst cave is suddenly encountered during the pile foundation construction process, the design pile length needs to be adjusted to ensure that the pile end is placed in a certain depth of complete rock stratum to ensure the safety and stability of the bridge foundation. Therefore, the specification requires that when a karst cave is found during the construction process, its distribution law and connection degree should be found out, and for a large-scale karst cave that personnel can enter, the personnel should enter the karst cave to carry out the surveying and mapping work.

[0004] In the actual pile foundation construction process, the existing means cannot effectively detect the large-size karst cave developed in the deep part, and the reasons are as follows: (1) If a common borehole television is used for detection, the borehole television is mainly used for small-diameter geological drilling (generally 90-110 mm in diameter), the field of view and imaging distance of the camera of the device are limited, the shooting range is limited to the wall of the geological drilling, and the device is mainly used for exploring the fracture development of the wall of the geological drilling. The diameter of the bridge pile foundation is usually more than one meter, and the borehole television has the problems of small imaging range and unstable camera shaking, and cannot effectively explore the deep karst cave of the pile foundation.

[0005] (2) If personnel are sent into the underground investigation, due to the poor stability of the rock mass of the pit wall of the pile foundation, there are problems such as hole collapse, water leakage and block falling, and it is difficult to ensure the safety of personnel life to send personnel into the underground investigation of the deep developed karst cave. SUMMARY

[0006] The technical problem to be solved by the present application is to provide an underground television system for deep karst cave exploration of bridge pile foundation, which can smoothly drive the underground camera module in and out of the deep part of the pile foundation by using the hoisting mechanism, can drive the camera to rotate by using the camera servo turntable, can observe the internal conditions of the karst cave in full view by using the circumferential rotation of the camera, can keep the posture of the camera stable and controllable by using the gyroscope module, can ensure the stable imaging of the camera, and can effectively explore the development and connection of the deep karst cave of the pile foundation.

[0007] The application adopts the following technical scheme: A downhole television system for bridge pile deep cave exploration, comprising a hoisting mechanism and a downhole camera module, the hoisting mechanism drives the downhole camera module to enter and exit the deep part of the pile foundation, the downhole camera module comprises a camera module, a gyroscope module, a power supply module, a signal transmission module and a vertical cage frame; The camera module and the gyroscope module are vertically spaced apart in the cage frame, the gyroscope module is used to keep the posture of the downhole camera module stable, the camera module comprises a camera, an illuminating unit and a camera servo turntable, the camera is rotatably mounted in the cage frame through the camera servo turntable, and the rotation axis of the camera extends vertically, the power supply module supplies power to the camera module, the gyroscope module and the signal transmission module, and the signal transmission module transmits the imaging information of the camera module outward.

[0008] Preferably, the hoisting mechanism comprises a hoisting trolley, a tripod, a sliding rail, a sliding chuck and a winch, the hoisting trolley and the tripod are arranged transversely, the sliding rail connects the hoisting trolley and the tripod, the sliding chuck is slidably arranged on the sliding rail, and the winch is mounted on the hoisting trolley, the rope of the winch passes through the sliding chuck and is connected to the upper end of the cage frame.

[0009] Preferably, a hook is rotatably arranged at the center of the upper end of the cage frame, and the rope of the winch is connected to the hook.

[0010] Preferably, a hoisting battery pack is further arranged in the hoisting trolley, and the hoisting battery pack is used to supply power to the winch.

[0011] Preferably, four vertical placement plates are vertically spaced apart in the cage frame, and the signal transmission module, the power supply module, the gyroscope module and the camera module are sequentially arranged along the vertical direction.

[0012] Preferably, the cage frame comprises a mounting disc at the top and a plurality of vertical support columns, the support columns are arranged in a ring array along the vertical axis on the mounting disc, and the placement plates are fixed to the inner side of the support columns.

[0013] Preferably, the placement plates are provided with adaptive clamping notches corresponding to the positions of the support columns, and the placement plates are clamped and fixed on the support columns through the clamping notches.

[0014] Preferably, the signal transmission module is a downhole signal wireless transmitter.

[0015] Preferably, the camera is a CCD camera, and the illuminating unit is a high-intensity light source arranged on the CCD camera.

[0016] Preferably, the gyroscope module includes a counterweight servo turntable and a counterweight disk, the counterweight disk being rotatably mounted on the upper end of the counterweight servo turntable.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: A hoisting mechanism allows for the smooth movement of the underground camera module into and out of the depths of the pile foundation to investigate the development and connectivity of karst caves. The camera module is equipped with a detection unit that provides high-intensity power to the camera, ensuring effective imaging. A camera servo turntable allows for the camera to rotate, providing a panoramic view of the cave's interior and overcoming the limitations of existing cameras' field of view and imaging distance. A gyroscope module is vertically spaced from the camera module. When the camera servo turntable rotates the camera to change its position, the gyroscope module counteracts the angular momentum generated during rotation, maintaining stable and controllable camera posture and ensuring smooth imaging. This solves the problem of unstable, shaky images from borehole cameras in existing technologies. This allows for stable and effective investigation of the development and connectivity of deep karst caves within the pile foundation, providing strong foundational data support for the design and construction of bridge pile foundations in karst areas. It improves the efficiency and accuracy of surveying and design work while ensuring project safety.

[0018] Furthermore, the hoisting trolley and tripod are arranged at horizontal intervals. In actual arrangement, the slide rail between the two can be laid across the pit opening. Using a sliding chuck in conjunction with a winch, the underground camera module is hoisted downwards directly above the pit opening to ensure the vertical position of the underground camera module during operation, avoid swaying, and maintain exploration stability.

[0019] Furthermore, a hook is rotatably installed at the upper center of the cage frame, which can increase the degree of freedom and reduce the impact of the torsion generated by the winch rope on the structure of the underground camera module.

[0020] Furthermore, the hoisting trolley is equipped with a hoisting battery pack that powers the winch, improving the overall integrity and completeness of the system, eliminating the need for external power supply, and enhancing practicality and flexibility.

[0021] Furthermore, the signal transmission module, power supply module, gyroscope module, and camera module are arranged vertically in sequence. This improves integration, reduces the radial dimension of the downhole camera module, and facilitates exploration deep into the pile foundation. In addition, the overall shape is a vertically elongated cylinder, which helps maintain the stability of the center of gravity when entering and exiting deep into the pile foundation.

[0022] Furthermore, a frame is constructed using mounting plates and multiple supporting columns to minimize obstruction and reduce blind spots in the camera module's field of view, thus ensuring effective exploration.

[0023] Furthermore, the storage tray and the support column are fixed together by snap-fit ​​notches, resulting in a simplified and compact structure that facilitates assembly and replacement.

[0024] Furthermore, by using an underground wireless signal transmitter as a signal transmission module, the signal is transmitted wirelessly, avoiding instability in the installation of the underground camera module caused by cable tangling and other reasons, thus improving the imaging effect.

[0025] Furthermore, the camera is a CCD camera, which can adjust the focal length in real time according to the exploration distance to capture images of the cave at different depths of field. The detection unit utilizes the high-intensity light source of the CCD camera to improve integration.

[0026] Furthermore, a counterweight servo turntable is used to drive the counterweight disk to rotate, which counteracts the angular momentum generated by the camera servo turntable driving the camera, ensuring stable imaging by the camera.

[0027] In summary, this invention utilizes a camera module to ensure comprehensive observation of the interior of the karst cave, and a gyroscope module to ensure stable imaging and image quality. This allows for effective exploration of the development and connectivity of karst caves deep within the pile foundation, while eliminating the need for manual investigation, reducing operational safety risks, and protecting personnel safety.

[0028] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the following description of the relative embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the overall structure of an underground television system for exploring deep karst caves in bridge pile foundations according to the present invention. Figure 2 This is a schematic diagram of the underground camera module. Figure 3 This is a schematic diagram of the camera module. Figure 4 This is a front view of the camera module; Figure 5 This is a top view of the camera module; Figure 6 This is the rear view of the camera module; Figure 7 This is a schematic diagram of the gyroscope module. Figure 8 This is a top view of the gyroscope module; Figure 9 This is a schematic diagram of the overall structure of the camera battery pack; Figure 10 This is a top view of the camera battery pack; Figure 11 This is a schematic diagram of the overall structure of the underground signal wireless transmitter; Figure 12 This is a top view of an underground wireless signal transmitter; Figure 13 This is a rear view of the underground signal wireless transmitter; Figure 14 This is a front view of an underground wireless signal transmitter; Figure 15 This is a schematic diagram of the overall structure of the cage frame; Figure 16 This is a front view of the cage frame; Figure 17 This is a top view of a cage-like frame; Figure 18 This is a schematic diagram of the overall structure of the hoisting mechanism.

[0031] The components include: 1. Lifting mechanism; 11. Lifting trolley; 12. Tripod; 13. Slide rail; 131. Sliding groove; 14. Sliding chuck; 15. Sliding wheel; 16. Winch; 17. Rope; 18. Lifting battery pack; 19. Mobile computer; 2. Downhole camera module; 21. Camera module; 211. Camera; 212. Camera servo turntable; 22. Gyroscope module; 221. Counterweight servo turntable; 222. Counterweight plate; 23. Camera module battery pack; 24. Downhole signal wireless transmitter; 25. Cage frame; 251. Mounting plate; 252. Support column; 253. Placement plate; 254. Snap-fit ​​notch; 255. Hook. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "one side," "one end," and "one side," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0036] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0037] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0038] The accompanying drawings illustrate various structural schematic diagrams according to embodiments disclosed in this invention. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0039] This invention provides an underground television system for exploring deep karst caves in bridge pile foundations. The hoisting mechanism 1 can smoothly drive the underground camera module 2 into and out of the depth of the pile foundation. The camera servo turntable 212 can drive the camera 211 to rotate. The circumferential rotation of the camera 211 allows for a full view of the interior of the karst cave. The gyroscope module 22 keeps the attitude of the camera 211 stable and controllable, ensuring stable imaging. The underground television system can stably and effectively explore the development and connectivity of deep karst caves in the pile foundation.

[0040] Please see Figure 1 , Figure 2 As shown, the present invention provides an underground television system for exploring deep karst caves in bridge pile foundations (hereinafter referred to as the underground television system), which includes a hoisting mechanism 1 and an underground camera module 2. The hoisting mechanism 1 is used to drive the underground camera module 2 into and out of the depth of the pile foundation, and the underground camera module 2 is used to explore the karst cave conditions deep in the pile foundation.

[0041] Specifically, such as Figure 2 As shown, the downhole camera module 2 includes a camera module 21, a gyroscope module 22, a power supply module, a signal transmission module, and a cage frame 25. The cage frame 25 extends vertically along its length, and the camera module 21 and the gyroscope module 22 are arranged vertically at intervals within the cage frame 25.

[0042] like Figure 7 , 8 As shown, the gyroscope module 22 includes a counterweight servo turntable 221 and a counterweight disk 222, which is rotatably mounted on the upper end of the counterweight servo turntable 221. The gyroscope module 22 is used to maintain the attitude stability of the downhole camera module 2.

[0043] like Figure 3 , 4 As shown in Figures 5 and 6, the camera module 21 is used to capture images of the karst caves deep within the pile foundation. Specifically, the camera module 21 includes a camera 211, a search unit, and a camera servo turntable 212. The camera 211 is rotatably mounted within the cage frame 25 via the camera servo turntable 212, and its rotation axis extends vertically. Figure 2 , 3As shown, the camera 211 has a horizontal field of view. The camera servo mode drives the camera 211 to rotate circumferentially, allowing for comprehensive exploration of deep karst caves within the pile foundation. The illumination unit provides a high-intensity light source to ensure clear and stable imaging. The power supply module powers the camera module 21, gyroscope module 22, and signal transmission module. The signal transmission module transmits the imaging information from the camera module 21.

[0044] In summary, during actual exploration, the hoisting mechanism 1 can smoothly drive the underground camera module 2 into and out of the depths of the pile foundation to explore the development and connectivity of the karst cave. The camera module 21 is equipped with a detection unit, which can provide high-intensity power to the camera 211 to ensure the imaging effect of the camera 211. The camera servo turntable 212 can drive the camera 211 to rotate. The circumferential rotation of the camera 211 allows for a full view of the interior of the karst cave, solving the problem of limited field of view and imaging distance of cameras in the prior art.

[0045] The gyroscope module 22 and the camera module 21 are arranged vertically at intervals, and their axes coincide with the vertical center line of the cage frame 25. When the camera servo turntable 212 drives the camera 211 to rotate and change the camera position, the counterweight servo turntable 221 of the gyroscope module 22 drives the counterweight disk 222 to rotate in the opposite direction, which cancels the angular momentum generated when the camera 211 rotates, keeps the attitude of the camera 211 stable and controllable, and ensures that the camera 211 can image smoothly, thus solving the problem of unstable shooting by the drilling hole TV camera in the prior art.

[0046] The downhole television system of this invention can effectively investigate the development and connectivity of deep karst caves in pile foundations, providing strong basic data support for the design and construction of bridge pile foundation projects in karst areas. While improving the efficiency and accuracy of survey and design work, it also ensures the safety of the project.

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0048] Please see Figure 1 and Figure 18In this embodiment, the hoisting mechanism 1 of the underground television system for exploring deep karst caves in bridge pile foundations according to the present invention includes a hoisting trolley 11, a tripod 12, a slide rail 13, a sliding chuck 14, and a winch 16.

[0049] The hoisting trolley 11 and tripod 12 are arranged laterally at intervals, the slide rail 13 extends laterally, and the two ends of the slide rail 13 are respectively connected to the hoisting trolley 11 and the tripod 12. The sliding chuck 14 is slidably set on the slide rail 13. The winch 16 is installed on the hoisting trolley 11. One end of the rope 17 of the winch 16 is connected to the winch of the winch 16, and the other end passes through the sliding chuck 14 and is connected to the upper end of the cage frame 25.

[0050] Preferably, in this embodiment, such as Figure 1 , 18 As shown, the hoisting mechanism 1 also includes a remote control device, which is used by the operator to remotely control the operation of the winch 16 and the underground camera module 2. In this embodiment, the remote control device is a mobile computer 19 mounted on the hoisting trolley 11.

[0051] The hoisting trolley 11 and tripod 12 are arranged laterally at intervals. In actual arrangement, the slide rail 13 between them can span across the pit opening. Using the sliding chuck 14 in conjunction with the winch 16, the underground camera module 2 is hoisted downwards directly above the pit opening. Simultaneously, the electric winch 16, in conjunction with the sliding wheels 15, ensures a smooth hoisting process, preventing swaying and guaranteeing reliable exploration results. Using remote control equipment and a signal transmission module, personnel can remotely control the winch 16 and the underground camera module 2, allowing them to stay away from the pit opening during exploration and ensuring their safety.

[0052] Specifically, in this embodiment, such as Figure 1 As shown, two sliding chucks 14 are symmetrically arranged on both sides of the longitudinal direction of the slide rail 13. The sliding chucks 14 are triangular boomerang-shaped. The two sliding chucks 14 are connected by a connecting shaft (not shown in the figure) at the triangular part. A sliding wheel 15 is rotatably arranged on the connecting shaft. The three sliding wheels 15 are arranged in a triangular arrangement by using the sliding chucks 14.

[0053] Specifically, the upper end of the slide rail 13 is provided with a sliding groove 131 extending laterally. The two upper sliding wheels 15 are slidably disposed above the slide rail 13. The area between the two upper sliding wheels 15 and the lower sliding wheel 15 allows the slide rail 13 and the rope 17 to pass through. The rope 17 passes around the lower sliding wheel 15 and is connected to the downhole camera module 2. Meanwhile, the lower sliding wheel 15 is an H-shaped wheel, and the rope 17 is disposed in the groove of the H-shaped wheel to prevent the rope 17 from deviating.

[0054] In this embodiment, a threaded fastening bolt is provided at the center of the sliding chuck 14. Multiple fixing holes corresponding to the fastening bolt are spaced laterally along the slide rail. When the sliding chuck 14 slides to the designated position, the fastening bolt is tightened, extending into the corresponding fixing hole to fix the position of the sliding chuck 14. The winch 16 and rope 17 drive the downhole camera module 2 to rise and fall via the lower sliding wheel 15. Alternatively, in other embodiments, the fastening bolt can be directly abutted against the side of the guide rail 13 to fix the position of the sliding chuck 14.

[0055] The sliding chuck 14 and sliding wheel 15 are used to facilitate the adjustment of the lateral position of the underground camera module 2, so that the underground camera module 2 is directly facing the pit opening. The sliding wheel 15 below can be used to drive the underground camera module 2 to smoothly enter and exit the depth of the pile foundation, improving practicality and stability.

[0056] Of course, in other embodiments, when meeting actual usage requirements, a T-slot can be opened on the lower end face of the slide rail 13, and a matching T-bolt can be slidably installed in the T-slot. A locking nut that locks the T-bolt to the T-slot is threaded on the T-bolt. A U-shaped mounting plate with an opening facing downwards is fixedly installed at the lower end of the T-bolt. An H-shaped roller is rotatably installed inside the U-shaped mounting plate. The rope 17 passes through the H-shaped roller and is connected to the downhole camera module 2. The T-bolt, the U-shaped plate and the H-shaped roller constitute a sliding chuck 14.

[0057] In this embodiment, both ends of the slide rail 13 are bolted to the lifting trolley 11 and the tripod 12. Specifically, vertical connecting plates are provided at corresponding positions on the lifting trolley 11 and the tripod 12, and two vertical connecting plates are spaced apart longitudinally on both the lifting trolley 11 and the tripod 12. The end of the slide rail 13 is located between the two corresponding vertical connecting plates and is connected to the vertical connecting plates by bolt assemblies. With this arrangement of the lifting trolley 11 and the tripod 12, the corresponding ends of the slide rail 13 can rotate relative to each other.

[0058] In this embodiment, the lifting trolley 11 and the tripod 12 are adjustable in height. Specifically, the four support legs of the lifting trolley 11 are telescopic legs, and the tripod 12 is a height-adjustable telescopic tripod 12. Both the telescopic legs and the telescopic tripod 12 are conventional structures, and will not be described in detail here. By adjusting the height of the lifting trolley 11 and the tripod 12, the overall stability of the lifting mechanism 1 is ensured.

[0059] Preferably, in this embodiment, the hoisting trolley 11 is also equipped with a hoisting battery pack 18, which supplies power to the winch 16 via a power supply harness. The hoisting battery pack 18 eliminates the need for external power supply, improving practicality and flexibility, and ensuring that personnel can remain away from the site throughout the entire exploration process, thus enhancing safety.

[0060] Preferably, in this embodiment, such as Figure 11 , 12 As shown in Figures 13 and 14, the signal transmission module is a box-shaped downhole wireless signal transmitter 24. The downhole wireless signal transmitter 24 is connected to the camera module 21 and the gyroscope module 22 via a wire harness (not shown in the figure).

[0061] The downhole wireless signal transmitter 24 wirelessly receives instructions from the mobile computer 19 and sends information to the mobile computer 19. The downhole wireless signal transmitter 24 sends control signals and receives information to the camera module 21 and gyroscope module 22 via wiring harnesses, controlling the camera servo turntable 212 to rotate the camera 211 to the observation position. Simultaneously, it synchronously controls the gyroscope module 22 to maintain the overall stability of the downhole camera module 2, ensuring stable imaging by the camera module 21. The image information from the camera module 21 is remotely transmitted to the surface via the downhole wireless signal transmitter 24, where surface personnel receive and analyze the image information via a mobile terminal.

[0062] The use of wireless transmission to receive signals and transmit information avoids the need for excessive signal cables and prevents instability in the hoisting of the underground camera module 21 due to tangling or other reasons, thus improving the imaging effect.

[0063] In this embodiment, the power supply module is Figure 9 , 10 The camera module battery pack 23 shown is connected to the downhole signal wireless transmitter 24, gyroscope module 22, and camera module 21 via a power supply harness, providing power to each module. The downhole camera module 2 integrates an independent camera module battery pack 23, eliminating the need for external power supply wires. The downhole camera module 2 exhibits high modular integration and a simplified structure, reducing power supply and camera issues caused by cable entanglement and ensuring exploration quality.

[0064] Of course, in other embodiments, when meeting actual usage requirements, the signal transmission module can also receive and transmit signals through signal lines, and similarly, the power supply module can be an external power source, supplying power to each component of the downhole camera module 2 through wires.

[0065] Preferred, such as Figure 2 As shown, in this embodiment, four sets of storage plates 253 are arranged vertically at intervals inside the cage frame 25. The four storage plates 253 are arranged vertically in sequence as follows: a downhole wireless signal transmitter 24, a camera module battery pack 23, a gyroscope module 22, and a camera module 21. Simultaneously, by reasonably measuring the center of gravity of each component of the downhole camera module 2 and adding internal counterweights, the center of gravity is adjusted to maintain the horizontal state of the storage plates 253 and keep the camera's field of view horizontal.

[0066] The signal transmission module, power supply module, gyroscope module 22 and camera module 21 are arranged vertically in sequence. On the one hand, this improves the integration and reduces the radial size of the downhole camera module 2, making it easier to extend into the depth of the pile foundation for exploration. On the other hand, the overall shape is a vertical long cylinder, which helps to maintain the stability of the center of gravity when entering and exiting the depth of the pile foundation.

[0067] Preferred, such as Figure 15 , 16 As shown in Figure 17, the cage frame 25 includes a top mounting plate 251 and multiple vertical support columns 252. The support columns 252 are arranged in a circular array along the vertical axis on the mounting plate 251, and the shelf 253 is fixed to the inner side of the support columns 252.

[0068] Specifically, in this embodiment, the top mounting plate 251 is shaped like a triangular boomerang, with a support column 252 set at each of the pointed corners of the mounting plate 251. The mounting plate 251 and multiple support columns 252 form a frame, minimizing obstruction and reducing blind spots in the field of view of the camera module 21, thus ensuring the detection effect.

[0069] Preferably, in this embodiment, the shelf 253 is provided with a matching snap-fit ​​notch 254 at the position corresponding to the support column 252. The shelf 253 is snapped onto the support column 252 through the snap-fit ​​notch 254 and is fixedly connected to the support column 252. Specifically, the connection can be fixed by welding or bolting, etc., and the connection method is not limited, as long as it is fixed. The snap-fit ​​fixing through the snap-fit ​​notch 254 simplifies the structure, makes it compact, and facilitates assembly and positioning.

[0070] Preferably, in this embodiment, a hook 255 is rotatably mounted at the upper center of the cage frame 25, and the rope 17 of the winch 16 is connected to the hook 255. By using the rotatable hook 255, the degree of freedom can be increased, and the influence of the torsion generated by the rope 17 of the winch 16 on the structure of the downhole camera module 2 can be reduced.

[0071] Preferably, in this embodiment, the camera 211 is a CCD camera, and the illumination unit is a high-intensity light source configured on the CCD camera. The camera 211, being a CCD camera, can adjust its focal length in real time according to the exploration distance to capture images of the cave at different depths of field. The illumination unit utilizes the high-intensity light source of the CCD camera, improving integration.

[0072] In conjunction with the above embodiments, the working process of this application is as follows: 1. Preparation: Workers transported components such as the hoisting trolley 11, hoisting battery pack 18, winch 16, slide rail 13, and tripod 12 to the pit opening where the underground video survey was to be conducted, and assembled them into hoisting mechanism 1. The cage frame 25, camera module 21, gyroscope module 22, power supply module, and signal transmission module were then assembled into underground camera module 2, and connected to hoisting mechanism 1 via rope 17 of winch 16. By adjusting the position and height of hoisting trolley 11 and tripod 12, hoisting mechanism 1 was stabilized, ensuring that underground camera module 2 was directly above the pit opening.

[0073] 2. Testing: The test included assessing the power supply of the hoisting battery pack 18 to the winch 16, the power supply of the camera module battery pack 23 to each component of the underground camera module 2, and the reception and transmission of control signals and image signals by the underground signal wireless transmitter 24.

[0074] 3. Hoisting and transporting the underground camera module 2: The staff controlled the winch 16 to slowly and evenly send the underground camera module 2 into the depth of the pile foundation, while observing the image information, adjusting the direction of the camera 211, and cooperating with the gyroscope module 22 to maintain stability and control the shooting position of the camera 211.

[0075] 4. Image Analysis: Once the underground camera module 2 reaches the location of the cave development, it will begin to conduct stable and continuous observation of the cave. During this period, the CCD camera can be used to adjust the focal length and capture images of the cave at different depths of field.

[0076] 5. Recycling equipment After the observation was completed, the staff used winch 16 to retrieve the underground camera module 2 to the surface, then powered off the equipment and disassembled it.

[0077] In summary, this invention provides an underground television system for exploring deep karst caves in bridge pile foundations. During operation, operators are kept away from the foundation pit, ensuring their safety. Equipped with a high-brightness light source, a controllable posture, and clear imaging underground camera module 2, the system can reliably and effectively explore the development and connectivity of deep karst caves in the pile foundation. This provides strong basic data support for the design and construction of bridge pile foundation projects in karst areas, improving the efficiency and accuracy of survey and design work while ensuring project safety.

[0078] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A downhole television system for exploring deep karst caves in bridge pile foundations, characterized in that, It includes a hoisting mechanism (1) and an underground camera module (2). The hoisting mechanism (1) drives the underground camera module (2) to enter and exit the depth of the pile foundation. The underground camera module (2) includes a camera module (21), a gyroscope module (22), a power supply module, a signal transmission module and a vertical cage frame (25). The camera module (21) and the gyroscope module (22) are arranged vertically at intervals within the cage frame (25). The gyroscope module (22) is used to maintain the attitude stability of the downhole camera module (2). The camera module (21) includes a camera (211), a search unit, and a camera servo turntable (212). The camera (211) is rotatably mounted within the cage frame (25) via the camera servo turntable (212), and its rotation axis extends vertically. The power supply module supplies power to the camera module (21), the gyroscope module (22), and the signal transmission module. The signal transmission module transmits the imaging information of the camera module (21) to the outside.

2. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 1, characterized in that, The hoisting mechanism (1) includes a hoisting trolley (11), a tripod (12), a slide rail (13), a sliding chuck (14), a winch (16), and a remote control device. The hoisting trolley (11) and the tripod (12) are arranged laterally at intervals. The slide rail (13) connects the hoisting trolley (11) and the tripod (12). The sliding chuck (14) is slidably mounted on the slide rail (13). The winch (16) is mounted on the hoisting trolley (11). The rope (17) of the winch (16) passes through the sliding chuck (14) and is connected to the upper end of the cage frame (25).

3. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 2, characterized in that, A hook (255) is rotatably installed at the upper center of the cage frame (25), and the rope (17) of the winch (16) is connected to the hook (255).

4. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 2, characterized in that, The hoisting trolley (11) is also equipped with a hoisting battery pack (18), which is used to power the winch (16).

5. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 1, characterized in that, The cage frame (25) has four vertically spaced shelves (253) arranged inside, and the four shelves (253) are arranged vertically in sequence as the signal transmission module, power supply module, gyroscope module (22) and camera module (21).

6. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 5, characterized in that, The cage frame (25) includes a top mounting plate (251) and multiple vertical support columns (252). The support columns (252) are arranged in a circular array along the vertical axis on the mounting plate (251), and the shelf (253) is fixed to the inner side of the support columns (252).

7. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 6, characterized in that, The shelf (253) is provided with a matching snap-fit ​​notch (254) corresponding to the position of the support column (252), and the shelf (253) is snapped onto the support column (252) through the snap-fit ​​notch (254).

8. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 5, characterized in that, The signal transmission module is a downhole wireless signal transmitter (24).

9. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 1, characterized in that, The camera (211) is a CCD camera, and the detection unit is a high-intensity light source configured on the CCD camera.

10. The underground television system for exploring deep karst caves in bridge pile foundations according to claim 1, characterized in that, The gyroscope module (22) includes a counterweight servo turntable (221) and a counterweight disk (222), the counterweight disk (222) being rotatably mounted on the upper end of the counterweight servo turntable (221).

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