Underground hidden disease structure light and shadow detection device and method

Abstract

The invention belongs to the technical field of underground hidden danger investigation and detection, and discloses an underground hidden disease structure light and shadow detection device and method.The underground hidden disease structure light and shadow detection device comprises a detection rod used for vertically stretching into a detection drill hole, and further comprises a control processing module and a light and shadow detection mechanism installed at the lower end of the detection rod; the light and shadow detection mechanism comprises a detection head unit, a first adjusting unit and a second adjusting unit; the detection head unit comprises a camera shooting part and a measuring part, the camera shooting part is used for shooting an image of the hidden disease part, and the measuring part is used for measuring the measuring distance between the detection head unit and the wall surface of the hidden disease part; the first adjusting unit is connected with the detection head unit and is used for driving the detection head unit to perform pitching rotation in a vertical plane so as to adjust the vertical angle of the detection head unit; the second adjusting unit is connected with the first adjusting unit and used for driving the first adjusting unit to rotate around the vertical axis in the horizontal plane. The problem that in the prior art, the three-dimensional form of the underground hidden disease is not convenient to accurately obtain is effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of underground hidden danger investigation and detection technology, specifically relating to a light and shadow detection device and method for underground hidden disease structures. Background Technology

[0002] Long-term soil erosion due to groundwater or pipeline leakage alters the underground soil structure. Using methods such as ground-penetrating radar and surface wave detection, potential hazard zones affecting surface infrastructure or residential safety are identified. Utilizing underground hazard detection equipment to visualize the spatial morphology of underground hazards is crucial for determining the extent of hazard images and guiding timely treatment. Currently, methods for determining the spatial state of underground hazards primarily include ground-penetrating radar detection, pit exploration, and observation.

[0003] Traditional radar detection methods utilize high-frequency electromagnetic waves to detect the distribution of underground media, but they cannot accurately provide the outline and morphology of hidden underground defects. Pit excavation methods, which involve excavating the soil above the hidden defects to determine their structure, are labor-intensive and destructive to surface infrastructure. Endoscopic methods, using endoscopic cameras to examine hidden underground defects, are limited by drilling constraints, restricting image viewing and currently only providing visual information, unable to obtain three-dimensional morphological data. Therefore, existing technologies suffer from the problem of inaccurately obtaining the three-dimensional morphology of hidden underground defects. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a device and method for detecting the structure and shadow of underground hidden diseases, which solves the problem that existing technologies are not convenient for accurately obtaining the three-dimensional morphology of underground hidden diseases.

[0005] The objective of this invention can be achieved through the following technical solutions: A light and shadow detection device for underground hidden defects includes a detection rod for vertically extending into a detection borehole, and also includes a control processing module and a light and shadow detection mechanism installed at the lower end of the detection rod. The light and shadow detection mechanism includes a detector head unit, a first adjustment unit, and a second adjustment unit; The probe unit includes a camera unit and a measuring unit. The camera unit is used to capture images of the hidden disease area, and the measuring unit is used to measure the distance between the probe unit and the wall surface of the hidden disease area. The first adjustment unit is connected to the probe head unit and is used to drive the probe head unit to rotate in the vertical plane to adjust the vertical angle of the probe head unit. The second adjustment unit is connected to the first adjustment unit and is used to drive the first adjustment unit to rotate around the vertical axis in the horizontal plane to adjust the circumferential angle of the probe unit. The control processing module is electrically connected to the light and shadow detection mechanism and is used to control the first adjustment unit and the second adjustment unit. At the same time, it receives and records the real-time vertical angle, circumferential angle and the measured distance between the detector head unit and the wall surface at the hidden disease site when in the corresponding pose.

[0006] Furthermore, the probe unit contains two measuring units, which are arranged symmetrically about the camera unit.

[0007] Furthermore, the probe unit also includes a fixing block, on which both the camera and measuring units are mounted; A light source is also fixedly connected to the fixed block to provide a light source for recording images of hidden defects and measuring distances.

[0008] Furthermore, the first adjustment unit includes a fixed base, on which a horizontally placed first rotating shaft is rotatably connected. A fixed block is fixedly sleeved on the first rotating shaft. A first driving part is fixedly installed on the fixed base. The first driving part is connected to either end of the first rotating shaft and is used to drive the first rotating shaft to rotate.

[0009] Furthermore, the second adjustment unit includes a connecting seat connected to the lower end of the probe rod, a second drive unit is fixedly installed at the lower end of the connecting seat, and a vertically placed second rotating shaft is connected to the lower end of the second drive unit. The second drive unit is used to drive the second rotating shaft to rotate. The fixed base of the first adjustment unit is fixedly connected to the peripheral wall of the second rotating shaft.

[0010] Furthermore, the underground hidden disease structure light and shadow detection device also includes a support platform, which is supported on the ground by multiple support rods. A horizontally placed moving platform is provided below the support platform. The support platform and the moving platform are directly connected by a vertically arranged third drive unit, which is used to drive the moving platform to move up and down. Both the support platform and the moving platform have through holes for the probe rod to pass through. A clamping part is fixedly installed on the moving platform to clamp and fix the probe rod.

[0011] Furthermore, a leveling instrument is fixedly installed on the support platform.

[0012] A method for detecting the structural light and shadow of hidden underground defects, using the aforementioned device for detecting the structural light and shadow of hidden underground defects, specifically includes the following steps: The probe rod with the light and shadow detection mechanism installed at the lower end is vertically inserted into the pre-drilled detection hole until the light and shadow detection mechanism reaches the location of the hidden disease. The control processing module controls the first adjustment unit and / or the second adjustment unit to drive the probe head unit to move sequentially to a pose composed of different vertical angles and circumferential angles; When the probe unit is in any position, the camera unit captures image data of the hidden defects in real time, while the measurement unit measures the distance between the probe unit and the wall surface at the hidden defect location in real time. The vertical angle, circumferential angle, image data, and measurement distance corresponding to each pose are transmitted to the control processing module; The control and processing module calculates the three-dimensional coordinates of the detection points on the surface of the hidden disease in a spatial rectangular coordinate system with the probe unit as the origin, based on the vertical angle, circumferential angle and measurement distance of each pose, and generates the three-dimensional spatial contour of the hidden disease based on each three-dimensional coordinate. By mapping image data onto the surface corresponding to the three-dimensional spatial contour, a 3D imaging model of hidden lesions with realistic texture is obtained.

[0013] Furthermore, when there are two measuring units in the probe head unit, each measuring unit measures the distance between itself and the wall surface at the hidden defect, and the average of the two distance values ​​is calculated as the measurement distance.

[0014] Furthermore, the three-dimensional coordinates of any detection point on the surface of a hidden defect in a spatial rectangular coordinate system with the detector unit as the origin are defined as ( x,y,z ), where the positive direction of the z-axis is vertically upward; Vertical angle corresponding to the detection point Circular corner and the measured distance L are respectively , and L ; when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: when At that time, the three-dimensional coordinates are ( x,y,zThe formula for calculating ) is as follows: When the probe unit is placed horizontally, the vertical rotation angle is... The vertical rotation angle is 0°; when the probe unit is vertically upward, the vertical rotation angle is 0°. The vertical angle is 90°; when the probe unit is vertically downward, the vertical rotation angle is... It is -90°.

[0015] The beneficial effects of this invention are: The control processing module controls the first adjustment unit and / or the second adjustment unit to adjust the vertical angle and / or the circumferential angle. The measuring unit in the probe unit measures the distance between the probe unit and the wall surface at the hidden disease site in real time under the pose defined by any vertical angle and circumferential angle, and transmits it to the control processing module. Based on the pose defined by the corresponding vertical angle and circumferential angle and the corresponding measuring distance, the three-dimensional coordinates of the detection points on the wall surface at the hidden disease site are obtained through coordinate transformation calculation. By integrating the three-dimensional coordinates of each detection point, three-dimensional information representing the spatial contour of the hidden disease can be obtained. Combined with the hidden disease image data captured and recorded by the camera unit, a 3D imaging model of the hidden disease with realistic texture can be obtained, which effectively solves the problem in the existing technology that it is not convenient to accurately obtain the three-dimensional morphology of underground hidden diseases. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the light and shadow detection mechanism of the present invention; Figure 3 This is a partial structural diagram of the fixing seat of the present invention; Figure 4 This is a partial structural diagram of the fixing block of the present invention; Figure 5 This is a partial structural diagram of the leveling instrument of the present invention; Figure 6 This is a partial structural diagram of the mobile station of the present invention; Figure 7 This is a partial structural diagram of the support platform of the present invention; Figure 8 This is a cross-sectional view of the probe structure of the present invention; Figure 9 This is the invention Schematic diagram of three-dimensional coordinate calculation of surface detection points for hidden diseases; Figure 10 This is the invention Schematic diagram of three-dimensional coordinate calculation of surface detection points for hidden diseases; Figure 11 This is the invention Schematic diagram of three-dimensional coordinate calculation of surface detection points for hidden diseases; Figure 12 This is the invention A schematic diagram of the calculation of three-dimensional coordinates of surface detection points for hidden diseases. Detailed Implementation

[0018] 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 embodiments of the present invention, and not all embodiments. 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.

[0019] like Figures 1 to 8 As shown, a light and shadow detection device for underground hidden defects includes a detection rod 100 for vertically extending into the detection borehole, a control and processing module 300, and a light and shadow detection mechanism 200 installed at the lower end of the detection rod 100. The light and shadow detection mechanism 200 includes a detection head unit 201, a first adjustment unit 202, and a second adjustment unit 203; The probe unit 201 includes a camera unit 2011 and a measuring unit 2012. The camera unit 2011 is used to capture images of the hidden disease site, and the measuring unit 2012 is used to measure the distance between the probe unit 201 and the wall surface of the hidden disease site. The first adjustment unit 202 is connected to the probe head unit 201 and is used to drive the probe head unit 201 to rotate in the vertical plane to adjust the vertical angle of the probe head unit 201. The second adjustment unit 203 is connected to the first adjustment unit 202 and is used to drive the first adjustment unit 202 to rotate around the vertical axis in the horizontal plane to adjust the circumferential angle of the probe head unit 201. The control processing module 300 is electrically connected to the light and shadow detection mechanism 200 and is used to control the first adjustment unit 202 and the second adjustment unit 203. At the same time, it receives and records the real-time vertical angle, circumferential angle and the measured distance between the detector head unit 201 and the wall surface of the hidden disease when in the corresponding pose. During operation, the probe rod 100, equipped with the light and shadow detection mechanism 200, is inserted into the pre-drilled detection hole until it reaches the location of the hidden disease. Subsequently, the control processing module 300 controls the first adjustment unit 202 and / or the second adjustment unit 203 to adjust the vertical angle and / or the circumferential angle. The measuring unit 2012 in the probe head unit 201 measures the distance between the probe head unit 201 and the wall surface at the hidden disease location in real time under the pose defined by any vertical angle and circumferential angle, and transmits it to the control processing module 300. Based on the pose defined by the corresponding vertical angle and circumferential angle and the corresponding measuring distance, the three-dimensional information representing the spatial contour of the hidden disease can be obtained through coordinate transformation calculation. Combined with the hidden disease image data captured and recorded by the camera unit 2011, a 3D imaging model of the hidden disease with realistic texture can be obtained.

[0020] The camera unit 2011 in this application includes any one of an industrial camera, an endoscope camera, or an infrared night vision camera module; specifically, a CMOS industrial camera or an OCH2B30 model endoscope camera can be selected. The measuring unit 2012 in this application includes either a laser rangefinder or a water pump rangefinder; specifically, a Leica / A3 laser rangefinder can be used.

[0021] The probe head unit 201 has two measuring units 2012, which are arranged symmetrically about the camera unit 2011. The symmetrical arrangement of the two measuring units 2012 effectively compensates for the ranging error that may be introduced by the change in attitude of the probe unit 201 during pitch and rotation. At any pitch angle, the two measuring units 2012 measure the distance between themselves and the wall surface at the hidden disease site, and the average of the two measured distances is calculated, thereby effectively reducing the measurement deviation caused by the pitch angle, significantly improving the reliability of the measurement data, and providing an accurate data basis for subsequent capture of the three-dimensional spatial coordinate information of the hidden disease.

[0022] The probe unit 201 also includes a fixing block 2013, on which the camera unit 2011 and the measuring unit 2012 are both mounted; A light source unit 2014 is also fixedly connected to the fixed block 2013, which is used to provide a light source for recording images of hidden defects and measuring distances. Preferably, the light source 2014 consists of multiple LED beads, which are evenly arranged around the camera 2011.

[0023] The first adjustment unit 202 includes a fixed base 2021, a horizontally placed first rotating shaft 2022 rotatably connected to the fixed base 2021, a fixed block 2013 fixedly sleeved on the first rotating shaft 2022, and a first driving part 2023 fixedly installed on the fixed base 2021. The first driving part 2023 is connected to either end of the first rotating shaft 2022 and is used to drive the first rotating shaft 2022 to rotate. The first drive unit 2023 drives the first rotating shaft 2022 to rotate. The first rotating shaft 2022 fixes the blocks 2013 in sequence, thereby driving the probe unit 201 to rotate in pitch and adjust the vertical angle of the probe unit 201.

[0024] The second adjustment unit 203 includes a connecting seat 2031 connected to the lower end of the probe rod 100. A second driving part 2032 is fixedly installed at the lower end of the connecting seat 2031. A vertically placed second rotating shaft 2033 is connected to the lower end of the second driving part 2032. The second driving part 2032 is used to drive the second rotating shaft 2033 to rotate. The fixing seat 2021 of the first adjustment unit 202 is fixedly connected to the peripheral wall of the second rotating shaft 2033; The second drive unit 2032 drives the second rotating shaft 2033 to rotate, thereby driving the fixed base 2021 and the probe unit 201 to adjust the circumferential angle.

[0025] Preferably, both the first drive unit 2023 and the second drive unit 2032 can be rotary motors.

[0026] The underground hidden disease structure light and shadow detection device also includes a support platform 400, which is supported on the ground by multiple support rods. A horizontally placed mobile platform 500 is provided below the support platform 400. The support platform 400 and the mobile platform 500 are directly connected by a vertically arranged third drive unit 501. The third drive unit 501 is used to drive the mobile platform 500 to move up and down. Both the support platform 400 and the movable platform 500 are provided with through holes for the probe rod 100 to pass through. The movable platform 500 is fixedly installed with a clamping part 502, which is used to clamp and fix the probe rod 100. The probe rod 100 is clamped and fixed by the clamping part 502, and the moving table 500 is driven to move up and down by the third driving part 501, thereby driving the probe rod 100 to adjust its height. The clamping part 502 includes at least one fixing rod 5021 and at least one fourth driving part 5022. The fixing rod 5021 and the fourth driving part 5022 are both arranged radially along the through hole. An arc plate 5023 is fixed to one end of the fixing rod 5021 and the fourth driving part 5022 near the central axis of the through hole. The side of the arc plate 5023 near the central axis of the through hole is an arc surface that fits against the peripheral wall of the probe rod 100. The fourth driving part 5022 is used to drive the connected arc plate 5023 to move closer to or away from the central axis of the through hole. Preferably, there are two fixed rods 5021 and two fourth drive units 5022. The fixed rods 5021 and the fourth drive units 5022 correspond one-to-one, and the fixed rods 5021 and the corresponding fourth drive units 5022 are arranged opposite to each other. The probe rod 100 is placed between each arc plate 5023. The corresponding arc plate 5023 is driven to approach the probe rod 100 by the fourth drive unit 5022. Finally, the arc plate 5023 corresponding to the fourth drive unit 5022 is tightly attached to the periphery of the probe rod 100, thus completing the fixation of the probe rod 100. Preferably, both the third drive unit 501 and the fourth drive unit 5022 can be selected as hydraulic push rods or telescopic cylinders.

[0027] A level detector 503 is fixedly installed on the support platform 400. The level of the support platform 400 is monitored by the level detector 503. Before the inspection of hidden defects, the placement angle of the support platform 400 is adjusted by the column stabilizer or shims to keep the support platform 400 in a horizontal position, thereby effectively ensuring the verticality of the probe 100 and avoiding measurement errors.

[0028] Preferably, a temporary fixing part 401 is fixed on the support platform 400. The temporary fixing part 401 includes a pair of symmetrically placed clamps. Both clamps are provided with arc-shaped grooves that are adapted to the periphery of the probe rod 100. The two clamps are detachably connected by bolts. Either clamp is fixed to the support platform 400 by a connecting rod. The probe rod 100 passes through the space between the two clamps. The probe rod 100 is temporarily fixed by tightening the bolts. After the third drive unit 501 drives the moving stage 500 to move down to the maximum stroke position, the probe rod 100 is clamped and fixed by the temporary fixing part 401 or manually. At this time, the clamping part 502 releases the clamping and fixing of the probe rod 100, and the moving stage 500 is driven to move up and reset by the third drive unit 501. After the moving stage 500 is reset, the probe rod 100 is clamped and fixed again by the clamping part 502. After the clamping and fixing is completed, the temporary fixing part 401 or manually can release the clamping and fixing of the probe rod 100. After that, the third drive unit 501 drives the moving stage 500 and the clamping part 502 to move down, so that the probe rod 100 can continue to move down.

[0029] Preferably, the lower end of the probe rod 100 is provided with an external thread 101, and the upper end of the probe rod 100 is provided with a first internal thread hole 102. Any two probe rods 100 can be threadedly connected to each other through the external thread 101 at their close ends and the first internal thread hole 102. By splicing multiple probe rods 100 together, the detection depth can be extended.

[0030] Preferably, the connecting seat 2031 has a second internal threaded hole, which is threadedly connected to the external thread 101 at the lower end of any probe 100, so as to realize the detachable connection between the light and shadow detection mechanism 200 and the probe 100.

[0031] Preferably, the control processing module 300 further includes a PLC controller, which automatically controls the working status of the first drive unit 2023, the second drive unit 2032, the third drive unit 501 and the fourth drive unit 5022. Preferably, the control processing module 300 is electrically connected to the power module 600. The power module 600 includes a power supply unit for supplying power to the first drive unit 2023 and the second drive unit 2032, and a pressure supply unit for supplying oil or air to the third drive unit 501 and the fourth drive unit 5022. The power supply unit is connected to the first drive unit 2023 and the second drive unit 2032 via wires, and the pressure supply unit is connected to the third drive unit 501 and the fourth drive unit 5022 via oil or air circuits. The power module 600 is prior art and will not be described in detail in this application.

[0032] Preferably, a buffer block 204 made of elastic material is fixed to the lower end of the second rotating shaft 2033 to avoid rigid collision between the light and shadow detection mechanism 200 and the bottom of the detection borehole during the descent process.

[0033] Preferably, a protective cylinder 205 with its central axis horizontally positioned is fixed on the peripheral wall of the second rotating shaft 2033. The end of the protective cylinder 205 away from the second rotating shaft 2033 is open. The fixed seat 2021 of the first adjusting unit 202 is connected to the second rotating shaft 2033 through a fifth driving part 206. The fifth driving part 206 is used to drive the fixed seat 2021 to move axially along the protective cylinder 205, and the fifth driving part 206 can drive the probe head unit 201 to completely retract into the protective cylinder 205. With the arrangement of the fifth driving part 206 and the protective cylinder 205, during the downward movement of the probe rod 100 and the probe head unit 201, the probe head unit 201 can be completely retracted into the protective cylinder 205 for effective protection. The fifth driving part 206 can be an electric push rod or a telescopic cylinder, etc.

[0034] A method for detecting the structural light and shadow of hidden underground defects, using the aforementioned device for detecting the structural light and shadow of hidden underground defects, specifically includes the following steps: The detection rod 100, with the light and shadow detection mechanism 200 installed at the lower end, is vertically inserted into the pre-drilled detection hole until the light and shadow detection mechanism 200 reaches the location of the hidden disease. The control processing module 300 controls the first adjustment unit 202 and / or the second adjustment unit 203 to drive the probe head unit 201 to move sequentially to a pose composed of different vertical angles and circumferential angles; When the probe unit 201 is in any position, the camera unit 2011 captures image data of the hidden defects in real time, while the measurement unit 2012 measures the distance between the probe unit 201 and the wall surface at the hidden defect in real time. The vertical angle, circumferential angle, image data and measurement distance corresponding to each pose are transmitted to the control processing module 300; The control and processing module 300 calculates the three-dimensional coordinates of the detection points on the surface of the hidden disease in a spatial rectangular coordinate system with the probe unit 201 as the origin, based on the vertical angle, circumferential angle and measurement distance of each pose, and generates the three-dimensional spatial contour of the hidden disease based on each three-dimensional coordinate. By mapping image data onto the surface corresponding to the three-dimensional spatial contour, a 3D imaging model of hidden lesions with realistic texture is obtained.

[0035] When there are two measuring units 2012 in the probe head unit 201, the two measuring units 2012 measure the distance between themselves and the wall surface of the hidden disease, and calculate the average of the two distance values ​​as the measurement distance.

[0036] Let the three-dimensional coordinates of any detection point on the surface of a hidden defect in a spatial rectangular coordinate system with the detector unit 201 as the origin be ( x,y,z ), where the positive direction of the z-axis is vertically upward; Vertical angle corresponding to the detection point Circular corner and the measured distance L are respectively , and L ; like Figure 9 As shown, when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: like Figure 10 As shown, when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: like Figure 11 As shown, when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: like Figure 12 As shown, when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: When the probe unit 201 is placed horizontally, the vertical rotation angle is... The vertical angle is 0°; when the probe unit 201 is vertically upward, the vertical rotation angle is 0°. The vertical angle is 90°; when the probe unit 201 is vertically downward, the vertical rotation angle is 90°. It is -90°.

[0037] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A light and shadow detection device for underground hidden defects, comprising a detection rod (100) for vertically extending into a detection borehole, characterized in that, It also includes a control processing module (300) and a light and shadow detection mechanism (200) installed at the lower end of the detection rod (100). The light and shadow detection mechanism (200) includes a detection head unit (201), a first adjustment unit (202) and a second adjustment unit (203); The probe unit (201) includes a camera unit (2011) and a measuring unit (2012). The camera unit (2011) is used to capture images of the hidden disease site, and the measuring unit (2012) is used to measure the distance between the probe unit (201) and the wall surface of the hidden disease site. The first adjustment unit (202) is connected to the probe head unit (201) and is used to drive the probe head unit (201) to rotate in the vertical plane to adjust the vertical angle of the probe head unit (201). The second adjustment unit (203) is connected to the first adjustment unit (202) and is used to drive the first adjustment unit (202) to rotate around the vertical axis in the horizontal plane to adjust the circumferential angle of the probe head unit (201); The control processing module (300) is electrically connected to the light and shadow detection mechanism (200) to control the first adjustment unit (202) and the second adjustment unit (203), and at the same time receives and records the real-time vertical angle, circumferential angle and the measurement distance between the detector head unit (201) and the wall surface of the hidden disease when in the corresponding pose.

2. The underground hidden disease structure light and shadow detection device according to claim 1, characterized in that, The probe unit (201) has two measuring units (2012), which are arranged symmetrically about the camera unit (2011).

3. The underground hidden disease structure light and shadow detection device according to claim 2, characterized in that, The probe unit (201) also includes a fixing block (2013), on which the camera unit (2011) and the measuring unit (2012) are both mounted; A light source unit (2014) is also fixedly connected to the fixing block (2013) for providing a light source for recording images of hidden defects and measuring distances.

4. The underground hidden disease structure light and shadow detection device according to claim 3, characterized in that, The first adjustment unit (202) includes a fixed base (2021), on which a horizontally placed first rotating shaft (2022) is rotatably connected. A fixed block (2013) is fixedly sleeved on the first rotating shaft (2022). A first driving part (2023) is fixedly installed on the fixed base (2021). The first driving part (2023) is connected to either end of the first rotating shaft (2022) and is used to drive the first rotating shaft (2022) to rotate.

5. The underground hidden disease structure light and shadow detection device according to claim 4, characterized in that, The second adjustment unit (203) includes a connecting seat (2031) connected to the lower end of the probe rod (100). A second drive unit (2032) is fixedly installed at the lower end of the connecting seat (2031). A vertically placed second rotating shaft (2033) is connected to the lower end of the second drive unit (2032). The second drive unit (2032) is used to drive the second rotating shaft (2033) to rotate. The mounting base (2021) of the first adjustment unit (202) is fixedly connected to the peripheral wall of the second rotating shaft (2033).

6. The underground hidden disease structure light and shadow detection device according to claim 5, characterized in that, The underground hidden disease structure light and shadow detection device also includes a support platform (400), which is supported on the ground by multiple support rods. A horizontally placed mobile platform (500) is provided below the support platform (400). The support platform (400) and the mobile platform (500) are directly connected by a vertically arranged third drive unit (501). The third drive unit (501) is used to drive the mobile platform (500) to move up and down. Both the support platform (400) and the moving platform (500) have through holes for the probe rod (100) to pass through. The moving platform (500) is fixedly installed with a clamping part (502) for clamping and fixing the probe rod (100).

7. The underground hidden disease structure light and shadow detection device according to claim 6, characterized in that, A level measuring instrument (503) is fixedly installed on the support platform (400).

8. A method for detecting the structural light and shadow of underground hidden defects, comprising using the structural light and shadow detection device for detecting the structural light and shadow of underground hidden defects as described in any one of claims 1 to 7, characterized in that... Specifically, the following steps are included: The probe rod (100) with the light and shadow detection mechanism (200) installed at the lower end is vertically inserted into the pre-drilled detection hole until the light and shadow detection mechanism (200) reaches the location of the hidden disease. The control processing module (300) controls the first adjustment unit (202) and / or the second adjustment unit (203) to drive the probe head unit (201) to move sequentially to the pose composed of different vertical angles and circumferential angles; When the probe unit (201) is in any position, the camera unit (2011) captures image data of the hidden disease in real time, and at the same time the measurement unit (2012) measures the distance between the probe unit (201) and the wall surface at the hidden disease in real time. The vertical angle, circumferential angle, image data and measurement distance corresponding to each pose are transmitted to the control processing module (300). The control processing module (300) calculates the three-dimensional coordinates of the detection points on the surface of the hidden disease in the spatial rectangular coordinate system with the probe unit (201) as the origin based on the vertical angle, circumferential angle and measurement distance of each pose, and generates the three-dimensional spatial contour of the hidden disease based on each three-dimensional coordinate. By mapping image data onto the surface corresponding to the three-dimensional spatial contour, a 3D imaging model of hidden lesions with realistic texture is obtained.

9. The method for detecting hidden underground structural defects using light and shadow according to claim 8, characterized in that, When there are two measuring units (2012) in the probe head unit (201), the two measuring units (2012) measure the distance between themselves and the wall surface of the hidden disease, and calculate the average value of the two distance values ​​as the measurement distance.

10. The method for detecting hidden underground structural defects using light and shadow according to claim 9, characterized in that, Let the three-dimensional coordinates of any detection point on the surface of the hidden disease be defined in a spatial rectangular coordinate system with the detector unit (201) as the origin as ( x,y, z ), where the positive direction of the z-axis is vertically upward; Vertical angle corresponding to the detection point Circular corner and the measured distance L are respectively , and L ; when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: when At that time, the three-dimensional coordinates are ( x,y,z The formula for calculating ) is as follows: When the probe unit (201) is placed horizontally, the vertical rotation angle is... The vertical rotation angle is 0°; when the probe unit (201) is vertically upward, the vertical rotation angle is 0°. The vertical angle is 90°; when the probe unit (201) is vertically downward, the vertical rotation angle is 90°. It is -90°.

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