A three-dimensional laser intelligent scanning instrument for underground mine shafts

Abstract

The present application belongs to the technical field of mine shaft measurement, and particularly relates to a three-dimensional laser intelligent scanning instrument for underground mine shafts, which aims at the problem that the existing three-dimensional laser intelligent scanning instrument for underground mine shafts is prone to bracket slipping due to wet shaft wall during three-dimensional scanning operation, thereby affecting scanning accuracy, and proposes the following scheme, which comprises a grooved frame, the outer wall of the lower end of the grooved frame is connected with one end of a plurality of supporting legs through bearings at equal intervals, and a mounting slot hole is formed in one side of each supporting leg. The three-dimensional laser intelligent scanning instrument for underground mine shafts disclosed in the present application has the advantages that hot air is pre-collected before the device is fixed by using a drying and anti-skid assembly, and then the hot air is used to dry the contact position of the supporting leg and the shaft wall during the device fixing process, thereby avoiding the situation that the posture of the scanning instrument deviates or shakes due to the excessive wetness of the contact position of the supporting leg and the shaft wall, and ensuring the accuracy and integrity of the three-dimensional model.

Description

Technical Field

[0001] This invention relates to the field of mine shaft measurement technology, and in particular to a three-dimensional laser intelligent scanner for underground mine shafts. Background Technology

[0002] The 3D laser intelligent scanner for underground mine shafts is an intelligent device that integrates advanced technologies such as high-precision lidar, SLAM autonomous positioning and mapping, and multi-sensor fusion. It can quickly and safely acquire high-precision 3D spatial point cloud data in complex and high-risk shaft environments without GPS signals. This technology has been widely used in many key areas such as mine goaf and ore pass detection, 3D modeling of roadways and chambers, shaft deformation monitoring, engineering acceptance, digital mine construction, and ore pile volume measurement.

[0003] When existing 3D laser intelligent scanning instruments for underground mine shafts are used for 3D scanning operations, the shafts are usually in a humid environment with high humidity and frequent water droplets. The contact point between the support fixing the scanning instrument and the shaft wall is prone to slippage, which causes the scanning instrument to shift or shake, seriously affecting the accuracy and integrity of the 3D model. Summary of the Invention

[0004] This invention discloses a three-dimensional laser intelligent scanning device for underground mine shafts, which aims to solve the technical problem in the prior art where existing three-dimensional laser intelligent scanning devices for underground mine shafts are prone to slippage of the support due to damp shaft walls, thus affecting the scanning accuracy.

[0005] This invention proposes a 3D laser intelligent scanning device for underground mine shafts, comprising a slotted frame. Multiple support legs are connected at equal intervals to one end of the lower outer wall of the slotted frame via bearings. Each support leg has a mounting slot on one side, and each mounting slot contains a mis-pulling / slip detection component. The other end of each support leg has a setting groove, and each setting groove contains a rotating shaft connected via bearings. A drying and anti-slip component is fixedly connected to the outer wall of each rotating shaft. Each drying and anti-slip component includes a support block, which is fixedly connected to the outer wall of the corresponding rotating shaft. A support is fixedly connected to the side of the support block away from the rotating shaft. The support foot has friction grooves on one side, and a moisture-proof cover is installed on the outer wall of the support foot. The moisture-proof cover can slide on the outer wall of the support foot and the support block. Pre-collection cylinders are fixedly connected to the outer walls of the two ends of the moisture-proof cover. The lower ends of the two pre-collection cylinders are respectively opened with connection holes. One end of the connecting pipe is fixedly connected to the inside of the two connection holes. The other end of the two connecting pipes is fixedly connected to one end of the multi-head pipe. The two connecting pipes are connected to the inside of the corresponding multi-head pipe. The same drying mesh pipe is fixedly connected to the opposite side of the two multi-head pipes. The drying mesh pipe is located inside the friction groove opened on one side of the support foot.

[0006] In a preferred embodiment, the outer walls of the two connecting pipes are respectively provided with electromagnetic valves, and the two ends of the moisture-proof cover are respectively fixedly connected to the side of the support block. Multiple heating wires are arranged at equal intervals inside the drying box.

[0007] In a preferred embodiment, each of the two drying ovens has an air inlet at its upper end, and an air inlet tube is inserted into each of the two air inlets. An air pump is fixedly connected to the upper end of each of the two drying ovens, and the air pump's air inlet is connected to one end of the corresponding air inlet tube.

[0008] In a preferred embodiment, air supply holes are provided on both sides of the two drying boxes, and one end of an air supply pipe is inserted into the two air supply holes located on the same drying box. The other ends of the two air supply pipes located on the same drying box are inserted into the corresponding pre-collection cylinders.

[0009] In a preferred embodiment, the outer wall of the moisture-proof cover has two vent holes at equal intervals, each vent hole is fitted with an vent pipe, and the outer wall of each vent pipe is fitted with a one-way valve. The support block is fixedly connected at equal intervals to the side away from the moisture-proof cover.

[0010] In a preferred embodiment, the outer walls of the two limiting rods located at the same end are slidably connected to the same connecting frame, the two connecting frames are fixedly connected to the same moisture-proof cover, and the outer walls of the multiple limiting rods are respectively fitted with sealing springs. One end of the multiple sealing springs is fixedly connected to the corresponding connecting frame, and the other end of the multiple sealing springs is fixedly connected to the upper inner wall of the corresponding limiting rod.

[0011] In a preferred embodiment, the erroneous lifting and sliding detection component includes a rotating shaft, which is connected to the mounting slot of the corresponding support leg via a bearing. A detection block is fixedly connected to the outer wall of the rotating shaft, and an electric telescopic rod is fixedly connected to one side of the detection block. A detection chamber is fixedly connected to the telescopic end of the electric telescopic rod, and a detection motor is fixedly connected to the outer wall of the support leg. The drive end of the detection motor is connected to one end of the rotating shaft via a coupling.

[0012] In a preferred embodiment, two equally spaced grooves are formed on one side of the detection chamber, and the same contact block is slidably connected inside the two grooves. Two guide rods are fixedly connected at equal intervals inside the detection chamber. The end of the contact block inside the detection chamber slides on the outer wall of the two guide rods. The outer walls of both ends of the two guide rods are respectively fitted with telescopic springs. One end of the multiple telescopic springs is fixedly connected to the inner wall of the detection chamber, and the other end of the multiple telescopic springs is fixedly connected to the contact block. Pressure sensors are respectively installed on the upper and lower inner walls of the detection chamber. Hammers are fixedly connected to both sides of the end of the contact block inside the detection chamber.

[0013] In a preferred embodiment, a head end shell is fixedly connected to the upper end of the slotted frame, one end of a steel cable is fixedly connected to the upper side of the head end shell, a scanner body is provided at the lower end of the slotted frame, and a sliding disk is slidably connected inside the slotted frame.

[0014] In a preferred embodiment, the outer wall of the sliding disc is connected to one end of a push-pull rod at equal intervals via bearings. The outer wall of the other end of the push-pull rod is respectively fitted with a buffer cylinder. The buffer cylinder is equipped with a buffer spring. One end of the buffer spring is fixedly connected to the inner wall of the corresponding buffer cylinder, and the other end of the buffer spring is fixedly connected to the corresponding push-pull rod. One end of the buffer cylinder is connected to the corresponding support leg via bearings. The inside of the grooved frame is connected to a lead screw via bearings. The sliding disc is fitted onto the outer wall of the lead screw. The upper end of the grooved frame is fixedly connected to a drive motor. The drive motor is located inside the head end housing, and the drive end of the drive motor is connected to one end of the lead screw via a coupling.

[0015] As can be seen from the above, the three-dimensional laser intelligent scanning device for underground mine shafts provided by the present invention utilizes a drying and anti-slip component to pre-collect hot airflow before the device is fixed. Subsequently, during the device fixing process, the pre-collected hot airflow is used to dry the contact area between the support foot and the shaft wall, avoiding excessive moisture at the contact area between the support foot and the shaft wall, which could cause the scanning device to shift or shake, thus ensuring the accuracy and integrity of the three-dimensional model. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a three-dimensional laser intelligent scanner for underground mine shafts proposed in this invention; Figure 2 This is a schematic diagram of the internal cross-sectional structure of the slotted frame of a three-dimensional laser intelligent scanner for underground mine shafts proposed in this invention; Figure 3 This is a schematic diagram of the internal cross-sectional structure of the buffer cylinder of a three-dimensional laser intelligent scanner for underground mine shafts proposed in this invention; Figure 4 This is a schematic diagram of the overall structure of the drying and anti-slip component of a three-dimensional laser intelligent scanner for underground mine shafts proposed in this invention; Figure 5 This is an exploded view of the drying and anti-slip component of a three-dimensional laser intelligent scanner for underground mine shafts proposed in this invention; Figure 6 This is a schematic diagram of the internal structure of the drying chamber in the drying and anti-slip component of a three-dimensional laser intelligent scanner for underground mine shafts proposed in this invention; Figure 7 This is an exploded structural diagram of the erroneous lifting and sliding detection component of a three-dimensional laser intelligent scanner for underground mine shafts proposed in this invention; Figure 8 This is a schematic diagram of the internal cross-sectional structure of the detection chamber in the erroneous lifting and sliding detection component of a three-dimensional laser intelligent scanner for underground mine shafts proposed in this invention.

[0017] In the diagram: 1. Steel cable; 2. Head end casing; 3. Grooved frame; 4. Push-pull rod; 5. Buffer cylinder; 6. Drying anti-slip assembly; 601. Pre-collection cylinder; 602. Moisture-proof cover; 603. Support foot; 604. One-way valve; 605. Exhaust pipe; 606. Drying mesh pipe; 607. Multi-head pipe; 608. Connecting pipe; 609. Gas supply pipe; 610. Support block; 611. Limiting rod; 612. Sealing spring; 613. Connecting frame; 614. Drying box; 615. Solenoid valve; 6 16. Heating wire; 617. Inflation tube; 618. Air pump; 7. Accidental pull sliding detection assembly; 701. Detection chamber; 702. Electric telescopic rod; 703. Detection block; 704. Rotating shaft; 705. Detection motor; 706. Telescopic spring; 707. Guide rod; 708. Pressure sensor; 709. Contact block; 710. Hammer; 8. Support leg; 9. Scanner body; 10. Drive motor; 11. Sliding disk; 12. Lead screw; 13. Buffer spring; 14. Rotating shaft. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] The three-dimensional laser intelligent scanning instrument for underground mine shafts disclosed in this invention is mainly applied to scenarios where existing three-dimensional laser intelligent scanning instruments for underground mine shafts are prone to slippage of the support due to damp shaft walls, which affects the scanning accuracy.

[0020] Reference Figures 1-6 A three-dimensional laser intelligent scanner for underground mine shafts includes a slotted frame 3. Multiple support legs 8 are connected at equal intervals to one end of the lower outer wall of the slotted frame 3 via bearings. Each support leg 8 has a mounting slot on one side, and each mounting slot contains a mis-pulling / slip detection component 7. The other end of each support leg 8 has a setting groove, and each setting groove contains a rotating shaft 14 connected via bearings. Each rotating shaft 14 has a drying and anti-slip component 6 fixedly connected to its outer wall. The drying and anti-slip component 6 includes a support block 610, which is fixedly connected to the outer wall of the corresponding rotating shaft 14. A support foot 603 is fixedly connected to the side of the support block 610 away from the rotating shaft 14.

[0021] Friction grooves are provided longitudinally and transversely on one side of the support foot 603. A moisture-proof cover 602 is provided on the outer wall of the support foot 603. The moisture-proof cover 602 can slide on the outer wall of the support foot 603 and the support block 610. Pre-collection cylinders 601 are fixedly connected to the outer walls of both ends of the moisture-proof cover 602. Connection holes are provided at the lower ends of the two pre-collection cylinders 601. One end of the connecting pipe 608 is fixedly connected to the inside of the two connection holes. The other end of the two connecting pipes 608 is fixedly connected to one end of the multi-head pipe 607. The two connecting pipes 608 are connected to the inside of the corresponding multi-head pipe 607. The same drying mesh pipe 606 is fixedly connected to the opposite side of the two multi-head pipes 607.

[0022] The drying mesh tube 606 is internally connected to the two multi-head tubes 607, and the drying mesh tube 606 is located inside the friction groove opened on one side of the support foot 603.

[0023] In this invention, electromagnetic valves 615 are respectively provided on the outer walls of the two connecting pipes 608, and drying boxes 614 are respectively fixedly connected to the two ends of the moisture-proof cover 602 near the support block 610. Multiple heating wires 616 are arranged at equal intervals inside the drying box 614.

[0024] In this invention, each of the two drying ovens 614 has an air inlet at its upper end, and an air inlet pipe 617 is inserted into each of the two air inlets. Each of the two drying ovens 614 is fixedly connected to an air pump 618 at its upper end, and the air pump end of each of the two air pumps 618 is connected to one end of the corresponding air inlet pipe 617.

[0025] In this invention, air supply holes are provided on both sides of the two drying boxes 614. One end of an air supply pipe 609 is inserted into the two air supply holes on the same drying box 614, and the other end of the two air supply pipes 609 on the same drying box 614 is inserted into the corresponding pre-collection cylinder 601.

[0026] In this invention, the outer wall of the moisture-proof cover 602 has two vent holes at equal intervals, and each vent hole is connected to an vent pipe 605. The outer wall of each vent pipe 605 is provided with a one-way valve 604. The support block 610 is fixedly connected to a plurality of limit rods 611 at equal intervals on the side away from the moisture-proof cover 602.

[0027] In this invention, the outer walls of two limiting rods 611 located at the same end are slidably connected to the same connecting frame 613. The two connecting frames 613 are fixedly connected to the same moisture-proof cover 602. The outer walls of multiple limiting rods 611 are respectively fitted with sealing springs 612. One end of multiple sealing springs 612 is fixedly connected to the corresponding connecting frame 613, and the other end of multiple sealing springs 612 is fixedly connected to the upper inner wall of the corresponding limiting rod 611.

[0028] Specifically, before the scanner body 9 is fixed, multiple air pumps 618 are turned on to inflate the corresponding drying chambers 614 through the air inflator pipes 617. The airflow inside the drying chambers 614 is heated by the heating wires 616 and then transported to the pre-collection cylinder 601 through the air delivery pipes 609. Since the solenoid valves 615 are closed at this time, the hot airflow is stored inside the pre-collection cylinder 601. When the support foot 603 contacts the well wall, the solenoid valves 615 are turned on to allow the pre-stored hot airflow to enter the drying mesh pipe 606 through the connecting pipe 608 and the multi-head pipe 607. Then the drying mesh pipe 606 dries the contact area between the support foot 603 and the well wall to prevent the contact area between the support foot 603 and the well wall from being too wet and causing slippage.

[0029] In specific application scenarios, when the support foot 603 is fully in contact with the well wall, the moisture-proof cover 602 prevents external moisture from re-entering the contact area between the support foot 603 and the well wall. At the same time, the air pump 618 is always on during the device's fixation, thus ensuring that the inside of the moisture-proof cover 602 remains dry. Since the moisture-proof cover 602 slides on the outer wall of the support foot 603 and the support block 610, it does not obstruct the contact between the support foot 603 and the well wall. Meanwhile, the sealing performance of the moisture-proof cover 602 is improved by the action of multiple sealing springs 612. Finally, excess gas is discharged through the exhaust pipe 605, and the one-way valve 604 prevents the backflow of humid gas.

[0030] Reference Figure 1 , Figure 2 , Figure 3 , Figure 7 and Figure 8 In a preferred embodiment, the accidental lifting and sliding detection assembly 7 includes a rotating shaft 704. The rotating shaft 704 is connected to the mounting slot of the corresponding support leg 8 via a bearing. A detection block 703 is fixedly connected to the outer wall of the rotating shaft 704. An electric telescopic rod 702 is fixedly connected to one side of the detection block 703. A detection chamber 701 is fixedly connected to the telescopic end of the electric telescopic rod 702. A detection motor 705 is fixedly connected to the outer wall of the support leg 8. The drive end of the detection motor 705 is connected to one end of the rotating shaft 704 via a coupling.

[0031] In this invention, two grooves are equally spaced on one side of the detection chamber 701, and the same contact block 709 is slidably connected inside the two grooves. Two guide rods 707 are fixedly connected at equal intervals inside the detection chamber 701. One end of the contact block 709 inside the detection chamber 701 slides on the outer wall of the two guide rods 707. The outer walls of both ends of the two guide rods 707 are respectively fitted with telescopic springs 706. One end of the multiple telescopic springs 706 is fixedly connected to the inner wall of the detection chamber 701, and the other end of the multiple telescopic springs 706 is fixedly connected to the contact block 709. Pressure sensors 708 are respectively provided on the upper inner wall and the lower inner wall of the detection chamber 701. Hammers 710 are fixedly connected to both sides of the contact block 709 inside the detection chamber 701.

[0032] Specifically, after the scanner body 9 is fixed, the detection motor 705 and the electric telescopic rod 702 are activated, causing the contact block 709 on the detection chamber 701 to contact the well wall. When the scanner body 9 is accidentally pulled and slid, the detection chamber 701 and the contact block 709 move relative to each other due to friction. During this process, the detection chamber 701 moves upward, causing the pressure sensor 708 located below to contact the hammer 710 located below, resulting in a change in pressure value. This indicates that the device has shifted, thus reminding the staff to make timely adjustments to ensure the accuracy of the scanning work. Similarly, when the scanner body 9 slides downward, it can still be detected.

[0033] Reference Figure 1 , Figure 2 and Figure 3 In a preferred embodiment, the upper end of the slotted frame 3 is fixedly connected to the head end housing 2, and one end of the steel cable 1 is fixedly connected to the upper side of the head end housing 2. The lower end of the slotted frame 3 is provided with the scanner body 9. The inside of the slotted frame 3 is slidably connected to the sliding disk 11. The outer wall of the sliding disk 11 is connected to one end of the push-pull rod 4 at equal intervals through bearings. The outer wall of the other end of the multiple push-pull rods 4 is respectively fitted with buffer cylinders 5. The inside of the multiple buffer cylinders 5 is provided with buffer springs 13. One end of the multiple buffer springs 13 is fixedly connected to the inner wall of the corresponding buffer cylinder 5, and the other end of the multiple buffer springs 13 is fixedly connected to the corresponding push-pull rod 4. One end of the multiple buffer cylinders 5 is respectively connected to the corresponding support leg 8 through bearings. The inside of the slotted frame 3 is connected to the lead screw 12 through bearings. The sliding disk 11 is fitted on the outer wall of the lead screw 12. The upper end of the slotted frame 3 is fixedly connected to the drive motor 10. The drive motor 10 is located inside the head end housing 2, and the drive end of the drive motor 10 is connected to one end of the lead screw 12 through a coupling.

[0034] Working principle: During use, the operator moves the device to the required working position inside the shaft through the wellhead control platform. Then, by turning on the drive motor 10, the lead screw 12 is rotated. The sliding plate 11 moves downward under the action of the lead screw 12. At this time, multiple push-pull rods 4 rotate and push the corresponding support legs 8 through the corresponding buffer cylinders 5, so that multiple support legs 8 expand outward synchronously until the corresponding support feet 603 on them are pressed and contacted with the well wall, thereby fixing the scanner body 9 in the middle position of the shaft. Then, the scanner body 9 is turned on to perform scanning operations.

[0035] Before the scanner body 9 is fixed, multiple air pumps 618 are turned on to fill the corresponding drying chamber 614 with air through the air filling pipe 617. The airflow inside the drying chamber 614 is heated by the heating wire 616 and then transported to the pre-collection cylinder 601 through the air supply pipe 609. Since the solenoid valve 615 is closed at this time, the hot airflow is stored inside the pre-collection cylinder 601. When the support foot 603 contacts the well wall, the solenoid valve 615 is turned on to allow the pre-stored hot airflow to enter the drying mesh pipe 606 through the connecting pipe 608 and the multi-head pipe 607.

[0036] Subsequently, the drying network pipe 606 dries the contact area between the support foot 603 and the well wall to prevent the contact area from becoming too damp and causing slippage. Meanwhile, once the support foot 603 is fully in contact with the well wall, the moisture-proof cover 602 prevents external moisture from re-entering the contact area. The air pump 618 remains running throughout the installation process to ensure the inside of the moisture-proof cover 602 remains dry. Since the moisture-proof cover 602 slides on the outer wall of the support foot 603 and the support block 610, it does not obstruct the contact between the support foot 603 and the well wall. Furthermore, the sealing performance of the moisture-proof cover 602 is improved by the action of multiple sealing springs 612. Finally, excess gas is discharged through the exhaust pipe 605, where the one-way valve 604 prevents the backflow of humid gas. Once the scanner body 9 is fixed in place, the detection motor 705 and the electric telescopic rod 702 are activated, causing the contact block 709 on the detection chamber 701 to contact the well wall. When the scanner body 9 is accidentally pulled and slid, the detection chamber 701 and the contact block 709 move relative to each other due to friction. During this process, the detection chamber 701 moves upward, causing the pressure sensor 708 located below to contact the hammer 710 located below, resulting in a change in pressure value. This indicates that the device has shifted, thus reminding the staff to make timely adjustments to ensure the accuracy of the scanning work. Similarly, when the scanner body 9 slides downward, it can still be detected.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A three-dimensional laser intelligent scanning device for underground mine shafts, comprising a slotted frame (3), characterized in that, The lower outer wall of the grooved frame (3) is connected to one end of a plurality of support legs (8) via bearings. The other end of the plurality of support legs (8) is connected to a rotating shaft (14) via bearings. The outer walls of the plurality of rotating shafts (14) are respectively fixedly connected to a drying anti-slip assembly (6). The drying anti-slip assembly (6) includes a support block (610). The support block (610) is fixedly connected to the outer wall of the corresponding rotating shaft (14). The side of the support block (610) away from the rotating shaft (14) is fixedly connected to a support foot (603). The outer wall of the support foot (603) is provided with a moisture-proof cover (602). The moisture-proof cover (602) can slide on the outer walls of the support foot (603) and the support block (610). The outer walls of the two ends of the moisture-proof cover (602) are respectively fixedly connected to a pre-collection cylinder (601).

2. The three-dimensional laser intelligent scanning device for underground mine shafts according to claim 1, characterized in that, The lower ends of the two pre-collection cylinders (601) are respectively fixedly connected to one end of the connecting pipe (608), and the other ends of the two connecting pipes (608) are respectively fixedly connected to one end of the multi-head pipe (607). The two multi-head pipes (607) are fixedly connected to the same drying mesh pipe (606) on opposite sides. The drying mesh pipe (606) is set on the support foot (603). The outer walls of the two connecting pipes (608) are respectively provided with electromagnetic valves (615). The moisture-proof cover (602) is fixedly connected to the drying box (614) on the side of its two ends close to the support block (610).

3. The three-dimensional laser intelligent scanning device for underground mine shafts according to claim 2, characterized in that, The two drying boxes (614) are respectively provided with air inlets at their upper ends, and air inlets (617) are respectively inserted into the two air inlets.

4. The three-dimensional laser intelligent scanning device for underground mine shafts according to claim 3, characterized in that, The two drying boxes (614) are provided with air supply holes on both sides. One end of the air supply pipe (609) is inserted into the two air supply holes on the same drying box (614), and the other end of the two air supply pipes (609) on the same drying box (614) is inserted into the corresponding pre-collection cylinder (601).

5. A three-dimensional laser intelligent scanning device for underground mine shafts according to claim 1, characterized in that, The outer wall of the moisture-proof cover (602) is provided with an exhaust hole, and an exhaust pipe (605) is inserted into the exhaust hole. A limit rod (611) is fixedly connected to the side of the support block (610) away from the moisture-proof cover (602).

6. The three-dimensional laser intelligent scanning device for underground mine shafts according to claim 5, characterized in that, The outer wall of the limiting rod (611) is slidably connected to a connecting frame (613), and the connecting frame (613) is fixedly connected to the moisture-proof cover (602). A sealing spring (612) is sleeved on the outer wall of the limiting rod (611). One end of the sealing spring (612) is fixedly connected to the connecting frame (613), and the other end of the sealing spring (612) is fixedly connected to the upper inner wall of the limiting rod (611).

7. A three-dimensional laser intelligent scanning device for underground mine shafts according to claim 1, characterized in that, The upper end of the slotted frame (3) is fixedly connected to the head end shell (2), and one end of the steel cable (1) is fixedly connected to the upper side of the head end shell (2). The lower end of the slotted frame (3) is provided with the scanner body (9).

8. A three-dimensional laser intelligent scanning device for underground mine shafts according to claim 7, characterized in that, The slotted frame (3) is connected to a lead screw (12) via a bearing. A sliding disc (11) is fitted on the outer wall of the lead screw (12). One end of a push-pull rod (4) is connected to the outer wall of the sliding disc (11) via a bearing. The other end of the push-pull rod (4) is connected to the corresponding support leg (8) via a bearing.

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