A device and method for synchronous measurement of micro trajectory and imaging of a water hole of a mine drill pipe

Abstract

The present application relates to the technical fields of mine equipment detection, and discloses a kind of mine drill pipe water hole micro track and imaging synchronous measurement device and method, including shell, the shell one end is fixedly connected with back cover, the shell other end is fixedly connected with connecting plate, the back cover is fixedly connected with first motor near shell side, the first motor output end is fixedly provided with threaded rod, the threaded rod surface is threadedly connected with moving disc, the shell surface is fixedly connected with multiple connectors, adjacent two the connector between It is rotatably connected with rotating member, the surface of multiple rotating members is rotatably connected with multiple wheels. By first motor driving threaded rod rotation, moving disc and slide bar are moved, so that sliding member and rotating rod are further moved, so that rotating member is outwardly expanded to form stable support structure, so that device can gradually contact with hole wall and realize automatic centering support after entering water hole.

Description

Technical Field

[0001] This invention relates to the field of mining equipment testing technology, specifically to a device and method for synchronously measuring the micro-trajectory and imaging of a water passage in a mining drill rod. Background Technology

[0002] Mining drill pipes typically have water passages for supplying coolant or removing slag. Over long periods of operation, these passages are prone to scaling, wear, or blockage, necessitating inspection of their internal condition. Currently, the most common inspection method involves inserting a probe or endoscope into the passage to observe and record the internal conditions, thus obtaining relevant information.

[0003] Existing detection devices typically lack effective radial support and adaptive adjustment structures after entering the water passage, which makes the device prone to eccentricity during operation within the passage, resulting in unstable imaging positions and inaccurate measurement results. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a micro-trajectory and imaging synchronous measurement device and method for water passage holes in mining drill rods, which solves the problem that the device is prone to eccentricity during operation inside the hole, resulting in unstable imaging position and inaccurate measurement results.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a micro-tracking and imaging synchronous measurement device for a water passage in a mining drill rod, comprising a housing, a rear cover fixedly connected to one end of the housing, a connecting plate fixedly connected to the other end of the housing, a first motor fixedly connected to the rear cover near the housing, a threaded rod fixedly provided at the output end of the first motor, a movable disk threadedly connected to the surface of the threaded rod, multiple connecting parts fixedly connected to the surface of the housing, rotating parts rotatably connected between adjacent connecting parts, multiple wheels rotatably connected to the surfaces of the multiple rotating parts, connecting blocks fixedly connected to the surfaces of the multiple rotating parts, rotating rods rotatably connected to the sides of the multiple connecting blocks near the housing, sliding parts rotatably connected to the sides of the multiple rotating rods near the housing, multiple sliding rods fixedly connected to the left side of the movable disk, multiple sliding parts slidably connected to adjacent sliding rods, a fixing member fixedly connected inside the housing, a driving assembly provided at the left end of the fixing member, a rotatably connected left end of the threaded rod to the fixing member, and multiple receiving grooves provided on the side of the fixing member near the threaded rod.

[0006] Preferably, the drive assembly includes a second motor, which is fixedly connected to a fixing member. A rotating rod is fixedly provided at the output end of the fixing member. A worm gear is fixedly connected to the surface of the rotating rod. Multiple worm wheels are meshed with the surface of the worm gear. A third sprocket is fixedly connected to the surface of each of the multiple worm wheels. Multiple fixed posts are fixedly connected inside the housing. Each of the multiple fixed posts is rotatably connected to an adjacent worm wheel and a third sprocket.

[0007] Preferably, each of the plurality of rotating components is rotatably connected to a first sprocket, and each of the plurality of first sprockets is provided with a second chain between it and an adjacent third sprocket.

[0008] Preferably, each of the plurality of rotating components is rotatably connected to a second sprocket, each of the plurality of second sprockets is fixedly connected to an adjacent wheel, and each of the plurality of second sprockets is provided with a first chain between it and an adjacent first sprocket.

[0009] Preferably, a glass cover is fixedly connected to the side of the connecting plate away from the outer shell, and a cleaning brush is rotatably connected to the side of the glass cover away from the connecting plate. The cleaning brush is fixedly connected to the rotating rod.

[0010] Preferably, a data acquisition module is fixedly connected to the side of the connecting plate away from the outer casing, and a control module is fixedly connected to the side of the connecting plate away from the outer casing.

[0011] Preferably, springs are fixedly connected to both sides of the plurality of sliding members, with the ends of the plurality of springs on the left side that are away from the sliding members being fixedly connected to the slide rod, and the ends of the plurality of springs on the right side that are away from the sliding members being fixedly connected to the movable disk.

[0012] Preferably, a plurality of sliding blocks are fixedly connected to the surface of the movable disk, and a plurality of sliding grooves are provided on the surface of the outer shell, wherein the plurality of sliding blocks are slidably connected to the outer shell through adjacent sliding grooves.

[0013] Preferably, the device also includes a data converter, an intrinsically safe handheld terminal for mining, and a depth counter. The depth counter is connected between the data converter and the housing. The acquisition module and the control module transmit data to the data converter through the depth counter, and the data converter forwards the data to the intrinsically safe handheld terminal for mining for real-time display.

[0014] A method for simultaneous measurement of the micro-trajectory and imaging of a water passage in a mining drill rod includes the following steps: S1. Insert the entire device into the water passage of the mine drill rod, so that the outer shell enters the hole and completes the initial positioning. S2. Start the first motor to drive the threaded rod to rotate. Through the threaded transmission, the moving disk moves along the axial direction of the outer shell. The moving disk drives the sliding rod and sliding parts to move synchronously. Through the rotating rod, the rotating parts are driven to rotate around the connecting parts, so that multiple rotating parts are radially extended outward. S3. During the unfolding process of the rotating part, the springs set on both sides of the sliding part generate elastic deformation, so that the rotating part and the inner wall of the water passage form an adaptive fit. S4. After completing the centering support, start the second motor, drive the worm to rotate through the rotating rod, and mesh with the worm wheel to drive the third sprocket to rotate; S5. The power of the third sprocket is transmitted to the first sprocket inside the rotating part through the second chain, and then the power is transmitted to the second sprocket through the first chain, driving the wheel fixedly connected to the second sprocket to rotate synchronously, so that the device rolls and propels itself in the water passage hole. S6. During the device's advancement process, the depth counter lays out lines as the device moves and measures the advancement depth of the device in the water passage hole in real time; at the same time, the acquisition module set at the front end of the connecting plate acquires images of the inner wall of the water passage hole through the glass cover, and the control module receives the images and status data. S7. The control module transmits the received image information, status information, and depth data collected by the depth counter to the depth counter via cable, and forwards them to the intrinsically safe handheld terminal for mining via the data converter. The intrinsically safe handheld terminal for mining synchronously displays and stores the acquired image information, depth information, and status information during device operation. S8. During image acquisition, the cleaning brush is rotated synchronously by the rotating rod to clean the surface of the glass cover.

[0015] This invention provides a device and method for synchronously measuring the micro-trajectory and imaging of a water passage in a mining drill pipe. It offers the following advantages: 1. The present invention uses a first motor to drive the threaded rod to rotate, thereby driving the moving disk and the sliding rod to move, which in turn drives the sliding component and the rotating rod to move, so that the rotating component unfolds outward to form a stable support structure, enabling the device to gradually contact the hole wall and achieve automatic centering support after entering the water passage.

[0016] 2. This invention provides an elastic buffer structure between the sliding member, the sliding rod, and the moving disk, thereby providing elastic cushioning during the outward expansion of the rotating member. This allows the rotating member to adaptively adjust according to the actual dimensional changes of the inner wall of the water passage, creating a flexible contact between the support structure and the hole wall. This enables the device to adaptively conform to irregular changes in the hole wall during operation within the water passage, avoiding jamming or structural impact caused by rigid contact, and improving the device's adaptability and operational stability in complex passage environments.

[0017] 3. By setting a sprocket and chain transmission structure between rotating parts, the present invention enables the rotating parts to continue to rotate synchronously through the meshing transmission relationship between the sprocket and the chain when they rotate to any angle. This allows the wheel to continue to drive and output, ensuring that the device can maintain stable drive and continuous rolling propulsion of the wheel even when the device's posture deflects or the angle changes within the water passage. This avoids the problem of drive failure or motion interruption caused by posture changes, and improves the motion reliability of the device under complex spatial postures.

[0018] 4. This invention features a cleaning brush mounted on one side of the connecting plate, with the brush fixedly connected to a rotating rod. Driven by the rotating rod, the cleaning brush rotates and cleans the surface of the glass cover, achieving automatic cleaning of the imaging window. This continuously removes water stains or impurities from the glass cover surface, preventing image window contamination from affecting image acquisition quality and improving the clarity and long-term stability of the imaging system. Attached Figure Description

[0019] Figure 1 This is a perspective view of a micro-trajectory and imaging synchronous measurement device for a water passage in a mining drill rod according to the present invention; Figure 2 This is a schematic diagram of the first motor of a synchronous measurement device for the micro-trajectory and imaging of a water passage in a mining drill rod according to the present invention; Figure 3 This is a schematic cross-sectional view of the outer casing of the micro-trajectory and imaging synchronous measurement device for a water passage in a mining drill rod according to the present invention; Figure 4 This is a schematic diagram of the moving disk of a synchronous measurement device for the micro-trajectory and imaging of a water passage in a mining drill rod according to the present invention; Figure 5 This is a schematic cross-sectional view of the rotating component of the synchronous measurement device for the micro-trajectory and imaging of the water passage of a mining drill rod according to the present invention; Figure 6 This is a schematic diagram of the first chain of a synchronous measurement device for micro-trajectory and imaging of a water passage in a mining drill rod according to the present invention. Figure 7 for Figure 6 Enlarged view of point A in the middle; Figure 8 This is a schematic diagram of the data converter connection for a method for synchronous measurement of micro-trajectory and imaging of water passage in a mining drill rod according to the present invention; Figure 9 This is a flowchart of a method for synchronously measuring the micro-trajectory and imaging of a water passage in a mining drill rod according to the present invention.

[0020] The components are as follows: 1. Outer shell; 2. Back cover; 3. Connecting plate; 4. Glass cover; 5. Connector; 6. Rotating component; 7. Wheel; 8. Connecting block; 9. Rotating rod; 10. Cleaning brush; 11. Slide groove; 12. First motor; 13. Threaded rod; 14. Moving disk; 15. Sliding block; 16. Slide rod; 17. Spring; 18. Sliding component; 19. Fixing component; 20. First chain; 21. First sprocket; 22. Second chain; 23. Second sprocket; 24. Acquisition module; 25. Control module; 26. Second motor; 27. Rotating rod; 28. Worm gear; 29. ​​Worm wheel; 30. Third sprocket; 31. Fixed column. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] Please see the appendix Figure 1 -Appendix Figure 4 This invention provides a micro-tracking and imaging synchronous measurement device for water passage holes in mining drill rods, comprising a housing 1, a rear cover 2 fixedly connected to one end of the housing 1, a connecting plate 3 fixedly connected to the other end of the housing 1, a first motor 12 fixedly connected to the rear cover 2 near the housing 1, a threaded rod 13 fixedly provided at the output end of the first motor 12, a movable disk 14 threadedly connected to the surface of the threaded rod 13, and multiple connecting parts 5 fixedly connected to the surface of the housing 1, with rotating parts 6 rotatably connected between adjacent connecting parts 5, and multiple wheels rotatably connected to the surfaces of the multiple rotating parts 6. 7. Connecting blocks 8 are fixedly connected to the surfaces of multiple rotating parts 6. Rotating rods 9 are rotatably connected to the side of multiple connecting blocks 8 near the outer shell 1. Sliding parts 18 are rotatably connected to the side of multiple rotating rods 9 near the outer shell 1. Multiple sliding rods 16 are fixedly connected to the left side of the moving disk 14. Multiple sliding parts 18 are slidably connected to adjacent sliding rods 16. Fixing parts 19 are fixedly connected inside the outer shell 1. A driving assembly is provided at the left end of the fixing parts 19. The left end of the threaded rod 13 is rotatably connected to the fixing parts 19. Multiple receiving slots are opened on the side of the fixing parts 19 near the threaded rod 13.

[0023] Specifically, the user pushes the entire device into the water passage of the mine drill pipe. The outer casing 1, constrained by the rear cover 2 and connecting plate 3, serves as the main load-bearing and protective structure. After entering the passage, the first motor 12 starts and drives the threaded rod 13 to rotate. A threaded transmission relationship is formed between the threaded rod 13 and the moving disk 14, thereby driving the moving disk 14 to move axially along the outer casing 1. The axial displacement of the moving disk 14 causes the slide rod 16, which is fixedly connected to it, to move synchronously. The slide rod 16 further forms a sliding engagement with the sliding member 18, causing the sliding member 18 to produce controlled displacement under the guidance of the slide rod 16. This motion is then transmitted to the connecting block 8 and the rotating member 6 via the rotating rod 9.

[0024] Multiple rotating parts 6 are radially rotated and unfolded synchronously under the rotational support of the connecting parts 5, and drive the wheels 7 on their surfaces to gradually contact the inner wall of the water passage, so that the device gradually forms a multi-point support structure in the passage and achieves automatic centering; During use, when the first motor 12 drives the threaded rod 13 to rotate, the left end of the threaded rod 13 is stably supported through a rotatable connection with the fixing member 19, ensuring that the threaded rod 13 only rotates without axial movement, thus guaranteeing a stable and reliable threaded transmission relationship between it and the moving disk 14. Simultaneously, the fixing member 19, located inside the housing 1, provides axial positioning and support for the threaded rod 13, enabling the moving disk 14 to move smoothly in a predetermined direction under threaded drive.

[0025] Multiple receiving slots on the side of the fixing member 19 near the threaded rod 13 provide clearance for the slide rod 16, preventing structural interference during the rotation of the threaded rod 13 and the reciprocating motion of the moving disk 14, thus ensuring smooth operation of the transmission mechanism. This achieves stability in the rotational drive of the threaded rod 13 and rational utilization of structural space, improving the reliability and continuity of the overall mechanism operation.

[0026] See appendix Figure 5 -Appendix Figure 7 The drive assembly includes a second motor 26, which is fixedly connected to a fixing member 19. A rotating rod 27 is fixedly installed at the output end of the fixing member 19. A worm gear 28 is fixedly connected to the surface of the rotating rod 27. Multiple worm wheels 29 are meshed with the surface of the worm gear 28. A third sprocket 30 is fixedly connected to the surface of each of the multiple worm wheels 29. Multiple fixing posts 31 are fixedly connected inside the outer casing 1. Each of the multiple fixing posts 31 is rotatably connected to the adjacent worm wheel 29 and the third sprocket 30.

[0027] Specifically, after the device completes its entry into the water passage and achieves initial centering, the user can activate the second motor 26 in the drive assembly. The output of the second motor 26 drives the rotating rod 27 to rotate, which in turn drives the worm 28 to rotate synchronously. The worm 28 forms a meshing transmission relationship with multiple worm wheels 29, converting the rotational motion of the worm 28 into the distributed rotation of the worm wheels 29, and further outputting the power through the third sprocket 30 fixed on the surface of the worm wheels 29.

[0028] During this process, multiple worm gears 29 and the third sprocket 30 are rotatably supported between the fixed column 31 and the outer casing 1, thereby ensuring the stable operation of each transmission component inside the outer casing 1. Thus, the driving power of the second motor 26 is transmitted step-by-step through the rotating rod 27, worm gear 28, worm wheel 29, and third sprocket 30, achieving multi-stage reduction and power distribution, ensuring stable output from each gear train drive end, and providing a continuous and stable driving force foundation for the synchronous rotation of the subsequent wheels 7.

[0029] See appendix Figure 5 and attached Figure 6 Each of the multiple rotating parts 6 is rotatably connected to a first sprocket 21, and each of the multiple first sprockets 21 is connected to a second chain 22 between itself and an adjacent third sprocket 30.

[0030] Specifically, each of the multiple rotating parts 6 is rotatably connected to a first sprocket 21. After the rotating parts 6 have stabilized, the first sprocket 21 serves as an intermediate power transmission component. Under the action of the drive assembly, power is transmitted from the third sprocket 30 to the first sprocket 21 via the second chain 22. The first sprocket 21 then transmits the power to the second sprockets 23, further driving the wheels 7 to rotate synchronously. This allows the wheels 7 to achieve stable rolling contact even when the rotating parts 6 have completed their unfolding and positioning.

[0031] See appendix Figure 5 and attached Figure 6 Each of the multiple rotating parts 6 is rotatably connected to a second sprocket 23. Each of the multiple second sprockets 23 is fixedly connected to an adjacent wheel 7. Each of the multiple second sprockets 23 is connected to an adjacent first sprocket 21 by a first chain 20.

[0032] Specifically, after the device completes radial deployment and enters a stable support state, the power output by the drive component is transmitted via the third sprocket 30 and the second chain 22 to the first sprocket 21 inside the rotating component 6. The first sprocket 21 begins to rotate and acts as an intermediate transmission component to further output power. Multiple first sprockets 21 are respectively connected to corresponding second sprockets 23 via the first chain 20, so that the rotational motion of the first sprockets 21 is transmitted to the second sprockets 23.

[0033] Since the second sprocket 23 and the wheel 7 are fixedly connected, the rotation of the second sprocket 23 will directly drive the wheel 7 to rotate synchronously, thus enabling multiple wheels 7 to form stable rolling contact when the rotating part 6 has been fully deployed and is in contact with the hole wall. This achieves the step-by-step transmission of power from the first sprocket 21 to the second sprocket 23 and then to the wheel 7, ensuring that each wheel 7 can maintain synchronous drive and consistent speed, avoiding problems such as local slippage or uneven drive, thereby ensuring the continuous and smooth advancement of the device in the water passage hole.

[0034] See appendix Figure 5 A glass cover 4 is fixedly connected to the side of the connecting plate 3 away from the outer shell 1. A cleaning brush 10 is rotatably connected to the side of the glass cover 4 away from the connecting plate 3. The cleaning brush 10 is fixedly connected to the rotating rod 27.

[0035] Specifically, during the process of advancing the device into the water passage for detection, the glass cover 4 fixedly connected to the front end of the connecting plate 3 serves as an imaging window, isolating it from the external water and impurities, ensuring that the internal acquisition module 24 can observe the environment inside the passage through the glass cover 4. When the second motor 26 in the drive assembly starts and drives the rotating rod 27 to rotate, the rotating rod 27 transmits driving power while simultaneously rotating synchronously through the cleaning brush 10 fixedly connected to it, causing the cleaning brush 10 to brush close to the outer surface of the glass cover 4.

[0036] Under continuous rotation, the cleaning brush 10 can remove water stains, mud, or fine particles adhering to the surface of the glass cover 4, thereby maintaining the transparency and cleanliness of the glass cover 4. Thus, real-time cleaning and maintenance of the imaging window can be achieved during device movement, preventing contaminants from obstructing the view and affecting image acquisition quality, ensuring the continuity of the detection process and the clarity of the image.

[0037] See appendix Figure 5 A data acquisition module 24 is fixedly connected to the side of the connecting plate 3 away from the outer casing 1, and a control module 25 is fixedly connected to the side of the connecting plate 3 away from the outer casing 1.

[0038] Specifically, after the device is advanced into the water passage and completes its deployment and movement, the acquisition module 24 acquires real-time information about the inner wall of the water passage and the surrounding environment through the glass cover 4, and continuously outputs the acquired image data. At the same time, the control module 25, which is fixedly mounted on the connecting plate 3, receives and processes the data output by the acquisition module 24, and performs unified control and management of the device's operating status.

[0039] During use, the control module 25 controls the working state of the acquisition module 24, enabling it to continuously or intermittently acquire data according to a preset method. Simultaneously, it records and stores relevant data during the device's operation, thereby establishing a correlation between the image information acquired by the acquisition module 24 and the device's movement within the water passage. This ensures the continuity and traceability of the information acquired during the detection process, facilitating subsequent analysis and location of the conditions within the passage.

[0040] See appendix Figure 4 Multiple sliding parts 18 are fixedly connected to springs 17 on both sides. The ends of the multiple springs 17 on the left side away from the sliding parts 18 are fixedly connected to the slide rod 16, and the ends of the multiple springs 17 on the right side away from the sliding parts 18 are fixedly connected to the movable disk 14.

[0041] Specifically, as the device enters the water inlet and the first motor 12 drives the threaded rod 13 to move the movable disk 14 along the axial direction of the outer casing 1, the sliding rod 16 moves synchronously with the movable disk 14, causing the sliding component 18, which is in sliding cooperation with it, to displace. At this time, the springs 17 on the left and right sides of the sliding component 18 form a connection constraint with the sliding rod 16 and the movable disk 14, respectively. When the sliding component 18 is displaced, the springs 17 on both sides simultaneously undergo tensile or compressive deformation, thereby forming an elastic force between the sliding component 18, the sliding rod 16, and the movable disk 14.

[0042] Under this elastic action, the unfolding force transmitted from the sliding member 18 to the rotating member 6 via the rotating rod 9 is no longer rigidly driven, but has a certain buffering and adjustment capability, enabling the rotating member 6 to automatically fine-tune the unfolding amplitude according to the change in orifice diameter when it unfolds outward and contacts the inner wall of the water passage. This achieves a flexible fit between the rotating member 6 and the orifice wall, avoiding jamming or impact caused by rigid pressure, and improving the adaptability and stability of the device when operating within the water passage.

[0043] See appendix Figure 1 -Appendix Figure 4 Multiple sliding blocks 15 are fixedly connected to the surface of the movable disk 14, and multiple sliding grooves 11 are opened on the surface of the outer shell 1. The multiple sliding blocks 15 are slidably connected to the outer shell 1 through adjacent sliding grooves 11.

[0044] Specifically, when the first motor 12 drives the threaded rod 13 to rotate and causes the movable disk 14 to move along the axial direction of the outer shell 1, the multiple sliding blocks 15 fixedly connected to the surface of the movable disk 14 move synchronously. The sliding blocks 15 are respectively embedded in the multiple sliding grooves 11 opened on the surface of the outer shell 1, and slide under the constraint and guidance of the sliding grooves 11, so that the movable disk 14 always moves stably along the axial direction of the outer shell 1 during the movement, avoiding circumferential rotation or offset.

[0045] See appendix Figure 8It also includes a data converter, an intrinsically safe handheld terminal for mining, and a depth counter. The depth counter is connected between the data converter and the housing 1. The acquisition module 24 and the control module 25 transmit data to the data converter through the depth counter, and the data converter forwards it to the intrinsically safe handheld terminal for mining for real-time display.

[0046] Specifically, in practical use, the depth counter, acting as the core physical and signal relay node, connects the data converter and the housing 1. When the device is propelled into the water passage by the drive components inside the housing 1, the depth counter's cable reel releases the cable synchronously with the displacement, and measures the cable extension length in real time to obtain accurate depth data. At this time, the front-end acquisition module 24 continuously acquires images of the inner wall, while the control module 25 records the orientation and tilt of the device in real time. This data, along with the depth information, is uploaded to the data converter via the depth counter's cable and then forwarded to the intrinsically safe handheld terminal for mining by the operator.

[0047] Users can observe high-definition images in real time via a handheld terminal. The system combines visual features transmitted from the acquisition module 24 with attitude changes captured by the control module 25 to perform trajectory recognition. Through a built-in algorithm, the azimuth, tilt, and depth data transmitted from the depth counter are spatially coupled to automatically calculate and synchronously record the three-dimensional trajectory of the drill pipe's water passage. This closed-loop logic, from front-end probe acquisition, intermediate cable measurement and transmission, to back-end terminal analysis, ensures that users can still achieve accurate and synchronous measurement of the drill pipe's internal damage and spatial location even when far from the borehole opening.

[0048] See appendix Figure 9 A method for simultaneous measurement of the micro-trajectory and imaging of a water passage in a mining drill rod includes the following steps: S1. Send the entire device into the water passage of the mine drill rod, so that the outer shell 1 enters the channel and completes the initial positioning. S2. Start the first motor 12 to drive the threaded rod 13 to rotate. Through the threaded transmission, the moving disk 14 moves along the axial direction of the outer shell 1. The moving disk 14 drives the sliding rod 16 and the sliding member 18 to move synchronously. Through the rotating rod 9, the rotating member 6 is driven to rotate around the connecting member 5, so that multiple rotating members 6 are radially extended outward. S3. During the unfolding process of the rotating part 6, the springs 17 set on both sides of the sliding part 18 generate elastic deformation, so that the rotating part 6 and the inner wall of the water passage form an adaptive fit. S4. After completing the centering support, start the second motor 26, drive the worm 28 to rotate through the rotating rod 27, and mesh with the worm wheel 29 to drive the third sprocket 30 to rotate. S5. The power of the third sprocket 30 is transmitted to the first sprocket 21 inside the rotating part 6 through the second chain 22, and then the power is transmitted to the second sprocket 23 through the first chain 20, driving the wheel 7 fixedly connected to the second sprocket 23 to rotate synchronously, so that the device rolls and propels itself in the water passage hole. S6. During the device advancement process, the depth counter lays out the line with the displacement of the device and measures the advancement depth of the device in the water passage hole in real time; at the same time, the acquisition module 24 set at the front end of the connecting plate 3 acquires images of the inner wall of the water passage hole through the glass cover 4, and the control module 25 receives the images and status data. S7, the control module 25 transmits the received image information, status information and depth data collected by the depth counter to the depth counter via cable, and forwards them to the intrinsically safe handheld terminal for mining via the data converter. The intrinsically safe handheld terminal for mining synchronously displays and stores the acquired image information, depth information and status information during the operation of the device. S8. During the image acquisition process, the cleaning brush 10 is driven to rotate synchronously by the rotating rod 27 to clean the surface of the glass cover 4.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A micro-tracking and imaging synchronous measurement device for water passage holes in mining drill rods, comprising a housing (1), characterized in that: One end of the outer shell (1) is fixedly connected to a rear cover (2), and the other end of the outer shell (1) is fixedly connected to a connecting plate (3). A first motor (12) is fixedly connected to the side of the rear cover (2) near the outer shell (1). A threaded rod (13) is fixedly provided at the output end of the first motor (12). A movable disk (14) is threadedly connected to the surface of the threaded rod (13). Multiple connecting parts (5) are fixedly connected to the surface of the outer shell (1). A rotating part (6) is rotatably connected between each two adjacent connecting parts (5). Multiple wheels (7) are rotatably connected to the surface of each of the multiple rotating parts (6). Connecting parts (7) are fixedly connected to the surface of each of the multiple rotating parts (6). Block (8), multiple connecting blocks (8) are rotatably connected to rotating rods (9) on the side near the outer shell (1), multiple rotating rods (9) are rotatably connected to sliding parts (18) on the side near the outer shell (1), multiple sliding rods (16) are fixedly connected to the left side of the moving disk (14), multiple sliding parts (18) are slidably connected to adjacent sliding rods (16), a fixing part (19) is fixedly connected inside the outer shell (1), a driving component is provided at the left end of the fixing part (19), the left end of the threaded rod (13) is rotatably connected to the fixing part (19), and multiple receiving grooves are opened on the side of the fixing part (19) near the threaded rod (13).

2. The micro-trajectory and imaging synchronous measurement device for a mine drill pipe water passage according to claim 1, characterized in that: The drive assembly includes a second motor (26), which is fixedly connected to a fixing member (19). A rotating rod (27) is fixedly provided at the output end of the fixing member (19). A worm (28) is fixedly connected to the surface of the rotating rod (27). A plurality of worm wheels (29) are meshed on the surface of the worm (28). A third sprocket (30) is fixedly connected to the surface of each of the worm wheels (29). A plurality of fixing posts (31) are fixedly connected inside the outer shell (1). Each of the fixing posts (31) is rotatably connected to the adjacent worm wheel (29) and the third sprocket (30).

3. The micro-trajectory and imaging synchronous measurement device for a mine drill pipe water passage according to claim 1, characterized in that: Each of the multiple rotating parts (6) is rotatably connected to a first sprocket (21), and each of the multiple first sprockets (21) is provided with a second chain (22) between it and an adjacent third sprocket (30).

4. The micro-trajectory and imaging synchronous measurement device for a mine drill pipe water passage according to claim 1, characterized in that: Each of the multiple rotating parts (6) is rotatably connected to a second sprocket (23), and each of the multiple second sprockets (23) is fixedly connected to an adjacent wheel (7). Each of the multiple second sprockets (23) is connected to an adjacent first sprocket (21) by a first chain (20).

5. The micro-trajectory and imaging synchronous measurement device for a mine drill pipe water passage according to claim 1, characterized in that: A glass cover (4) is fixedly connected to the side of the connecting plate (3) away from the outer shell (1), and a cleaning brush (10) is rotatably connected to the side of the glass cover (4) away from the connecting plate (3). The cleaning brush (10) is fixedly connected to the rotating rod (27).

6. The micro-trajectory and imaging synchronous measurement device for a mine drill pipe water passage according to claim 1, characterized in that: The connection plate (3) is fixedly connected to the acquisition module (24) on the side away from the outer shell (1), and the connection plate (3) is fixedly connected to the control module (25) on the side away from the outer shell (1).

7. The micro-trajectory and imaging synchronous measurement device for a mine drill pipe water passage according to claim 1, characterized in that: Multiple sliding members (18) are fixedly connected to springs (17) on both sides. The ends of the multiple springs (17) on the left side away from the sliding member (18) are fixedly connected to the slide rod (16), and the ends of the multiple springs (17) on the right side away from the sliding member (18) are fixedly connected to the moving disk (14).

8. The micro-trajectory and imaging synchronous measurement device for a mine drill pipe water passage according to claim 1, characterized in that: The surface of the movable disk (14) is fixedly connected with a plurality of sliding blocks (15), and the surface of the outer shell (1) is provided with a plurality of sliding grooves (11). The plurality of sliding blocks (15) are slidably connected to the outer shell (1) through adjacent sliding grooves (11).

9. The micro-trajectory and imaging synchronous measurement device for a mine drill pipe water passage according to claim 1, characterized in that: It also includes a data converter, an intrinsically safe handheld terminal for mining, and a depth counter. The depth counter is connected between the data converter and the housing (1). The acquisition module (24) and the control module (25) transmit data to the data converter through the depth counter, and the data converter forwards the data to the intrinsically safe handheld terminal for mining for real-time display.

10. A method for simultaneous measurement of the micro-trajectory and imaging of a water passage in a mining drill rod, characterized in that, A micro-trajectory and imaging synchronous measurement device for a water passage in a mining drill rod as described in any one of claims 1-9 includes the following steps: S1. Send the entire device into the water passage of the mine drill rod, so that the outer shell (1) enters the hole and completes the initial positioning; S2. Start the first motor (12) to drive the threaded rod (13) to rotate. Through the threaded transmission, the moving disk (14) moves along the axial direction of the outer shell (1). The moving disk (14) drives the sliding rod (16) and the sliding part (18) to move synchronously. Through the rotating rod (9), the rotating part (6) is driven to rotate around the connecting part (5), so that multiple rotating parts (6) are radially extended outward. S3. During the unfolding process of the rotating part (6), the springs (17) set on both sides of the sliding part (18) generate elastic deformation, so that the rotating part (6) and the inner wall of the water passage form an adaptive fit. S4. After completing the center support, start the second motor (26), drive the worm (28) to rotate through the rotating rod (27), and mesh with the worm wheel (29) to drive the third sprocket (30) to rotate; S5. The power of the third sprocket (30) is transmitted to the first sprocket (21) inside the rotating part (6) through the second chain (22), and then the power is transmitted to the second sprocket (23) through the first chain (20), and the wheel (7) fixedly connected to the second sprocket (23) is driven to rotate synchronously, so that the device rolls and propels itself in the water passage hole; S6. During the device advancement process, the depth counter lays out the line with the displacement of the device and measures the advancement depth of the device in the water passage hole in real time; at the same time, the acquisition module (24) set at the front end of the connecting plate (3) acquires the image of the inner wall of the water passage hole through the glass cover (4), and the control module (25) receives the image and status data. S7. The control module (25) transmits the received image information, status information and depth data collected by the depth counter to the depth counter via cable, and forwards them to the intrinsically safe handheld terminal for mining via the data converter. The intrinsically safe handheld terminal for mining synchronously displays and stores the acquired image information, depth information and status information during device operation. S8. During the image acquisition process, the cleaning brush (10) is driven to rotate synchronously by the rotating rod (27) to clean the surface of the glass cover (4).

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