Underground cavity three-dimensional data acquisition device

Abstract

The utility model discloses an underground cavity three-dimensional data acquisition device, and relates to the technical field of goaf detection. The device comprises a base, the top of the base is fixedly connected with a protective cover, the protective cover is internally provided with a lifting assembly, the lifting assembly is slidably connected with a mounting plate, the upper surface of the mounting plate is fixedly connected with a laser scanner, the top of the protective cover is provided with a through groove, and the laser scanner is located above the protective cover through the through groove. And control equipment is fixedly mounted in the protective cover. A worker controls the device to move, so that the device can move to the deep position of a goaf after being placed, when the device reaches an ideal distance or position, the device stops, the laser scanner is lifted and scans the current area, and obtained data are temporarily stored through control equipment or directly conveyed to the worker. And the device is used for replacing personnel to enter a dangerous goaf for data acquisition, so that the personnel safety is ensured, and the data is more accurate and detailed.

Description

Technical Field

[0001] The utility model relates to the technical field of goaf detection, in particular to a device for acquiring three-dimensional data of underground cavities. Background Art

[0002] With the increasing demand for spatial data in all walks of life in the modern scientific information age, conventional data acquisition methods and data processing modes can no longer meet the needs of informatization. The measured data has also been converted from two-dimensional to three-dimensional. As the basis of the system, three-dimensional point cloud data acquisition has become an indispensable part. For some narrow or hidden places, data collection is very difficult, such as underground caves and goafs.

[0003] At present, 3D laser scanners are usually used to collect relevant data and information of goafs, which can realize 3D scanning inside goafs and form spatial data to provide reliable data support for goaf management. However, since the location of ores in some underground metal mines is mostly in fault zones or near fault zones, the rocks are unstable and conventional manual measurements cannot be carried out, that is, surveyors cannot go deep into goafs, which leads to the possibility that data collection may not be ideal, which will affect the later data judgment. Utility Model Content

[0004] The purpose of the utility model is to solve the problems in the above-mentioned background technology and provide a device for acquiring three-dimensional data of underground cavities.

[0005] In order to achieve the above-mentioned purpose, the utility model specifically adopts the following technical solutions:

[0006] A device for acquiring three-dimensional data of underground cavities comprises a base, track wheels are fixedly mounted at the four corners of the base, a protective cover is fixedly connected to the top center of the base, a lifting assembly is installed inside the protective cover, a mounting plate is slidably connected to one end of the lifting assembly, a laser scanner is fixedly connected to the center of the upper surface of the mounting plate, a through slot is provided at the top of the protective cover above the mounting plate, the laser scanner is located above the protective cover through the through slot, a control device is fixedly mounted inside the protective cover, and the control device is electrically connected to the laser scanner.

[0007] Furthermore, a partition is fixedly installed inside the protective cover, the control device is fixedly installed on the upper surface of the partition, a battery is fixedly installed at the center of the upper surface of the partition, the lifting assembly includes a motor, the top of the partition is located on one side of the base and a motor is fixedly installed, the bottom output end of the motor passes through the interior of the partition and extends downward, the output end of the motor is located below the partition and is fixedly connected to a gear 1, the center of the upper surface of the base is located below the partition and is rotatably connected to a gear 2, the interior of the base is located on the other side of the gear 2 and is rotatably connected to a threaded rod, the end of the threaded rod is fixedly connected to another gear 1, the gear 2 meshes with two gears 1, two support rods are fixedly connected to the edge of the upper surface of the partition near one side of the threaded rod, the threaded rod and the support rod both extend upward to near the top of the protective cover, the threaded rod passes through the interior of the mounting plate and is threadedly connected to the mounting plate, and the support rod passes through the interior of the mounting plate and is slidably connected to the mounting plate.

[0008] Furthermore, the base is fixedly connected to an electric telescopic rod on the inner side of the four track wheels near the edge, the output end of the electric telescopic rod passes through the interior of the base and extends downward, the inner surface of the track wheel is fixedly connected to a fixing groove, a slider is slidably connected to the inside of the fixing groove, an extension rod is rotatably connected at the center of the slider and extends outward, the extended end of the extension rod is located directly below the electric telescopic rod and is fixedly connected to a connecting block, and the upper surface of the connecting block is fixedly connected to the bottom of the output end of the electric telescopic rod.

[0009] Furthermore, electronic levels are installed on both sides of the upper surface of the mounting plate on the laser scanner, and the two electronic levels are oriented perpendicular to each other.

[0010] Furthermore, cameras and searchlights are fixedly mounted on the upper surface of the base at both the front and rear sides.

[0011] Furthermore, guardrails are fixedly connected to both left and right sides of the base.

[0012] The beneficial effects of the utility model are as follows:

[0013] The utility model controls the device to move through the worker's control, so that the device can move to the depth of the goaf after being placed, and stops when the device reaches the ideal distance or position, so that the laser scanner is lifted and scans the current area, and the acquired data is temporarily stored through the control equipment or directly transmitted to the worker, and then the device is used to replace the personnel to enter the dangerous goaf for data collection, thereby ensuring the safety of the personnel and making the data more accurate and detailed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0015] Figure 2 This is a diagram showing the internal structure of the protective cover of the utility model;

[0016] Figure 3 It is an enlarged view of part of the structure of the utility model;

[0017] Figure 4 This is a top display diagram of the mounting plate of the utility model.

[0018] Figure numerals: 1. base; 2. track wheel; 3. protective cover; 4. lifting assembly; 401. motor; 402. gear one; 403. gear two; 404. threaded rod; 405. support rod; 5. mounting plate; 6. laser scanner; 7. through groove; 8. control device; 9. partition; 10. fixing groove; 11. slider; 12. extension rod; 13. connecting block; 14. electric telescopic rod; 15. electronic level; 16. camera; 17. searchlight; 18. guardrail; 19. battery. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present utility model clearer, the technical solution in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model.

[0020] like Figure 1-4As shown, a three-dimensional data acquisition device for underground cavities includes a base 1, track wheels 2 are fixedly installed at the four corners of the base 1, a protective cover 3 is fixedly connected to the top center of the base 1, a lifting component 4 is installed inside the protective cover 3, one end of the lifting component 4 is slidably connected to a mounting plate 5, a laser scanner 6 is fixedly connected to the center of the upper surface of the mounting plate 5, and other equipment for collecting data can be installed on the mounting plate 5 according to actual conditions during use. A through slot 7 is provided on the top of the protective cover 3 above the mounting plate 5, and the laser scanner 6 is located above the protective cover 3 through the through slot 7. A control device 8 is fixedly installed inside the protective cover 3, and the control device 8 is connected to the controller signal in the hands of a remote worker through radio or other means. The controller must have a display, The control buttons and other structural components are used by the staff to remotely control the device to move and perform other operations. The control device 8 is electrically connected to the laser scanner 6, and the staff controls the device to move so that the device can move to the depth of the goaf after being placed. When the device reaches the ideal distance or position, it stops, and then the lifting component 4 is controlled to lift the mounting plate 5 so that the laser scanner 6 is located above the protective cover 3, and then the terrain in the current area can be scanned. The acquired data is temporarily stored by the control device 8 or directly transmitted to the controller in the hands of the staff, and after the scan is completed, the mounting plate 5 is lowered to return the laser scanner 6 to the inside of the protective cover 3, and then the device is controlled to return along the original route, and the device is used to replace personnel to enter the dangerous goaf for data collection.

[0021] like Figure 2As shown, in some embodiments, a partition 9 is fixedly installed inside the protective cover 3, a control device 8 is fixedly installed on the upper surface of the partition 9, a battery 19 is fixedly installed at the center of the upper surface of the partition 9, and the lifting assembly 4 includes a motor 401. The top of the partition 9 is located on one side of the base 1 and the motor 401 is fixedly installed. The bottom output end of the motor 401 passes through the interior of the partition 9 and extends downward. The output end of the motor 401 is located below the partition 9 and is fixedly connected to a gear 1 402. The center of the upper surface of the base 1 is located below the partition 9 and is rotatably connected to a gear 2 403. The inside of the base 1 is located on the other side of the gear 2 403 and is rotatably connected to a threaded rod 404. The end of the threaded rod 404 is fixedly connected to another gear 1 402. Wheel two 403 meshes with two gear ones 402, and two support rods 405 are fixedly connected to the edge of the upper surface of the partition 9 near one side of the threaded rod 404. The threaded rod 404 and the support rod 405 both extend upward to the top near the protective cover 3, and the threaded rod 404 passes through the interior of the mounting plate 5 and is threadedly connected to the mounting plate 5. The support rod 405 passes through the interior of the mounting plate 5 and is slidably connected to the mounting plate 5. Specifically, the battery 19 is used to power the electrical equipment on the device; by starting the motor 401, it drives the gear to rotate, and the gear drives the threaded rod 404 to rotate, thereby driving the mounting plate 5 to move up and down. At the same time, the mounting plate 5 will slide vertically on the surface of the support rod 405, thereby driving the laser scanner 6 to lift and lower.

[0022] like Figure 3 As shown, in some embodiments, an electric telescopic rod 14 is fixedly connected to the inner side of the four track wheels 2 near the edge of the base 1, the output end of the electric telescopic rod 14 passes through the interior of the base 1 and extends downward, and a fixed groove 10 is fixedly connected to the inner surface of the track wheel 2, and a slider 11 is slidably connected inside the fixed groove 10, and an extension rod 12 is rotatably connected at the center of the slider 11 and extends outward, and the extended end of the extension rod 12 is located directly below the electric telescopic rod 14 and is fixedly connected to a connecting block 13, and the upper surface of the connecting block 13 is fixedly connected to the bottom of the output end of the electric telescopic rod 14. Specifically, the extension of the electric telescopic rod 14 is controlled to drive the slider 11 to slide in the fixed groove 10, and at the same time, the crawler track swings with the connection with the base 1 as the center, thereby facilitating the movement of the device and the goaf with rugged road surfaces.

[0023] like Figure 4As shown, in some embodiments, electronic levels 15 are installed on both sides of the upper surface of the mounting plate 5, and the two electronic levels 15 are oriented perpendicular to each other. Specifically, by installing the electronic levels 15, the staff can determine whether the device is placed stably through the data detected by the electronic level 15, and adjust by swinging the electric telescopic rod 14 to raise or lower a certain angle, so that the device is placed more stably, thereby facilitating the laser scanner 6 to scan the inside of the goaf.

[0024] like Figure 1 As shown, in some embodiments, cameras 16 and searchlights 17 are fixedly installed on the front and rear sides of the upper surface of the base 1. Specifically, the front and rear sides of the moving direction of the device are illuminated by the installed cameras 16 and searchlights 17 and the images are projected to the staff, so that they can better control the movement of the device and observe the surrounding terrain features, etc.

[0025] like Figure 1 As shown, in some embodiments, guardrails 18 are fixedly connected to both sides of the base 1. Specifically, the installed guardrails 18 are used to protect the electric telescopic rod 14, the camera 16, the searchlight 17 and other equipment installed on the outside.

[0026] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device for acquiring three-dimensional data of underground cavities, comprising a base (1), characterized in that: Track wheels (2) are fixedly mounted at the four corners of the base (1); a protective cover (3) is fixedly connected to the top center of the base (1); a lifting assembly (4) is installed inside the protective cover (3); one end of the lifting assembly (4) is slidably connected to a mounting plate (5); a laser scanner (6) is fixedly connected to the center of the upper surface of the mounting plate (5); a through slot (7) is provided at the top of the protective cover (3) above the mounting plate (5); the laser scanner (6) is located above the protective cover (3) through the through slot (7); a control device (8) is fixedly mounted inside the protective cover (3); and the control device (8) is electrically connected to the laser scanner (6).

2. The underground cavity three-dimensional data acquisition device according to claim 1, characterized in that: A partition (9) is fixedly installed inside the protective cover (3), the control device (8) is fixedly installed on the upper surface of the partition (9), a battery (19) is fixedly installed at the center of the upper surface of the partition (9), the lifting assembly (4) includes a motor (401), the top of the partition (9) is located on one side of the base (1) and the motor (401) is fixedly installed, the bottom output end of the motor (401) passes through the inside of the partition (9) and extends downward, the output end of the motor (401) is located below the partition (9) and is fixedly connected to a gear 1 (402), the center of the upper surface of the base (1) is located below the partition (9) and is rotatably connected to a gear 2 (403), the A threaded rod (404) is rotatably connected to the other side of gear 2 (403) inside the base (1), and the end of the threaded rod (404) is fixedly connected to another gear 1 (402), and the gear 2 (403) meshes with the two gears 1 (402). Two support rods (405) are fixedly connected to the edge of the upper surface of the partition (9) near one side of the threaded rod (404), and the threaded rod (404) and the support rod (405) both extend upward to a position near the top of the protective cover (3), and the threaded rod (404) passes through the interior of the mounting plate (5) and is threadedly connected to the mounting plate (5), and the support rod (405) passes through the interior of the mounting plate (5) and is slidably connected to the mounting plate (5).

3. The underground cavity three-dimensional data acquisition device according to claim 2, characterized in that: The base (1) is fixedly connected to an electric telescopic rod (14) at the inner side of the four track wheels (2) near the edge, the output end of the electric telescopic rod (14) passes through the inside of the base (1) and extends downward, the inner surface of the track wheel (2) is fixedly connected to a fixing groove (10), the inside of the fixing groove (10) is slidably connected to a slider (11), the center of the slider (11) is rotatably connected and an extension rod (12) is extended outward, the extended end of the extension rod (12) is located directly below the electric telescopic rod (14) and is fixedly connected to a connecting block (13), and the upper surface of the connecting block (13) is fixedly connected to the bottom of the output end of the electric telescopic rod (14).

4. The underground cavity three-dimensional data acquisition device according to claim 3, characterized in that: Electronic levels (15) are installed on both sides of the upper surface of the mounting plate (5) located on the laser scanner (6), and the two electronic levels (15) are oriented perpendicular to each other.

5. The underground cavity three-dimensional data acquisition device according to claim 4, characterized in that: Cameras (16) and searchlights (17) are fixedly mounted on the upper surface of the base (1) at both the front and rear sides.

6. The device for acquiring three-dimensional data of underground cavities according to claim 5, characterized in that: Guardrails (18) are fixedly connected to both left and right sides of the base (1).

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