Complex-configuration karst cave omni-directional video shooting combined ultrasonic sonar cavity surveying and mapping device

Abstract

The utility model relates to a complex-configuration karst cave omni-directional video shooting combined ultrasonic sonar cavity surveying and mapping device which comprises a sonar probe, a vertical extension rod, a cable, a control box and a computer. A video signal acquisition instrument is arranged at the front end of the sonar probe, an ultrasonic transducer is arranged behind the video signal acquisition instrument, a transverse telescopic rod is connected to the rear end of the sonar probe, and the transverse telescopic rod and the vertical extension rod are connected through a plurality of sections of steering knuckles and fixing knuckles which are arranged at intervals. The beneficial effects of the utility model are that the steering knuckle is used in cooperation with the fixed joint, the vertical extension rod and the sonar probe are connected, the steering knuckle can be flexibly twisted according to the change of the path in the karst cave, and the problem that the karst cave with a complex structure in the karst cavity is difficult to detect is solved; by arranging the high-frequency ultrasonic transducer and the low-frequency ultrasonic transducer, detection under different frequencies is realized, so that the problem of opposition between the detection scale and the detection precision is effectively avoided.

Description

Technical Field

[0001] This utility model belongs to the field of karst cave surveying and mapping, and particularly relates to an all-directional video camera combined with ultrasonic sonar cavity surveying and mapping device for karst caves with complex configurations. Background Technique

[0002] China is one of the countries with the most extensive karst development in the world, with a total area of 3.46 million km 2 , accounting for 1 / 3 of the national land area. It is most widely distributed in the eastern regions of Guangxi, Guizhou, and Yunnan, and also widely distributed in western Hunan, western Hubei, eastern Sichuan, Shandong, Shanxi and other places.

[0003] Karst is a natural phenomenon with diverse distributions and strange shapes. Due to the complexity, uncertainty, and concealment of karst, it is also a potential geological hazard that can endanger the safety of buildings, reservoirs, mines, etc., and even cause ground subsidence and damage to the ecological environment, having a certain impact on engineering construction. Therefore, before carrying out engineering construction in karst distribution areas, it is necessary to conduct investigations on karst to clarify its development situation, distribution law, and internal morphology.

[0004] The karst cave detection method of multi-frequency sonar can set multiple ultrasonic transducers on the sonar probe, consider the influence of different frequencies on the accuracy of the detection object, and give priority to and more greatly reflect the influence of different frequencies on the analysis of the detection results, thus effectively avoiding the opposition problem between the detection scale and the detection accuracy, enabling the detection system to be more adaptable to the detection of the karst cave cavity morphology with irregularity and scale uncertainty, and providing favorable data support for engineering construction in karst areas.

[0005] However, there is currently no set of devices for karst caves with complex internal configurations of the cavity that can both use video camera technology to provide image data inside the cavity and draw a three-dimensional contour map of the cavity through multi-frequency ultrasonic sonar.

[0006] Practical Content

[0007] The purpose of this utility model is to overcome the deficiencies in the prior art and provide an all-directional video camera combined with ultrasonic sonar cavity surveying and mapping device for karst caves with complex configurations.

[0008] This all-directional video camera combined with ultrasonic sonar cavity surveying and mapping device for karst caves with complex configurations includes a sonar probe, a vertical extension rod, a cable, a control box, and a computer;

[0009] A vertical rod ground control platform is provided on the ground surface of the foundation, and the vertical extension rod extends into the karst cave from the vertical rod ground control platform;

[0010] A video signal collector is provided at the front end of the sonar probe. An ultrasonic transducer is provided behind the video signal collector. A transverse telescopic rod is connected to the rear end of the sonar probe. The transverse telescopic rod and the vertical extension rod are connected by several steering joints and fixed joints arranged at intervals; The ultrasonic transducer includes a high-frequency ultrasonic transducer and a low-frequency ultrasonic transducer. A rotating motor is provided behind the ultrasonic transducer for driving the video signal collector and the ultrasonic transducer to rotate;

[0011] The sonar probe is connected with a cable, and the cable extends along the transverse telescopic rod, steering joint, fixed joint and vertical extension rod to above the foundation, connecting the control box and the computer.

[0012] Preferably, the sonar probe includes a microcomputer, which is used to control and transmit the instructions of each device on the sonar probe and realize the information handover with the on-site control box and the computer.

[0013] Preferably, the sonar probe includes an electronic compass, which is used to measure the horizontal displacement, vertical displacement, horizontal rotation angle, vertical rotation angle and rotation angle of the rotating motor of the sonar probe. The electronic compass is connected to the control box and the computer through a cable.

[0014] Preferably, the vertical extension rod extends vertically from the ground into the karst cave, and several vertical extension rods are connected to each other through rod connection buckles.

[0015] Preferably, the vertical rod ground control platform is arranged at the position of the cave entrance on the karst cave ground, and there is a slide rail inside it for driving the vertical extension rod to move up or down.

[0016] Preferably, the high-frequency ultrasonic transducer and the low-frequency ultrasonic transducer are in the same position in the length direction of the sonar probe, and the high-frequency ultrasonic transducer and the low-frequency ultrasonic transducer face in opposite directions.

[0017] The beneficial effects of this utility model are:

[0018] 1) By using the steering joint and the fixed joint in cooperation, the vertical extension rod and the sonar probe are connected. The steering joint can be flexibly twisted according to the change of the path in the karst cave, solving the problem that it is difficult to detect the karst cave with a complex internal configuration.

[0019] 2) By setting the high-frequency ultrasonic transducer and the low-frequency ultrasonic transducer, detection at different frequencies is realized, thus effectively avoiding the contradiction between the detection scale and the detection accuracy. Description of the Drawings

[0020] Figure 1 It is a schematic diagram of a full-direction video camera combined with an ultrasonic sonar cavity mapping device for a karst cave with a complex configuration;

[0021] In the figure: 1- video signal acquisition instrument; 2- high frequency ultrasonic transducer; 3- low frequency ultrasonic transducer; 4- rotating motor; 5- microcomputer; 6- electronic compass; 7- horizontal telescopic rod; 8- steering knuckle; 9- fixed joint; 10- vertical extension rod; 11- rod connecting buckle; 21- vertical rod ground control platform; 22- cable; 23- control box; 24- computer; 31- foundation; 32- cave. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with the embodiments. The following embodiments are only used to help understand the present invention. It should be noted that for ordinary persons in the art, without departing from the principles of the present invention, several modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0023] Embodiment 1

[0024] As an embodiment, this complex-configuration cave omnidirectional video camera combined with ultrasonic sonar cavity mapping device includes a sonar probe, a lateral telescopic rod 7, a steering knuckle 8, a fixed joint 9, a vertical extension rod 10, a vertical rod ground control platform 21, a rod connecting buckle 11, a cable 22, a control box 23, a computer 24, etc.

[0025] A vertical rod ground control platform 21 is provided on the surface of the foundation 31, and a vertical extension rod 10 extends from the vertical rod ground control platform 21 into the cave 32; the sonar probe includes a video signal collector 1, a high-frequency ultrasonic transducer 2, a low-frequency ultrasonic transducer 3, a microcomputer 5, a rotating motor 4 and an electronic compass 6.

[0026] A video signal collector 1 is provided at the front end of the sonar probe, an ultrasonic transducer is provided at the rear of the video signal collector 1, and a transverse telescopic rod 7 is connected to the rear end of the sonar probe. The transverse telescopic rod 7 and the vertical extension rod 10 are connected through a steering knuckle 8 and a fixed joint 9 arranged at intervals of several sections; the sonar probe is connected to a cable 22, and the cable 22 extends along the transverse telescopic rod 7, the steering knuckle 8, the fixed joint 9 and the vertical extension rod 10 to above the foundation 31, and is connected to a control box 23 and a computer 24.

[0027] The video signal acquisition device 1 is equipped with a camera and a searchlight; the camera is used to take photos or videos of the surrounding environment of the sonar probe; the searchlight is used to illuminate the front field of view of the video signal acquisition device 1 in a weak light or no light environment.

[0028] The high-frequency ultrasonic transducer 2 and the low-frequency ultrasonic transducer 3 have built-in ultrasonic transmitting elements and ultrasonic receiving elements, which are used to transmit and receive ultrasonic waves to the rock wall of the cave 32, and convert the sound waves into electrical signals and transmit them to the control box 23 through the cable 22.

[0029] The rotary motor 4 is used to drive the video signal collector 1 and the ultrasonic transducer to rotate.

[0030] The microcomputer 5 controls and transmits the instructions of each device on the sonar probe, and realizes the information handover with the on-site control box 23 and the computer 24.

[0031] The electronic compass 6 can measure the horizontal displacement, vertical displacement, horizontal rotation angle, vertical rotation angle of the sonar probe and the rotation angle of the rotary motor 4, and transmit the signal to the control box 23 and the computer 24 through the cable 22.

[0032] The transverse telescopic rod 7 is used to perform telescopic operations on the rod so that the sonar probe extends into the karst cave 32.

[0033] The steering knuckle 8 is used to change the angles of the transverse telescopic rod 7 and the sonar probe to adapt to the direction of the karst cave 32.

[0034] The fixed joint 9 is used to increase the extension length and provide a fixing effect on the steering knuckle 8.

[0035] The vertical extension rod 10 extends vertically from the ground into the karst cave 32. Multiple vertical extension rods 10 can be connected starting from the ground through the rod connection buckle 11 to increase its overall length.

[0036] The vertical rod ground control platform 21 is set at the ground hole position of the karst cave 32. There are sliding rails inside it, which can drive the vertical extension rod 10 passing through it to move up or down.

[0037] The control box 23 is connected to the computer 24. The control box 23 is used to send and collect data instructions and data information obtained by the sonar probe; the computer 24 can be used to process and analyze the detection data of the karst cave 32 by the sonar probe; the two work together. The built-in program of the computer 24 calculates the distance between the rock wall and the ultrasonic transducer by analyzing the time and speed of ultrasonic wave propagation, and then combines the length of the sonar probe extending into the karst cave 32 to draw the three-dimensional shape of the karst cavity of the karst cave 32.

[0038] The cable 22 is used to transmit current and electronic signals.

[0039] When using this complex configuration all-directional video camera combined with ultrasonic sonar cavity mapping device for karst caves:

[0040] S1. Assemble the sonar probe, and assemble the video signal collector 1, high-frequency ultrasonic transducer 2, low-frequency ultrasonic transducer 3, rotary motor 4, microcomputer 5, and electronic compass 6 in sequence;

[0041] S2. Install the sonar probe at the front end of the horizontal telescopic rod 7, install the front end of the first steering knuckle 8 at the end of the horizontal telescopic rod 7. Multiple steering knuckles 8 and fixed joints 9 can be installed according to engineering needs, and fix the end of the last steering knuckle 8 at the lower part of the vertical extension rod 10;

[0042] S3. Slowly lower the vertical rod to the karst cave 32 through the ground control platform 21 of the vertical rod, connect the cable 22 to the sonar probe, control box 23 and computer 24, and turn on the searchlight and video signal collector 1;

[0043] S4. Connect the vertical connecting rods in sections one by one through the rod connection buckle 11 according to engineering needs, control the steering knuckle 8 and the horizontal telescopic rod 7, so that the sonar probe extends into the karst cave 32. The video signal collector 1 transmits the collected images and video information in the karst cave 32 to the control box 23 and computer 24 for the operator to observe the situation in the karst cavity of the karst cave 32 in real time, so as to decide whether to draw the internal shape of the karst cavity of the karst cave 32;

[0044] S5. If it is necessary to draw the internal shape of the karst cavity of the karst cave 32, turn on the ultrasonic transducer. The ultrasonic transmitting element emits ultrasonic waves to the side wall of the karst cave 32, and the ultrasonic receiving element automatically receives the reflected ultrasonic echo. The reflected ultrasonic echo is converted into an electrical signal by the ultrasonic receiving element, and then is amplified, filtered and converted into a digital signal and transmitted to the ground control box 23 and computer 24 through the cable 22 for processing and display;

[0045] S6. The built-in program of the computer 24 calculates the distance between the rock wall and the ultrasonic transducer by analyzing the time and speed of ultrasonic wave propagation, and automatically draws the three-dimensional shape of the karst cavity of the karst cave 32 in combination with the horizontal displacement, vertical displacement, horizontal rotation angle, vertical rotation angle of the sonar probe and the rotation angle of the rotation motor 4 recorded by the electronic compass 6 in real time.

Claims

1. An omnidirectional video camera combined with ultrasonic sonar cavity mapping device for karst caves with complex configurations, characterized in that, It includes a sonar probe, a vertical extension rod, a cable, a control box and a computer; There is a vertical rod ground control platform on the ground surface of the foundation, and the vertical extension rod extends into the karst cave from the vertical rod ground control platform; A video signal collector is provided at the front end of the sonar probe, an ultrasonic transducer is provided behind the video signal collector, and a transverse telescopic rod is connected to the rear end of the sonar probe. The transverse telescopic rod and the vertical extension rod are connected by several steering joints and fixed joints arranged at intervals; The ultrasonic transducer includes a high-frequency ultrasonic transducer and a low-frequency ultrasonic transducer, and a rotary motor is provided behind the ultrasonic transducer for driving the video signal collector and the ultrasonic transducer to rotate; The sonar probe is connected with a cable, and the cable extends along the transverse telescopic rod, the steering joint, the fixed joint and the vertical extension rod to above the foundation, and is connected to the control box and the computer.

2. The omnidirectional video camera combined with ultrasonic sonar cavity mapping device for complex configuration karst caves according to claim 1, characterized in that The sonar probe includes a microcomputer, and the microcomputer is used to control and transmit the instructions of each device on the sonar probe, and to realize the information handover with the on-site control box and the computer.

3. The omnidirectional video camera combined with ultrasonic sonar cavity mapping device for complex configuration karst caves according to claim 1, characterized in that, The sonar probe includes an electronic compass, and the electronic compass is used to measure the horizontal displacement, vertical displacement, horizontal rotation angle, vertical rotation angle and rotation angle of the rotary motor of the sonar probe. The electronic compass is connected to the control box and the computer through a cable.

4. The omnidirectional video camera combined with ultrasonic sonar cavity mapping device for complex configuration karst caves according to claim 1, characterized in that, The vertical extension rod extends vertically from the ground into the karst cave, and several vertical extension rods are connected to each other through rod connection buckles.

5. The all-directional video camera combined with ultrasonic sonar cavity mapping device for karst caves with complex configurations according to claim 1, characterized in that, The vertical rod ground control platform is arranged at the cave entrance position on the karst cave ground, and there are slide rails inside it for driving the vertical extension rod to move up or down.

6. The all-directional video camera combined with ultrasonic sonar cavity mapping device for complex configuration karst caves according to claim 1, characterized in that, The high-frequency ultrasonic transducer and the low-frequency ultrasonic transducer are in the same position in the length direction of the sonar probe, and the high-frequency ultrasonic transducer and the low-frequency ultrasonic transducer face in opposite directions.

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