A portable device for exploring underground spaces using a surveying drill

Abstract

The application discloses a portable device for exploring underground space by means of surveying drilling, which comprises a camera structure, a lifting structure, a winding and unwinding structure and a device main body. The winding and unwinding structure is used for winding or unwinding the lifting structure, so as to adjust the height of the camera structure connected to the lifting structure in the underground space. The winding and unwinding structure is installed on a rotating disc of the device main body. The rotating disc is rotatably installed on a lifting frame of the device main body. The flexibility of the first part of the lifting structure in the first state is smaller than that in the second state. The rotating disc is used for rotating when the first part is in the first state, so as to adjust the shooting angle of the camera structure. The director is used for acquiring the shooting angle of the camera structure. The camera structure is lowered to the underground space by means of drilling. The image of the underground space, the height of the camera structure in the underground space and the shooting angle of the camera structure are combined, and the appearance of the underground space is constructed. The method is simple, and the construction cost is low and the construction period is short.

Description

Technical Field

[0001] This application relates to the field of geotechnical exploration technology, and in particular to a portable device for exploring underground space using exploration boreholes. Background Technology

[0002] In certain special areas of geotechnical engineering investigation, underground spaces may exist within the site. These spaces are ancient, deeply buried, and lack lining structures, have irregular and winding paths, and are prone to local collapses, making manual exploration impossible. However, the distribution of these underground spaces directly affects the stability of the foundation. To scientifically and rationally analyze foundation schemes, it is essential to obtain key information such as their distribution shape and size.

[0003] In related technologies, devices used to detect underground topography are usually large in size to meet the requirements of detection depth, which can easily lead to problems of inconvenience in storage and transfer. Utility Model Content

[0004] This application provides a portable device for exploring underground space using exploration boreholes, which can solve the problem of inconvenient storage and transfer of underground space exploration devices.

[0005] The portable device for exploring underground space using exploration boreholes provided in this application includes: Camera structure; A lifting structure, one end of which is connected to the camera structure; A winding and unwinding structure is used to unwind or wind up the lifting structure to adjust the height of the camera structure in the underground space; and The main body of the device includes a lifting frame, a turntable, and a guide; the winding and unwinding structure is installed on the turntable, and the turntable is rotatably installed on the lifting frame. The lifting structure includes a first part that is not wound up by the winding structure. The first part has a first state and a second state. The flexibility of the first part in the first state is less than that in the second state. The turntable is used to rotate when the first part is in the first state, thereby adjusting the shooting angle of the camera structure. The directional device is used to obtain the position of the turntable and thus obtain the shooting angle of the camera structure.

[0006] In some embodiments, the lifting structure includes: Multiple support chains are arranged in parallel and connected to the camera structure. Each support chain includes multiple first chain segments arranged sequentially along its length. The cable is located within the space enclosed by the multiple support chains and is electrically connected to the camera structure; Multiple pushing components are spaced apart along the length of the cable and are all fixed to the cable; Each of the aforementioned push-off components is used to move relative to the support chain along the length direction of the cable under the drive of the cable, so as to switch between a plugged position and an extended position. In the plugged position, the push-off component is used to plug into one of a set of two adjacent first chain segments to prevent the two adjacent first chain segments from bending into each other. In the extended position, the push-off component is disengaged from the two adjacent first chain segments so that the two adjacent first chain segments can be bent into each other. In the first state, all the pushing components of the first part are in the insertion position; In the second state, all the pushing components of the first part are in the extended position.

[0007] In some embodiments, each of the support chains includes: Multiple second chain segments are arranged side by side with one first chain segment in a first direction perpendicular to the length direction of the support chain; Multiple transition chain segments, one end of each transition chain segment is located between one group of first chain segments and second chain segments arranged side by side, and the other end is located between another adjacent group of first chain segments and second chain segments arranged side by side; Multiple chain shafts, in the first direction, the overlapping portions of the first chain segment, the transition chain segment and the second chain segment are rotatably fitted onto the same chain shaft.

[0008] In some embodiments, along the length of the support chain, the surfaces of two adjacent second chain segments facing each other are arcuate surfaces and slide in contact.

[0009] In some embodiments, in the length direction of the support chain, the surfaces of two adjacent first chain segments facing each other are spaced apart, and at least a portion of the surface of each first chain segment facing the adjacent first chain segment is planar, so as to prevent the two adjacent first chain segments from rotating about the corresponding chain axis when the pushing component is inserted between the two adjacent first chain segments.

[0010] In some embodiments, each of the pushing components includes a plurality of pushing seats, a plurality of pushing rods, and a socket. The socket is fixedly installed on the cable, and each of the pushing seats is fixedly installed on one of the first chain segments. One end of each of the pushing rods is rotatably installed on the socket, and the middle part is movably installed on the pushing seat, so that the other end of each of the pushing rods can enter and exit the space between two adjacent first chain segments.

[0011] In some embodiments, the push rod has a first guide hole that extends along the length of the push rod; The push base has a second guide hole, which extends at an angle to the length direction of the push rod, and each second guide hole and the corresponding first guide hole are arranged side by side in a second direction perpendicular to the length direction of the cable; Each of the pushing components further includes a plurality of movable shafts corresponding one-to-one with the plurality of pushing rods. Each of the movable shafts passes through the first guide hole and the second guide hole so that the middle part of the pushing rod is movably mounted on the pushing seat.

[0012] In some embodiments, each of the pushing components further includes a limiting member, which is spaced apart from the cable, the pushing seat and the pushing rod, and is installed on a plurality of the pushing seats to limit the relative positions of the plurality of pushing seats.

[0013] In some embodiments, the turntable includes: Mounting plate, the winding and unwinding structure is mounted on the mounting plate; A first pre-tensioning member is installed on the mounting plate. The first pre-tensioning member is configured to act on the lifting structure to limit the length of the first part when the camera structure is located at a preset depth in the underground space. The second pre-tensioning member is installed on the mounting plate. The second pre-tensioning member is configured to act on the support chain and the cable of the first part respectively when the camera structure is located at a preset depth in the underground space, so that the cable of the first part moves relative to the support chain, thereby driving the multiple pushing components to be in the insertion position.

[0014] In some embodiments, the camera structure includes: A binocular camera is used to capture images of the underground space; An illumination element is used to generate light to supplement the light required for the binocular camera to capture images.

[0015] The portable device for exploring underground space using boreholes, based on embodiments of this application, allows for the direct lowering of a camera structure into the underground space via a borehole. The camera structure captures images of the underground space, and the shooting angle of the camera structure is obtained using a directional device. By combining the captured images, the height of the camera structure within the underground space, and the shooting angle, the shape of the underground space can be constructed. This method is simple, has low construction costs, and a short construction period, meeting the economic needs of exploration projects. Furthermore, when underground space exploration is not required, the camera structure can be stored by adjusting the unwinding length of the lifting structure via a rewinding mechanism, making the entire underground space exploration device compact and easy to store and carry. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the first part of the lifting structure in a second state according to an embodiment of this application; Figure 2 This is a schematic diagram of the first part of the lifting structure in a first state according to an embodiment of this application; Figure 3 This is a schematic diagram of the pushing component in the extended position according to one embodiment of this application; Figure 4 This is a schematic diagram of the structure of the pushing component in the insertion position according to an embodiment of this application; Figure 5 This is a side view of a structure in which two adjacent second chain segments are arranged side by side according to an embodiment of this application; Figure 6 This is a side view of a structure in which two adjacent first chain segments are arranged side by side according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the push rod in contact with the stop member according to one embodiment of this application.

[0018] Figure label: 10. Portable device for exploring underground space using boreholes; 01. Underground space; 02. Borehole; 100. Camera structure; 110. Camera; 120. Lighting components; 200. Lifting structure; 201. First part; 210. Support chain; 211. First chain segment; 212. Second chain segment; 213. Transition chain segment; 214. Chain shaft; 220. Cable; 230. Pushing assembly; 231. Pushing seat; 2311. Mounting body; 2312. Pushing ear; 232. Pushing rod; 233. Sleeve; 234. Limiting component; 235. Movable shaft; 236. Stop component; 2301. First guide hole; 2302. Second guide hole; 300. Rewinding and unwinding structure; 400. Main body of the device; 410. Lifting frame; 420. Turntable; 421. Mounting plate; 422. First pre-tightening component; 423. Second pre-tightening component; 430. Orienter; First direction; Second direction. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] The inventors discovered that in related technologies, the scheme of using geophysical instruments for reflected wave detection when exploring underground space is limited by technical principles, resulting in bottlenecks in detection depth and size. In complex underground environments, such as those with pipelines and large gravel, it is difficult to accurately obtain the specific layout information of underground space, leading to significant errors in the detection results. While the scheme of using drones combined with television instruments can compensate for some of the shortcomings of reflected wave detection to a certain extent, cost and applicability are significant issues. Furthermore, drones are susceptible to signal interference and signal loss during detection, and may even be damaged due to environmental factors. In addition, television instruments are too large to fit the small boreholes of exploration drilling rigs; using such instruments often requires secondary construction operations such as borehole enlargement, or the replacement with larger equipment, which undoubtedly increases project costs and extends the construction period. Therefore, this application provides a portable device for exploring underground space using exploration boreholes.

[0021] like Figure 1 and Figure 2 As shown in the embodiment of this application, the portable device 10 for exploring underground space using exploration boreholes is used in conjunction with a drilling device. After the drilling device drills a borehole 02 that communicates with the underground space 01, a portion of the portable device 10 for exploring underground space using exploration boreholes is lowered from the borehole 02 into the underground space 01 to obtain the shape of the underground space 01.

[0022] This application provides a portable device 10 for exploring underground space using exploration boreholes, comprising a camera structure 100, a lifting structure 200, a retractable structure 300, and a device body 400.

[0023] The camera structure 100 is used to penetrate into the underground space 01 and capture image information of the underground space 01. One end of the lifting structure 200 is connected to the camera structure 100. The lifting structure 200 is used to pull the camera structure 100 up and down in the underground space 01 it is located in, so as to facilitate the lowering of the camera structure 100 into the underground space 01 and the retraction of the camera structure 100.

[0024] The unwinding and rewinding structure 300 is used to unwind or rewind the lifting structure 200 to adjust the length of the lifting structure 200 in the underground space 01, thereby adjusting the height of the camera structure 100 in the underground space 01.

[0025] The main body of the device 400 includes a lifting frame 410, a turntable 420 and a guide 430. The winding and unwinding structure 300 is installed on the turntable 420. The turntable 420 is rotatably installed on the lifting frame 410. During the rotation of the turntable 420, it drives the structure installed on it to rotate together.

[0026] When the lifting structure 200 of this embodiment is not lowered into the underground space 01, it is flexible so that the lifting structure 200 can be rolled up to the take-up and unwinding structure 300 for easy storage. When the lifting structure 200 needs to lower the camera structure 100 into the underground space 01, at least part of the lifting structure 200 is not rolled up to the take-up and unwinding structure 300. That is, the lifting structure 200 includes at least a first part 201 that is not rolled up by the take-up and unwinding structure 300. The lifting structure 200 may also include a second part that is rolled up by the take-up and unwinding structure 300, and the second part is always flexible so that it can be rolled up to the take-up and unwinding structure 300.

[0027] The first part 201 has a first state and a second state, such as Figure 2 As shown, in the first state, the first part 201 is configured to not bend in its length direction, that is, it has low flexibility, such as... Figure 1 As shown, in the second state, the first part 201 is configured to be able to bend along its length, i.e., it has high flexibility. The turntable 420 is used to drive the winding and unwinding structure 300, the lifting structure 200, and the camera structure 100 to rotate when the first part 201 is in the first state, thereby adjusting the shooting angle of the camera structure 100. The orienter 430 is used to obtain the position of the turntable 420 and thus obtain the shooting angle of the camera structure 100. The structure of the orienter 430 is not limited in this application embodiment. Any structure in the art that can obtain the position of the turntable 420 is applicable to this application. For example, the orienter 430 is a compass.

[0028] The portable device 10 for exploring underground space in this embodiment can directly lower the camera structure 100 into the underground space 01 using the borehole 02, without the need for borehole enlargement. The camera structure 100 captures images of the underground space 01, and the camera angle of the camera structure 100 is obtained using the orientation device 430. By combining the captured images of the underground space 01, the height of the camera structure 100 within the underground space 01, and the camera angle of the camera structure 100, the shape of the underground space 01 can be constructed. The method is simple, with low construction costs and a short construction period, meeting the economic needs of exploration projects. When exploration of the underground space 01 is not required, the camera structure 100 can be stored by adjusting the unwinding length of the lifting structure 200 using the rewinding structure 300, making the entire portable device 10 for exploring underground space using exploration boreholes small in size and easy to store and carry. In addition, this application selects the turntable 420 to rotate in a first state where the first part 201 of the lifting structure 200 is in a low flexibility state, so as to facilitate timely rotation of the camera structure 100 with the turntable 420, so as to switch the shooting angle of the camera structure 100 in time. It also selects the first part 201 of the lifting structure 200 to be in a second state with a high flexibility state, so as to store the lifting structure 200.

[0029] In some embodiments, such as Figure 3 As shown, the lifting structure 200 includes multiple support chains 210 and cables 220. The multiple support chains 210 are arranged in parallel and are all connected to the camera structure 100. The support chains 210 pull the camera structure 100 up and down. The support chains 210 are flexible and can be bent and wound for easy storage. The cables 220 are electrically connected to the camera structure 100, supplying power to it. The cables 220 can also be electrically connected to an external control device, transmitting signals between the camera structure 100 and the control device. For example, the external control device can be an electronic device such as a computer or an operation panel.

[0030] like Figure 3 As shown, each support chain 210 includes multiple first chain segments 211 arranged sequentially along its length. Adjacent first chain segments 211 can be bent towards each other, thus giving the support chain 210 flexibility. A cable 220 is disposed within the space enclosed by the multiple support chains 210. The lifting structure 200 also includes multiple pushing components 230, which are spaced apart along the length of the cable 220 and all fixed to the cable 220. The multiple pushing components 230 can move together with the cable 220. Each pushing component 230 is used to move relative to the support chain 210 along the length of the cable 220 under the influence of the cable 220, switching between an inserted position and an extended position, such as... Figure 4As shown, in the insertion position, the abutting component 230 is used to insert with one set of two adjacent first chain segments 211 to prevent the two adjacent first chain segments 211 from bending against each other, as shown. Figure 3 As shown, in the extended position, the pushing component 230 is disengaged from the two adjacent first chain segments 211, allowing the two adjacent first chain segments 211 to bend against each other. By changing the position of the pushing component 230 relative to the support chain 210, the flexibility of the lifting structure 200 is changed. When the pushing component 230 is in the extended position, the lifting structure 200 is flexible and easy to bend, making it convenient to unwind or wind up and store the lifting structure 200. When the pushing component 230 is in the inserted position, the lifting structure 200 is not easy to bend, so as to provide stable support for the structure connected to it.

[0031] In this embodiment, in the first state, all the pushing components 230 of the first part 201 are in the plugged position, which facilitates timely adjustment of the shooting angle of the camera structure 100 and makes operation convenient. In the second state, all the pushing components 230 of the first part 201 are in the extended position, which facilitates the winding and unwinding of the lifting structure 200 and lowering the camera structure 100 to a suitable height.

[0032] like Figure 3 and Figure 4 As shown, each support chain 210 also includes multiple second chain segments 212, multiple transition chain segments 213, and multiple chain shafts 214. Each second chain segment 212 and a first chain segment 211 are arranged side by side in a first direction A perpendicular to the length direction H of the support chain 210. In this case, in the first direction A, the first chain segment 211 is positioned towards the side where the cable 220 is located, and the second chain segment 212 is positioned away from the side where the cable 220 is located. One end of each transition chain segment 213 is located between one of the groups of side-by-side first chain segments 211 and second chain segments 212, and the other end is located at the adjacent other transition chain segment 213. Between the first chain segment 211 and the second chain segment 212 arranged side by side, and in the direction perpendicular to the length direction of the support chain 210 (first direction A), the overlapping portion of the first chain segment 211, the transition chain segment 213 and the second chain segment 212 is rotatably sleeved on the same chain shaft 214. The first chain segment 211, the transition chain segment 213 and the second chain segment 212 can all rotate around the chain shaft 214, so that the first chain segment 211 and the second chain segment 212 of the same group can be bent relative to the first chain segment 211 and the second chain segment 212 of the adjacent group, so that the support chain 210 can be flexible.

[0033] In some embodiments, such as Figure 5As shown, along the length H of the support chain 210, the surfaces of two adjacent second chain segments 212 facing each other are arc-shaped and slide in contact. When the pushing component 230 is in the insertion position, the pushing component 230 is inserted between two adjacent first chain segments 211, providing support for the two adjacent first chain segments 211. At the same time, the corresponding two adjacent second chain segments 212 interact to provide mutual support, which helps to improve the insertion stability of the pushing component 230 between the two adjacent first chain segments 211. In addition, the two adjacent second chain segments 212 provide support on one side of the transition chain segment 213, which can also prevent wear caused by the pressure between the pushing component 230 and the multiple structural components of the lifting structure 200 when the pushing component 230 is inserted between the two adjacent first chain segments 211.

[0034] In some embodiments, such as Figure 6 As shown, in the length direction H of the support chain 210, two adjacent first chain segments 211 are spaced apart from each other, and at least a portion of the surface of each first chain segment 211 facing the adjacent first chain segment 211 is flat, so that when the pushing component 230 is inserted between two adjacent first chain segments 211, it prevents the two adjacent first chain segments 211 from rotating around the corresponding chain axis 214, thereby preventing the two adjacent first chain segments 211 from bending against each other, and further improving the insertion stability of the pushing component 230 between two adjacent first chain segments 211. Optionally, in the length direction H of the support chain 210, the surface of the first chain segment 211 facing the adjacent first chain segment 211 is the first mating surface. Along the second direction B, the middle area of ​​the first mating surface is a plane perpendicular to the length direction of the support chain 210, and the edge area of ​​the first mating surface is an arc surface. The second direction B, the length direction H of the support chain 210, and the first direction A are perpendicular to each other. When the pushing component 230 is inserted between two adjacent first chain segments 211, the surface of the pushing component 230 fits against the middle area of ​​the first mating surface, restricting the first chain segment 211 from rotating around the chain shaft 214.

[0035] In some embodiments, each push assembly 230 includes a plurality of push seats 231, a plurality of push rods 232, and a socket 233. The socket 233 is fixedly installed on the cable 220, and each push seat 231 is fixedly installed on one of the first chain segments 211. One end of each push rod 232 is rotatably installed on the socket 233, and the middle part is movably installed on the push seat 231, so that the other end of each push rod 232 can enter and exit the space between two adjacent first chain segments 211 under the drive of the socket 233. When the first part 201 of the lifting structure 200 is lowered to the borehole 02 and the underground space 01, due to gravity, the first part 201 of the lifting structure 200 is in a natural vertical state. The cable 220 acting on the first part 201 can move the cable 220 of the first part 201 upward relative to the support chain 210, thereby driving the socket 233 to move upward relative to the support chain 210, so that the end of the push rod 232 can be inserted between two adjacent first chain segments 211. When it is necessary to rewind the lifting structure 200, the push rod 232 is moved to move the end of the push rod 232 out of the space between two adjacent first chain segments 211, so that the lifting structure 200 can be rewound.

[0036] like Figure 3 and Figure 4 As shown, the push rod 232 has a first guide hole 2301, which extends along the length of the push rod 232. The push seat 231 has a second guide hole 2302, which extends at an angle to the length of the push rod 232. Each second guide hole 2302 and the corresponding first guide hole 2301 are arranged side by side in a direction perpendicular to the length of the cable 220 (second direction B). Each push assembly 230 also includes a plurality of movable shafts 235 corresponding to the plurality of push rods 232. Each movable shaft 235 passes through the first guide hole 2301 and the second guide hole 2302 so that the middle part of the push rod 232 is movably mounted on the push seat 231. The lengths of the first guide hole 2301 and the second guide hole 2302 in their respective extending directions are greater than the size of the movable shaft 235, so that when the movable shaft 235 moves with the sleeve 233, it can move under the guidance of the walls of the first guide hole 2301 and the second guide hole 2302 respectively, providing support for the push rod 232, so that the push rod 232 can move to be inserted between two adjacent first chain segments 211.

[0037] Optionally, when the push rod 232 is fully inserted between two adjacent first chain segments 211, the length direction of the push rod 232 is parallel to the first direction A. In this case, the end of the push rod 232 can be spaced apart from or in contact with the wall surface of the transition chain segment 213. Figure 7As shown, the push assembly 230 also includes a stop member 236, which is located on the sleeve 233. When the push rod 232 rotates to a position where its length direction is parallel to the first direction A, the stop member 236 is positioned on one side of the push rod 232 along the length direction of the cable 220 and contacts the push rod 232, limiting the rotation angle of the push rod 232 and facilitating smooth insertion of the push rod 232 between two adjacent first chain segments 211. Optionally, when the first part 201 of the lifting structure 200 is lowered to the borehole 02 and the underground space 01, the stop member 236 is located below the push rod 232, preventing the push rod 232 from continuing to rotate downwards.

[0038] Optionally, the push seat 231 includes a mounting body and two push ears. The two push ears are spaced apart along the second direction B and are respectively connected to the mounting body. The two push ears and the mounting body together enclose a push space. Each push ear has a second guide hole 2302 communicating with the push space. The mounting body is located on the side of the first chain segment 211 away from the second chain segment 212 and is fixedly installed on the first chain segment 211. A portion of the push rod 232 is located in the push space and slides from the push space into the space between two adjacent first chain segments 211.

[0039] Each pushing component 230 also includes a limiting member 234, which is spaced apart from the cable 220, the pushing seat 231, and the pushing rod 232. The limiting member 234 is installed on multiple pushing seats 231, specifically on the pushing ears, to limit the relative positions of the multiple pushing seats 231 in the direction H perpendicular to the length of the support chain 200, so that the pushing rod 232 can be smoothly inserted between two adjacent first chain segments 211, while preventing the limiting member 234 from obstructing the movement of the cable 220, the pushing seat 231, and the pushing rod 232. Optionally, the lifting structure 200 includes two support chains 210, with the cable 220 located between the two support chains 210. The limiting member 234 passes through the outside of the cable 220, and its two ends are respectively installed on two pushing seats 231.

[0040] In this embodiment, when exploring underground space 01, it is necessary to determine the lowering depth of the camera structure 100. This lowering depth can be obtained based on the length of the cable 220 of the first part 201. Optionally, the cable 220 is configured to include a conductive core, an inner sheath, and an outer sheath from the inside out. The outer sheath has a certain thickness and can withstand a certain traction force, providing protection for the inner sheath and the conductive core. The surface of the outer sheath may also have graduations. By reading the graduations on the outer sheath, the length of the first part 201 of the lifting structure 200 can be obtained. Alternatively, the surface of the support chain 210 may have graduations. By reading the graduations on the support chain 210, the length of the first part 201 of the lifting structure 200 can be obtained.

[0041] The portable device 10 for exploring underground space using exploration boreholes in this embodiment of the application further includes a drive component connected to a turntable 420 to drive the turntable 420 to rotate around its axial direction. This embodiment of the application does not limit the type of drive component; any structure in the art capable of driving rotation is applicable to this application.

[0042] The turntable 420 includes a mounting plate 421, a first pretensioner 422 and a second pretensioner 423. The winding and unwinding structure 300, the first pretensioner 422 and the second pretensioner 423 are all mounted on the mounting plate 421. The mounting plate 421 is connected to the drive assembly so that it can rotate under the drive of the drive assembly. The first pre-tensioning member 422 is configured to act on the lifting structure 200 to limit the length of the first part 201 when the camera structure 100 is located at a preset depth in the underground space 01. The second pre-tensioning member 423 is configured to act on the support chain 210 and the cable 220 of the first part 201 respectively when the camera structure 100 is located at a preset depth in the underground space 01, so that the cable 220 of the first part 201 moves relative to the support chain 210, thereby driving multiple pushing components 230 to be in the insertion position. That is, when the camera structure 100 is lowered into the borehole 02 and the underground space 01, the first pre-tensioning member 422 first limits the lowering length of the first part 201 of the lifting structure 200, and then the second pre-tensioning member 423 acts on the cable 220 of the first part 201. The cable 220 moves upward relative to the support chain 210, so that the pushing components 230 are in the insertion position, so that the first part 201 becomes a rigid straight rod, which facilitates the flexible rotation of the camera structure 100.

[0043] Optionally, the first pretensioner 422 is located on the side of the second pretensioner 423 away from the camera structure 100. When the camera structure 100 is located at a preset depth in the underground space 01, the cable 220 and the support chain 210 can be clamped by the first pretensioner 422 to prevent the cable 220 from moving relative to the support chain 210. The first pretensioner 422 is installed on the mounting plate 421 to prevent the cable 220 and the support chain 210 from moving relative to the mounting plate 421. Then, the second pretensioner 423 abuts against the support chain 210 and the cable 220 respectively. The travel of the second pretensioner 423 against the support chain 210 is less than the travel of the second pretensioner 423 against the cable 220, so that the cable 220 can move relative to the support chain 210, thereby driving the push rod 232 of the push assembly 230 to the insertion position. When it is necessary to adjust the lowering depth of the lifting structure 200, the action of the first pretensioner 422 and the second pretensioner 423 on the lifting structure 200 can be released, and the lifting structure 200 can be adjusted.

[0044] Due to insufficient lighting in underground space 01, a camera structure 100 is installed, including a camera 110 and an illumination element 120. The camera 110 is used to capture images of underground space 01, and the illumination element 120 is used to generate light to supplement the light required for the camera to capture images. This application does not limit the type of camera 110; any camera 110 that can be used to capture images in this field is applicable. For example, the camera 110 is a binocular camera. Using a binocular camera allows for dual-lens photography, and by utilizing the focal length ratio and the depth of the binocular camera, the size of the underground space can be estimated, thus better depicting the shape of the underground space.

[0045] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0046] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A portable device for exploring underground space using boreholes, characterized in that, include: Camera structure; A lifting structure, one end of which is connected to the camera structure; The unwinding and rewinding structure is used to unwind or rewind the lifting structure to adjust the height of the camera structure in the underground space. and The main body of the device includes a lifting frame, a turntable, and a guide; the winding and unwinding structure is installed on the turntable, and the turntable is rotatably installed on the lifting frame. The lifting structure includes a first part that is not wound up by the winding structure. The first part has a first state and a second state. The flexibility of the first part in the first state is less than that in the second state. The turntable is used to rotate when the first part is in the first state, thereby adjusting the shooting angle of the camera structure. The directional device is used to obtain the position of the turntable and thus obtain the shooting angle of the camera structure.

2. The portable device for exploring underground space using exploration boreholes according to claim 1, characterized in that, The lifting structure includes: Multiple support chains are arranged in parallel and connected to the camera structure. Each support chain includes multiple first chain segments arranged sequentially along its length. The cable is located within the space enclosed by the multiple support chains and is electrically connected to the camera structure; Multiple pushing components are spaced apart along the length of the cable and are all fixed to the cable; Each of the aforementioned push-off components is used to move relative to the support chain along the length direction of the cable under the drive of the cable, so as to switch between a plugged position and an extended position. In the plugged position, the push-off component is used to plug into one of a set of two adjacent first chain segments to prevent the two adjacent first chain segments from bending into each other. In the extended position, the push-off component is disengaged from the two adjacent first chain segments so that the two adjacent first chain segments can be bent into each other. In the first state, all the pushing components of the first part are in the insertion position; In the second state, all the pushing components of the first part are in the extended position.

3. The portable device for exploring underground space using exploration boreholes according to claim 2, characterized in that, Each of the aforementioned support chains includes: Multiple second chain segments are arranged side by side with one first chain segment in a first direction perpendicular to the length direction of the support chain; Multiple transition chain segments, one end of each transition chain segment is located between one group of first chain segments and second chain segments arranged side by side, and the other end is located between another adjacent group of first chain segments and second chain segments arranged side by side; Multiple chain shafts, in the first direction, the overlapping portions of the first chain segment, the transition chain segment and the second chain segment are rotatably fitted onto the same chain shaft.

4. The portable device for exploring underground space using exploration boreholes according to claim 3, characterized in that, Along the length of the support chain, the surfaces of two adjacent second chain segments facing each other are arc-shaped and slide in contact.

5. The portable device for exploring underground space using exploration boreholes according to claim 3, characterized in that, Along the length of the support chain, the surfaces of two adjacent first chain segments facing each other are spaced apart, and at least a portion of the surface of each first chain segment facing the adjacent first chain segment is planar, so as to prevent the two adjacent first chain segments from rotating about the corresponding chain axis when the pushing assembly is inserted between the two adjacent first chain segments.

6. The portable device for exploring underground space using exploration boreholes according to claim 2, characterized in that, Each of the pushing components includes multiple pushing seats, multiple pushing rods, and a socket. The socket is fixedly installed on the cable. Each of the pushing seats is fixedly installed on one of the first chain segments. One end of each pushing rod is rotatably installed on the socket, and the middle part is movably installed on the pushing seat, so that the other end of each pushing rod can enter and exit the space between two adjacent first chain segments.

7. The portable device for exploring underground space using exploration boreholes according to claim 6, characterized in that, The push rod has a first guide hole, which extends along the length direction of the push rod. The push base has a second guide hole, which extends at an angle to the length direction of the push rod, and each second guide hole and the corresponding first guide hole are arranged side by side in a second direction perpendicular to the length direction of the cable; Each of the pushing components further includes a plurality of movable shafts corresponding one-to-one with the plurality of pushing rods. Each of the movable shafts passes through the first guide hole and the second guide hole so that the middle part of the pushing rod is movably mounted on the pushing seat.

8. The portable device for exploring underground space using exploration boreholes according to claim 6, characterized in that, Each of the pushing components further includes a limiting member, which is spaced apart from the cable, the pushing seat and the pushing rod, and is installed on multiple pushing seats to limit the relative positions of the multiple pushing seats.

9. The portable device for exploring underground space using exploration boreholes according to claim 2, characterized in that, The turntable includes: Mounting plate, the winding and unwinding structure is mounted on the mounting plate; A first pre-tensioning member is installed on the mounting plate. The first pre-tensioning member is configured to act on the lifting structure to limit the length of the first part when the camera structure is located at a preset depth in the underground space. The second pre-tensioning member is installed on the mounting plate. The second pre-tensioning member is configured to act on the support chain and the cable of the first part respectively when the camera structure is located at a preset depth in the underground space, so that the cable of the first part moves relative to the support chain, thereby driving the multiple pushing components to be in the insertion position.

10. The portable device for exploring underground space using exploration boreholes according to claim 1, characterized in that, The camera structure includes: A binocular camera is used to capture images of the underground space; An illumination element is used to generate light to supplement the light required for the binocular camera to capture images.

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