CN106027965B - Panoramic shooting method of intelligent digital drilling panoramic shooting device - Google Patents
Panoramic shooting method of intelligent digital drilling panoramic shooting device Download PDFInfo
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- CN106027965B CN106027965B CN201610368145.6A CN201610368145A CN106027965B CN 106027965 B CN106027965 B CN 106027965B CN 201610368145 A CN201610368145 A CN 201610368145A CN 106027965 B CN106027965 B CN 106027965B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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Abstract
The invention discloses a panoramic shooting method of an intelligent digital drilling panoramic shooting device, and belongs to the technical field of rock mass engineering drilling shooting. The method comprises the steps of setting the walking speed of a device body on an analysis control system; image information shot in the process that the device body walks in the drill hole is transmitted to an analysis control system in real time; when the device body encounters an obstacle in the advancing process, the driving wheel enables the first spring positioned at the front end of the waterproof shell to extend, and the driving wheel is enabled to cross the obstacle; the driven wheel extends a second spring positioned at the rear end of the waterproof shell to enable the driven wheel to cross the obstacle; when the device body meets an obstacle in the process of retreating, the driven wheel enables the second spring positioned at the rear end of the waterproof shell to extend, so that the driven wheel can cross the obstacle; the drive wheel extends the first spring at the front end of the watertight housing and causes the drive wheel to pass over the obstacle. The invention can be applied to borehole camera observation with various apertures, has high safety and integrates borehole camera observation and information processing.
Description
Technical Field
The invention belongs to the technical field of rock mass engineering borehole camera shooting, relates to a method for shooting a borehole in rock mass engineering, and particularly relates to a panoramic camera shooting method of an intelligent digital borehole panoramic camera shooting device.
Background
With the rapid development of national economy in China, large-scale rock engineering construction is emerging, such as tunnels, water storage dams, underground mine roadways, hydroelectric diversion tunnels, underground powerhouses, nuclear waste disposal warehouses and the like. The structural stability problem of the rock mass engineering during construction and operation is the most concerned problem for rock mechanics workers, and the deformation characteristics and rules of the rock mass are directly reflected by judging whether the surrounding rock is in a safe and stable state. The key parts of rock deformation and damage are mostly located on discontinuous structural surfaces such as cracks, joints, bedding, faults and the like, and the structural surfaces are usually represented by geometrical characteristics of the structural surfaces, so the scientificity, advancement, integrity and accuracy of the acquisition technology, method and means of the geometrical characteristics of the structural surfaces are particularly important.
The drilling shooting technology is popular among field constructors and scientific researchers because the drilling shooting technology can visually reflect the cracking damage degree of the rock, can obtain information such as the cracking position, the occurrence state and the width of the wall surface of the drilled hole, and can calculate the deformation size and the deformation rule of the surrounding rock by analyzing the information of the wall surface of the drilled hole shot at different time.
Along with the increase of the buried depth of rock engineering, high ground stress disasters and high radioactive pollution become more serious, which causes great threat to the life safety of drilling detection workers. The method has great danger in the construction and test of the rock engineering, and the deformation and damage degree of the surrounding rock are observed by utilizing the conventional drilling and shooting in the environment, so the life safety of operators faces great threat. The existing drilling camera can only be suitable for detection of one aperture and cannot be suitable for drilling of multiple apertures. In addition, the current drilling camera shooting needs to continuously push the drilling camera shooting instrument into the drilling hole by using a plurality of connecting rods so as to obtain the information of the surrounding rock of the hole wall in the axis direction of the whole drilling hole, and large physical force and time need to be consumed. The common borehole camera can only be used for observing the geological phenomena in the borehole, and can not accurately calculate and analyze the geological phenomena (such as determining the attitude, the interval, the gap width and the like of a structural plane), and can not carry out deeper statistics and analysis.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides a panoramic shooting method of the intelligent digital drilling panoramic shooting device.
In order to realize the purpose of the invention, the technical scheme of the invention is as follows: the panoramic shooting method of the intelligent digital drilling panoramic shooting device is characterized by comprising the following steps of: which comprises the following steps of,
step 1: putting a device body into the probe hole, wherein the outer diameter of the device body is smaller than the maximum diameter of the drilled hole;
step 2: starting an analysis control system, setting the traveling speed of the device body on the analysis control system, and enabling the device body to advance or retreat in the drill hole through the analysis control system, the positioning sensor, the front wheel driving mechanism and the motor;
and step 3: image information shot in the process that the device body is carried away in the drill hole is transmitted to an analysis control system in real time through the positioning sensor and the image sensor;
and 4, step 4: when the device body encounters an obstacle during the advancement,
the driving wheel sequentially passes through the driving connecting plate at the front end of the waterproof shell, the first tensioning plate at the front end of the waterproof shell and the first strut slide seat at the front end of the waterproof shell, so that the first spring at the front end of the waterproof shell extends, and the driving wheel moves forwards through the motor and the front wheel driving device and passes over an obstacle;
the driven wheel sequentially passes through a driving connecting plate at the rear end of the waterproof shell, a second tensioning plate at the rear end of the waterproof shell and a second support rod sliding seat at the rear end of the waterproof shell, so that a second spring at the rear end of the waterproof shell extends, and the driving wheel continues to move forwards through the motor and the front wheel driving device, so that the driving wheel crosses an obstacle;
and 5: when the device body encounters an obstacle during the backward movement,
the driven wheel sequentially passes through a driving connecting plate at the rear end of the waterproof shell, a second tensioning plate at the rear end of the waterproof shell and a second support rod sliding seat at the rear end of the waterproof shell, so that a second spring at the rear end of the waterproof shell extends, and the driving wheel moves backwards through the motor and the front wheel driving device by the device body, so that the driven wheel crosses over an obstacle;
the drive wheel loops through the drive connecting plate that is located waterproof casing front end, the first take-up plate of waterproof casing front end and the first bracing piece slide of waterproof casing front end, makes the first spring extension that is located waterproof casing front end, and the device body makes the drive wheel continue backward movement through motor and front wheel drive arrangement this moment to make the drive wheel cross the barrier.
Compared with the existing drilling camera device, the testing device designed by the invention has the following advantages:
1. the existing drilling camera device needs to continuously push a drilling camera instrument into a drill hole by using a plurality of connecting rods so as to obtain the information of surrounding rocks of the hole wall in the axis direction of the whole drill hole, and needs to consume large physical force and time. In addition, in the rock engineering environment with large buried depth and high stress, the probability of dynamic disasters such as rock burst, rock burst and rock burst is greatly increased, and great threat is caused to the life safety of operators. The invention can realize wireless remote control of the drilling camera device, can realize remote operation, intelligent walking and controllable speed, does not need to manually place the drilling camera device in a region to be tested, and greatly improves the safety.
2. The existing drilling camera device can not be used for multi-angle drilling test, only can realize the test of single aperture, and the invention can be suitable for drilling with various apertures and angles, also can be suitable for drilling with variable aperture, and can be used in the water environment.
3. The existing drilling camera device can only be used for observing geological phenomena in a drilling hole, and cannot realize further analysis and processing. The invention can realize the digitization and computer processing of the image, realize the real-time display of the developed 360-degree cylindrical surface image of the hole wall of the drill hole, and realize the computer statistics, analysis and processing of geological data because of the arrangement of the ground control system.
4. The system device is wide in application range, can be applied to borehole camera observation of various apertures, is convenient and fast to operate, convenient and intelligent, high in safety and capable of integrating borehole camera observation and information processing.
Drawings
Fig. 1 is a schematic structural view of the device body.
Fig. 2 is a partially enlarged schematic view of the front half of fig. 1.
Fig. 3 is a partially enlarged view of the rear half of fig. 1.
Fig. 4 is a schematic view of the structure along the cross-sectional direction at a-a in fig. 2.
In the figure, 1-a device body, 2-a waterproof shell, 3-a transparent tube, 41-a driving wheel, 42-a battery, 43-a driven wheel, 44-a motor, 45-a transmission shaft, 5-a panoramic camera mechanism, 51-a magnetic compass, 52-a conical surface reflection, 53-a lighting device, 54-a positioning sensor, 55-an image sensor, 56-a panoramic camera, 57-a camera base, 6-a front wheel driving mechanism, 60-a turbine adjusting piece, 61-a head vertical plate, 62-a driving connecting plate, 63-a turbine, 64-a worm, 65-a gear, 66-a stepped groove, 67-a turbine supporting seat, 68-a turbine shaft, 69-a turbine fastening shaft, 7-a front wheel reducing mechanism, 71-a first tensioning plate, 72-a first strut slide seat, 73-a first limiting plate, 74-a limiting shaft, 75-a first limiting rod, 76-a first spring, 77-a limiting groove, 8-a rear wheel reducing mechanism, 81-a second tensioning plate, 82-a second strut slide seat, 83-a second limiting plate, 84-a second limiting shaft, 85-a second limiting rod, 86-a second spring and 9-a fixing plate.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are not intended to limit the present invention, but are merely exemplary. While the advantages of the invention will be clear and readily understood by the description.
With reference to the accompanying drawings: the intelligent digital drilling panoramic camera device comprises a device body 1, wherein the device body 1 comprises a waterproof shell 2, a transparent tube 3 arranged at the front end outside the waterproof shell 2, a battery 42 arranged inside the waterproof shell 2, a plurality of driving wheels 41 arranged at the front end of the waterproof shell 2, a plurality of driven wheels 43 arranged at the rear end of the waterproof shell 2 and a motor 44 arranged inside the waterproof shell 2; a panoramic camera mechanism 5 capable of performing panoramic camera shooting on a drill hole is installed in the transparent tube 3, the output end of the battery 42 is connected with the motor 44, the output end of the motor 44 is connected with the transmission shaft 45, and the output end of the transmission shaft 45 is connected with the driving wheel 41 through the front wheel driving mechanism 6; a front wheel diameter changing mechanism 7 which is positioned at the front end inside the waterproof shell 2 and can enable the driving wheel 41 to change the diameter in the process of traveling in a drill hole is arranged between the driving wheel 41 and the waterproof shell 2, and a rear wheel diameter changing mechanism 8 which is positioned at the rear end inside the waterproof shell 2 and can enable the driven wheel 43 to change the diameter in the process of traveling in the drill hole is arranged between the driven wheel 43 and the waterproof shell 2; the panoramic camera shooting mechanism 5, the front wheel driving mechanism 6, the front wheel diameter changing mechanism 7 and the rear wheel diameter changing mechanism 8 are in wireless connection with an analysis control system (not marked in the figure) on the ground. Front wheel actuating mechanism 6 includes head riser 61, drive connecting plate 62, turbine 63, worm 64 and gear 65, be equipped with ladder groove 66 on the transmission shaft 45, head riser 61 suit is on ladder groove 66 and forms the shaft shoulder spacing with transmission shaft 45, installs turbine supporting seat 67 on the head riser 61, and turbine 63 installs on turbine supporting seat 67, and the output of transmission shaft 45 is connected with worm 64, turbine 63, gear 65 and drive wheel 41 in proper order, drive connecting plate 62 one end is articulated with turbine supporting seat 67, and drive wheel 41 is installed to the other end.
The front wheel diameter-changing mechanism 7 comprises a first tensioning plate 71, a first strut slide seat 72, a first limiting plate 73, a first limiting shaft 74, a first limiting rod 75 and a first spring 76 sleeved on the first limiting shaft 74, wherein the first limiting plate 73 is connected with the side wall of the waterproof shell 2, the front end of the transmission shaft 45 is provided with a limiting groove 77, one end of the first limiting shaft 74 is connected with the front end of the waterproof shell 2, the other end of the first limiting shaft passes through the first limiting plate 73 and is positioned in the limiting groove 77, one end of the first limiting rod 75 is connected with the first limiting plate 73, the other end of the first limiting rod is connected with the top of the waterproof shell 2, the first strut slide seat 72 is sleeved on the first limiting shaft 74 and the first limiting rod 75, the first spring 76 is sleeved on the first limiting shaft 74, one end of the first spring 76 is connected with the first strut slide seat 72, the other end of the first tensioning plate 71 is hinged with the first strut slide seat 72, the other end is hinged with the middle part of the first driving connecting plate 62.
Rear wheel reducing mechanism 8 includes second take-up plate 81, second branch slide 82, second limiting plate 83, the spacing axle 84 of second, second gag lever post 85, and the suit is at the spacing epaxial second spring 86 of 84 of second, second limiting plate 83 is connected with waterproof casing 2 lateral walls, the spacing axle 84 one end of second and waterproof casing 2 end-to-end connection, other end motor 44 rear end is connected, second gag lever post 85 one end is connected with second limiting plate 83, the other end and waterproof casing 2 end-to-end connection, second branch slide 82 suit is on spacing axle 84 of second and second gag lever post 85, second spring 86 suit is on the spacing axle 84 of second, second spring 86 one end is connected with second branch slide 82, the other end and waterproof casing 2 end-to-end connection, second take-up plate 81 one end is articulated with second branch slide 82, the other end is articulated with drive connecting plate 62 middle part.
The panoramic camera mechanism 5 comprises a magnetic compass 51, a conical surface reflection 52, a lighting device 53, a positioning sensor 54, an image sensor 55, a panoramic camera 56 and a camera base 57, wherein the magnetic compass 51 is installed at the top of the transparent tube 3, the lighting device 53 is installed on the side wall of the transparent tube 3, the positioning sensor 54 and the image sensor 55 are both installed on the side wall of the transparent tube 3, the conical surface reflection 52 is connected with the side wall of the transparent tube 3 and is positioned between the magnetic compass 51 and the lighting device 53, the camera base 57 is installed at the top of the waterproof shell 2, and the panoramic camera 56 is installed on the camera base 57.
In actual operation, the motor 44 and the transmission shaft 45 are both mounted inside the waterproof housing 2 through the fixing plate 9.
The panoramic photographing method of the present invention includes the steps of,
step 1: putting the device body 1 into a probe hole, wherein the outer diameter of the device body 1 is smaller than the maximum diameter of a drilled hole;
step 2: starting an analysis control system, setting the traveling speed of the device body 1 on the analysis control system, and enabling the device body 1 to advance or retreat in the drill hole through the analysis control system, the positioning sensor 54, the front wheel driving mechanism 6 and the motor 44;
and step 3: image information shot in the process that the device body 1 is carried away in a drill hole is transmitted to an analysis control system in real time through the positioning sensor 54 and the image sensor 55;
and 4, step 4: when the apparatus body 1 encounters an obstacle during the advancement,
the driving wheel 41 passes through the driving connecting plate 62 at the front end of the waterproof housing 2, the first tension plate 71 at the front end of the waterproof housing 2 and the first strut slide 72 at the front end of the waterproof housing 2 in sequence, so that the first spring 76 at the front end of the waterproof housing 2 is extended, and at the moment, the device body 1 enables the driving wheel 41 to move forwards through the motor 44 and the front wheel driving device, and enables the driving wheel 41 to cross an obstacle;
the driven wheel 43 passes through the driving connecting plate 62 at the rear end of the waterproof housing 2, the second tensioning plate 81 at the rear end of the waterproof housing 2 and the second strut slide 82 at the rear end of the waterproof housing 2 in sequence, so that the second spring 86 at the rear end of the waterproof housing 2 is extended, and at the moment, the device body 1 enables the driving wheel 41 to continue to move forwards through the motor 44 and the front wheel driving device, so that the driven wheel 43 passes over an obstacle;
and 5: when the apparatus body 1 encounters an obstacle during the backward movement,
the driven wheel 43 passes through the driving connecting plate 62 at the rear end of the waterproof housing 2, the second tension plate 81 at the rear end of the waterproof housing 2 and the second strut slide 82 at the rear end of the waterproof housing 2 in sequence, so that the second spring 86 at the rear end of the waterproof housing 2 is extended, and at this time, the device body 1 moves the driving wheel 41 backwards through the motor 44 and the front wheel driving device, so that the driven wheel 43 passes over an obstacle;
the driving wheel 41 passes through the driving connecting plate 62 at the front end of the waterproof housing 2, the first tension plate 71 at the front end of the waterproof housing 2, and the first strut slide 72 at the front end of the waterproof housing 2 in this order, so that the first spring 76 at the front end of the waterproof housing 2 is extended, and at this time, the device body 1 causes the driving wheel 41 to continue moving backward by the motor 44 and the front wheel driving device, and causes the driving wheel 41 to pass over an obstacle.
In practice, to enhance the structural stability of the present invention, the camera head base 57 may be arranged coaxially with the stopper shaft 74 at the front end of the waterproof case 22. The lighting device 53 can realize lighting in the pipeline, and is convenient for the camera monitoring of the panoramic camera 4.
In practice, the present application is preferably configured to mount three to five drive wheels, wherein the optimum number of drive wheels is three.
As shown in fig. 4, one end of the first tension plate 71 is mounted on the first strut slider 72, and the other end is mounted on the opposite side of the gear 65 in the middle of the driving link plate 62. The driving wheel 41 and the turbine 63 are respectively mounted at both ends of each driving connection plate 62. Each turbine 63 is mounted on a turbine support base 67 via a turbine shaft 68 and a turbine fastening shaft 69. Turbine adjusting pieces 60 are further arranged on two sides of the turbine 63 on each turbine fastening shaft 69 respectively, so that the turbine 63 can be better installed, and the turbine 63 can be guaranteed to rotate normally. The outer wheel face of each turbine 63 is in contact with the top of the drive shaft 45 and the contact points of the three turbines 63 are on the same circumference. The center of the head vertical plate 61 is sleeved on the neck of the transmission shaft 45 in a penetrating way. The three turbine supporting seats 67 and the three first limiting shafts 74 are uniformly installed and sleeved on the head vertical plate 61 at intervals by taking the transmission shaft 45 as a circle center.
During actual work, the torque of the motor 44 is transmitted to the worm 64 through the transmission shaft 45 and then is transmitted to the driving wheel 41 through the turbine 63 and the gear 65; the driving wheel 41 rotates and generates friction with the inner wall of the drill pipe, which is the power for the walking of the device. When the power is larger than the resistance, the invention can start to walk. Forward and reverse rotation of the motor 44 may control forward and reverse movement of the device. The positioning sensor 54 and the image sensor 55 transmit information such as the traveling speed and position of the apparatus body 1 in real time, and the present invention is controlled by an analysis control system.
In actual work, springs with proper stiffness coefficients are selected to form a first spring 76 and a second spring 86, the first spring 76 is arranged between the panoramic camera base 57 and the first strut slide 72, and proper external tension is provided for the three driving wheels 41; the three driving wheels 41 can be supported in the inner wall of the borehole pipeline in an outward expansion mode.
When monitoring is carried out in a drilling hole or a pipeline, corresponding reducing is needed to ensure the advancing of the device. Also contributing to the change is the first spring 76 and the second spring 86. When the device runs and meets an obstacle, after one or more driving wheels 41 contact the obstacle, the driving wheels 41 contract inwards and act on the first strut slide 72 through the driving connecting plate 62 and the first tensioning plate 71; the first spring 76 is extended, and is simultaneously and stably retracted inward by the three driving wheels 45; the above actions can meet the requirements of reducing and obstacle crossing. As the inner wall of the borehole tubing expands, the corresponding first spring 76 expands.
Evenly set up three first take-up plate 71 and three first spacing axle 74 at alternate on first bracing piece slide 72, can guarantee under the effect of first spring 76 that three group's travel drive can be simultaneously even expand outward or shrink to the axis of the equipment of having guaranteed that whole device carries on keeps unanimous, is particularly suitable for panorama camera shooting mechanism 5 to the control in front of the manhole pipeline.
Unlike the front wheel diameter changing mechanism 7, since the driven wheel 43 does not need to be connected to the motor 44, the worm wheel 63, the worm 64, and the gear 65 are not provided. Likewise, second spring 86 provides suitable external tension to three follower wheels 43; and the three driven wheels 43 are ensured to be tightly attached to the inner wall of the hole detection pipeline, so that the functions of supporting and assisting in walking are achieved.
The intelligent panoramic camera device is universal for various drill holes; the specific operation is similar for different situations of drilling. Typically, the dimensions of the present invention are typically 56mm, 59mm, 75mm, 71mm, 110mm, 130mm, etc.
Other parts not described belong to the prior art.
Claims (1)
1. The panoramic shooting method of the intelligent digital drilling panoramic shooting device is characterized by comprising the following steps of: which comprises the following steps of,
step 1: putting the device body (1) into a probe hole, wherein the outer diameter of the device body (1) is smaller than the maximum diameter of a drilled hole;
step 2: starting an analysis control system, setting the traveling speed of the device body (1) on the analysis control system, and enabling the device body (1) to advance or retreat in a drill hole through the analysis control system, a positioning sensor (54), a front wheel driving mechanism (6) and a motor (44);
and step 3: image information shot in the process that the device body (1) is conveyed away in a drill hole is transmitted to an analysis control system in real time through a positioning sensor (54) and an image sensor (55);
and 4, step 4: when the device body (1) meets an obstacle in the advancing process,
the driving wheel (41) sequentially passes through a driving connecting plate (62) at the front end of the waterproof shell (2), a first tensioning plate (71) at the front end of the waterproof shell (2) and a first strut sliding seat (72) at the front end of the waterproof shell (2), so that a first spring (76) at the front end of the waterproof shell (2) is extended, and at the moment, the driving wheel (41) moves forwards through the motor (44) and a front wheel driving device by the device body (1), and the driving wheel (41) passes over an obstacle;
the driven wheel (43) sequentially passes through a driving connecting plate (62) positioned at the rear end of the waterproof shell (2), a second tensioning plate (81) positioned at the rear end of the waterproof shell (2) and a second support rod sliding seat (82) positioned at the rear end of the waterproof shell (2), so that a second spring (86) positioned at the rear end of the waterproof shell (2) is extended, and at the moment, the driving wheel (41) continues to move forwards through the motor (44) and the front wheel driving device by the device body (1), so that the driven wheel (43) passes over an obstacle;
and 5: when the device body (1) meets an obstacle in the process of moving backwards,
the driven wheel (43) sequentially passes through a driving connecting plate (62) positioned at the rear end of the waterproof shell (2), a second tensioning plate (81) positioned at the rear end of the waterproof shell (2) and a second support rod sliding seat (82) positioned at the rear end of the waterproof shell (2), so that a second spring (86) positioned at the rear end of the waterproof shell (2) is extended, and at the moment, the driving wheel (41) moves backwards through the motor (44) and the front wheel driving device by the device body (1), so that the driven wheel (43) passes over an obstacle;
the driving wheel (41) sequentially passes through the driving connecting plate (62) at the front end of the waterproof shell (2), the first tensioning plate (71) at the front end of the waterproof shell (2) and the first strut sliding seat (72) at the front end of the waterproof shell (2), so that the first spring (76) at the front end of the waterproof shell (2) is extended, and at the moment, the driving wheel (41) continues to move backwards through the motor (44) and the front wheel driving device by the device body (1), and the driving wheel (41) passes over an obstacle.
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| CN201610368145.6A CN106027965B (en) | 2016-05-30 | 2016-05-30 | Panoramic shooting method of intelligent digital drilling panoramic shooting device |
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| CN107105129A (en) * | 2016-11-27 | 2017-08-29 | 申俊 | A kind of camera that can be moved |
| CN107105195A (en) * | 2016-11-27 | 2017-08-29 | 申俊 | A kind of camera that can be moved |
| CN114885078A (en) * | 2022-04-26 | 2022-08-09 | 鞍钢集团矿业有限公司 | Underground mine drilling camera robot |
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| "数字式全景钻孔摄像系统研究";王川婴等;《岩土力学与工程学报》;20040108;全文 * |
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