CN108277840A

CN108277840A - A kind of exploratory heading detection cleaning depth measurement backfill flying robot

Info

Publication number: CN108277840A
Application number: CN201611265651.9A
Authority: CN
Inventors: 石立公
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-12-30
Filing date: 2016-12-30
Publication date: 2018-07-13

Abstract

The present invention relates to a kind of exploratory headings to detect cleaning depth measurement backfill flying robot, including exploratory heading detection cleaning depth measurement backfilling apparatus, aircraft, controller of aircraft, operation hole；The exploratory heading detection cleaning depth measurement backfilling apparatus cooperation fixed setting is on board the aircraft；The controller of aircraft cooperation is fixedly mounted on board the aircraft；The operation hole is located on aircraft, coordinates the exploratory heading detection cleaning depth measurement backfilling apparatus setting；The exploratory heading detection cleaning depth measurement backfilling apparatus carries out operation by the operation hole；The controller of aircraft mating connection exploratory heading detection cleaning depth measurement backfilling apparatus；The exploratory heading detection cleaning depth measurement backfilling apparatus is for exploratory heading detection, exploratory heading cleaning, exploratory heading depth measurement, backfill exploratory heading；The controller of aircraft is computer control.The present invention provides a kind of exploratory headings to detect cleaning depth measurement backfilling apparatus, can detect the position of exploratory heading automatically, crushes, cleans out sundries in exploratory heading, measures the depth of exploratory heading, backfills exploratory heading, and movement is quick and convenient, improves the working efficiency of exploratory heading detection.

Description

A kind of exploratory heading detection cleaning depth measurement backfill flying robot

Technical field

The present invention relates to electronics and machinery equipment field, especially a kind of exploratory heading detection cleaning depth measurement backfills flying machine People.

Background technology

In some constructions, many exploratory headings are made, but exploratory heading backfill does not often backfill not in time, even；Existing management because Element, economic factor also have certain relationship with shortage exploratory heading cleaning equipment.

When carrying out the work such as exploratory heading cleaning, backfill, if there is a kind of automation equipment, exploratory heading can be detected automatically Position crushes, cleans out sundries in exploratory heading, measures the depth of exploratory heading, backfills exploratory heading, movement is quick and convenient, improves spy The working efficiency of hole detection is conducive to the speed for accelerating exploratory heading backfill, reduces road and occupies.

Invention content

Technical problem：

In view of the defects existing in the prior art, the present invention proposes that a kind of exploratory heading detection cleaning depth measurement backfills flying robot； It can detect the position of exploratory heading automatically, crush, clean out sundries in exploratory heading, measure the depth of exploratory heading, backfill exploratory heading, move It is dynamic quick and convenient, the working efficiency of exploratory heading detection is improved, the speed for accelerating exploratory heading backfill is conducive to, road is reduced and occupies.

Technical solution：

To achieve the above object, the present invention proposes that a kind of exploratory heading detection cleaning depth measurement backfills flying robot, including exploratory heading Detection cleaning depth measurement backfilling apparatus, aircraft, controller of aircraft, operation hole；

The exploratory heading detection cleaning depth measurement backfilling apparatus cooperation fixed setting is on board the aircraft；

The controller of aircraft cooperation is fixedly mounted on board the aircraft；

The operation hole is located on aircraft, coordinates the exploratory heading detection cleaning depth measurement backfilling apparatus setting；The exploratory heading Detection cleaning depth measurement backfilling apparatus carries out operation by the operation hole；

The controller of aircraft mating connection exploratory heading detection cleaning depth measurement backfilling apparatus；

The exploratory heading detection cleaning depth measurement backfilling apparatus is for exploratory heading detection, exploratory heading cleaning, exploratory heading depth measurement, backfill exploratory heading；

The controller of aircraft is computer control.

Further, exploratory heading detection cleaning depth measurement backfills flying robot, further includes positioning device；

The positioning device cooperation fixed setting is on board the aircraft；

The controller of aircraft mating connection positioning device.

Further, the cleaning depth measurement controller shares a controller with the controller of aircraft.

Further, the positioning device is the combination of satellite positioning device, inertial positioning device, base station location device.

To achieve the above object, the present invention proposes a kind of exploratory heading detection cleaning depth measurement backfilling apparatus, it is characterised in that：Including Chassis five, controller five, exploratory heading automatic detection device five, exploratory heading cleaning plant five, exploratory heading sounding gear five, exploratory heading backfilling apparatus Five；

The chassis five is for fixing other component；

The controller five, the exploratory heading automatic detection device five, the exploratory heading cleaning plant five, exploratory heading depth measurement dress Five, the exploratory heading backfilling apparatus five is set to be equipped on the chassis five；

The controller five, the exploratory heading automatic detection device five, the exploratory heading cleaning plant five, exploratory heading depth measurement dress Set the mating connection of five, the exploratory heading backfilling apparatus five；

The controller five is computer control, the work for controlling whole device；

The exploratory heading automatic detection device five is for detecting exploratory heading；

The exploratory heading cleaning plant five is used to clear up the sundries in exploratory heading；

The exploratory heading sounding gear five is used to measure the depth of exploratory heading；

The exploratory heading backfilling apparatus five is for backfilling exploratory heading.

To achieve the above object, the present invention proposes a kind of exploratory heading automatic detection device, including detection pedestal, ground detection dress It sets, detect controller；The detection controller is computer control；The ground detection and the detection base engagement Fixed setting；The detection controller is fixedly installed with the detection base engagement；The ground detection and the detection Controller is connected；The ground detection is used to obtain the measurement data and/or photographed data on detection zone ground.

The ground detection be range unit, the range unit be wireless distance finding device or laser ranging system, The range unit cooperation is fixed on two dimension or multidimensional or two axis or multiaxial motion platform；The two dimension or multidimensional or two Axis or the cooperation of multiaxial motion platform are fixed on detection pedestal.

Further, the detection controller further includes input interface；The input interface includes starting interface and/or stopping Only interface；The startup interface and/or stopping interface of the input interface are connection and/or communication connection.The input connects Mouth is connection and/or communication connection.

Further, the detection controller at least further includes one of following interfaces：

Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile number are logical Believe interface, near field communication interface, wired communication interface；

Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface It is analog interface or digital interface；

Interface three：Audio interface；The audio interface can at least connect a sound pick-up；The audio interface is simulation Interface or digital interface.

The present invention proposes a kind of exploratory heading detection method, it is characterised in that：The exploratory heading detection method is for detecting detection zone The position of exploratory heading in domain and/or diameter, including following processing steps：

S1) block-by-blocks traverse detection zone；One angle in self-test region starts, every time one detection subregion of detection, institute State the detection length of subregion, width is set greater than exploratory heading diameter, make a detection subregion that can only be visited there are one complete Hole；Adjacent two detection subregions are overlapped at least half of exploratory heading diameter in row, and 2 rows are overlapped at least half of exploratory heading diameter；In row Two adjacent row detection subregions are overlapped at least half of exploratory heading diameter；After one detection subregion detection, it is moved in row Next detection subregion；After a line detects, next line is detected；

S2) measures the distance data matrix for obtaining detection subregion；It detects at one and is detected in subregion, according to The ranks spacing (be smaller than exploratory heading diameter 1/5th) of pre-set test point determines the inspection being located in detection zone The position of measuring point；Each test point is measured to the distance of ground detection, obtains the distance data matrix of detection zone；

S3) detects exploratory heading edge point, the label exploratory heading edge point in exploratory heading candidate edge point marks matrix A；Including as follows Subprocessing：

S3.1) removes label (the exploratory heading candidate edge point label square of exploratory heading candidate edge point label matrix A all elements The line number of battle array A, columns are consistent with distance data matrix)；

S3.2) calculates the distance between all row or column consecutive points in distance data matrix difference one by one；

S3.3) finds out candidate exploratory heading edge point：Judge whether the absolute value of the distance difference is more than or more than or equal to setting Fixed threshold value is being visited if it is, thinking that the corresponding test point of 2 points in a pair of consecutive points is candidate exploratory heading edge point The position of correspondence this 2 points in hole candidate edge point label matrix A makes marks；

S4) looks for exploratory heading, and exploratory heading set is recorded in the exploratory heading found out in exploratory heading candidate edge point marks matrix A In；Including following subprocessing：

S4.1) replicates exploratory heading candidate edge point label matrix A and traverses label matrix B to exploratory heading edge point；

S4.2) removes the label (row of exploratory heading edge point label Matrix C of exploratory heading edge point label Matrix C all elements Number, columns are as exploratory heading candidate edge point label matrix A)；

S4.3) looks for first edge point of exploratory heading：In exploratory heading edge point traverses label matrix B, looked for by row or column traversal First markd element (being denoted as P)；It finds, it is believed that an edge point for finding doubtful exploratory heading is traversed in exploratory heading edge point Remove the corresponding labels of point P in label matrix B, the corresponding labels of mark point P in exploratory heading edge point marks Matrix C；It does not find, Think there is no exploratory heading in the region, goes to step S4.8；

S4.4) looks for the adjacent side of exploratory heading along point：In exploratory heading edge point traverses label matrix B, centered on point P, row Or column distance point P distances search next markd element (being denoted as P2) in the range of a points of x (presetting)；It finds, Remove the corresponding labels of point P2 in exploratory heading edge point traverses label matrix B, the mark point P in exploratory heading edge point marks Matrix C Corresponding label, record P are equal to P2, go to step S4.4；It does not find, goes to step S4.5；

S4.5) judges whether the exploratory heading found is complete：In exploratory heading candidate edge point marks matrix A, in being with point P The heart, row or column range points P searches next markd element in the range of x point；It finds, it is believed that find complete Exploratory heading goes to step S4.6；It does not find, it is believed that is found is incomplete exploratory heading, goes to step S4.2 and looks for next exploratory heading；

S4.6) calculates diameter, the center point coordinate of exploratory heading：Calculating successively in exploratory heading edge point label Matrix C has label Any point, between remaining markd point maximum distance (being denoted as L) and corresponding 2 points of maximum distance (be denoted as P1, P3)；

Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point The midpoint of P1, P3 line calculates the position of exploratory heading central point；If not, going to step S4.2；

S4.7) the location information of the exploratory heading is recorded in exploratory heading set；

S4.8) processing terminates.

To achieve the above object, the present invention proposes a kind of exploratory heading cleaning plant, including holder, via, lifting gear, brill, Guide support, exhausting dust exhaust, cleaning controller；

The lifting gear includes：Lifting gear driving mechanism, lifting gear transmission mechanism, lifting gear guide member, Lifting gear movable part；

The brill includes：Bore driving mechanism, drilling rod, drill bit；

The exhausting dust exhaust includes：Wind turbine, air duct, air inlet and outlet；

In the bottom surface of the holder, the position in the corresponding drill bit movement direction is equipped with the via, makes the brill Head can be deep into the following of the holder by the via；

The lifting gear cooperation is fixed on the facade of the holder；The direction of motion of the lifting gear, perpendicular to The bottom surface of the holder；

The lifting gear driving mechanism, the lifting gear transmission mechanism, the lifting gear guide member, the liter Falling unit movable part is equipped with；

The lifting gear driving mechanism drives the lifting gear movable part by the lifting gear transmission mechanism It is moved on the lifting gear guide member；The brill cooperation is fixed on the lifting gear movable part；

The brill driving mechanism, the drilling rod, the drill bit are equipped with；

The guide support cooperation is fixed in the lifting gear movable part and/or the brill driving mechanism；

The guide support is arranged in the same direction with the drilling rod；

The exhausting dust exhaust be fixed on the lifting gear movable part and/or the brill driving mechanism on；

The wind turbine cooperation is fixed in the lifting gear movable part and/or the brill driving mechanism；

The wind turbine, the air duct, the air inlet are equipped with；

The air duct cooperation is fixed on the guide support；The air outlet one end fits in the air duct are fixedly connected described Wind turbine；The air inlet in the air duct is located at the drill bit rear portion；Under the fixation of the guide support, the air duct not with The drilling rod contact；

The cleaning controller is fixed with the support assorted；The cleaning controller is computer control or circuit control Device processed；The cleaning controller is connected with peripheral control unit and/or power supply；

The cleaning controller is matched by the connecting line and the lifting gear, the brill, the exhausting dust exhaust Close connection.

Further, the exploratory heading cleaning plant, further includes dust filtering device；The dust filtering device with it is described Wind turbine and/or the brill driving mechanism and/or lifting gear movable part cooperation are fixed；The dust filtering device into Mouthful, be connected the air outlet, the dust for filtering outlet air carrying.

Further, the exploratory heading cleaning plant, further includes water supply installation；

The water supply installation includes water pump, water inlet pipe, outlet pipe；

The water pump, the water inlet pipe, the outlet pipe are connected；

The water pump cooperation is fixed on the holder or the lifting gear movable part；

The water inlet of the water inlet pipe is positioned over water tank or connection water supply line；

The outlet pipe extends to the drill bit back, and cooperation is fixed on the guide support；

The water pump is connected with the cleaning controller.

Further, the exhausting dust exhaust is replaced by slush pump cleaning plant；The slush pump cleaning plant packet Include slush pump, hydraulic fill pipeline；The setting of the slush pump cleaning plant is similar with the setting of exhausting dust exhaust, the slush pump Instead of the wind turbine, the hydraulic fill pipeline is instead of the air duct；

The slush pump cleaning plant is used to the mud in exploratory heading be discharged；Under such structure, the water supply installation is to spy It supplies water in hole, the slush pump mud for being mixed with sundries in exploratory heading is discharged outside hole；

The slush pump is connected with the cleaning controller.

To achieve the above object, the present invention proposes a kind of exploratory heading sounding gear, including sounding gear, depth measurement holder；It is described Rangefinder is ultrasonic range finder or laser range finder or infrared range-measurement system or electromagnetic distance measuring instrument.

To achieve the above object, the present invention proposes another exploratory heading sounding gear, including depth measurement detection device；The depth measurement Detection device is fixed with lifting gear cooperation.

Further, the depth measurement detection device is encoder.

Further, the depth measurement detection device is grating scale.

Further, the exploratory heading sounding gear further includes into hole detection device, into hole detection part；It is described into hole Detection device is fixedly installed with the depth measurement support assorted；It is described to coordinate into hole detection part and the lifting gear movable part Fixed setting；

It is described to be connected into hole detection device and depth measurement controller；

It is described into hole detection part reach it is described into hole detection device position when, it is described to be sent into hole detection device to outside Detect signal.

Further, it is described into hole detection device include limit switch or microswitch or close to switch one of.

Further, it is described into hole detection part be it is raised or sunken, raised height (depth of recess) makes it into Or when described in leaving into the detection zone of hole detection device, the number that signal is detected into hole detection device can be caused.

Further, described into hole detection part and/or described to adjust upper and lower position into hole detection device.

Further, the exploratory heading sounding gear, further includes contact detecting apparatus；

The contact detecting apparatus is fixedly installed in the front end of the depth measurement exploring block, for detecting contact exploratory heading bottom； The contact detecting apparatus is connected with the depth measurement controller.

Further, the contact detecting apparatus includes one of limit switch or microswitch or close switch.

To achieve the above object, the present invention proposes a kind of exploratory heading backfilling apparatus, including backfill pedestal, feed bin, material conveying Mechanism, discharge port, backfill controller；

The backfill pedestal is for carrying other component；

The material conveying mechanism cooperation is fixedly installed on the backfill pedestal；The material conveying mechanism is that spiral is sent Glassware；

The feed bin is arranged with the material conveying mechanism secure fit, the outlet mating connection material conveying of feed bin The feed inlet of mechanism；The discharge port is located at the end of the material conveying mechanism, is equipped with the material conveying mechanism, Material leaves exploratory heading backfilling apparatus from the discharge port；

The backfill controller is equipped on the backfill pedestal；

The backfill controller mating connection material conveying mechanism；

The backfill controller is the backfill control described in one of claim 1-3 for controlling the work of exploratory heading backfilling apparatus Device or circuit controller processed.

Further, the exploratory heading backfilling apparatus, further includes pressing device；The pressing device cooperation is fixedly installed on On the backfill pedestal.

Further, the exploratory heading backfilling apparatus, further includes heating device；

The heating device is equipped with the feed bin and/or the material conveying mechanism；

The backfill controller mating connection heating device backfills controller.

Advantageous effect

Exploratory heading automatic detection device proposed by the present invention can detect the position of exploratory heading, crush, cleans out in exploratory heading automatically Sundries, measure the depth of exploratory heading, backfill exploratory heading, movement is quick and convenient, improves the working efficiency of exploratory heading detection.

Description of the drawings

Fig. 1 is a kind of structural schematic diagram of embodiment of the exploratory heading automatic detection device of the present invention：

11. pedestal is detected, 12. ground detections, 13. connecting lines, 14. detection controllers.

Fig. 2 is the structural schematic diagram of another embodiment of the exploratory heading automatic detection device of the present invention：

11. pedestal is detected, 15. motion platforms, 16. laser ranging systems, 13. connecting lines, 14. detection controllers.

Fig. 3 is a kind of main flow chart of embodiment of the exploratory heading detection method of the present invention.

Fig. 4 is the sub-process figure of the processing step S3 of the embodiment illustrated in fig. 3 of the exploratory heading detection method of the present invention.

Fig. 5 is the sub-process figure of the processing step S4 of the embodiment illustrated in fig. 3 of the exploratory heading detection method of the present invention.

Fig. 6 is a kind of structural schematic diagram of embodiment of the exploratory heading cleaning plant of the present invention：

101. holder, 102. lifting gear driving mechanisms, 103. lifting gear transmission mechanisms, 104. guide supports, 105. Drilling rod, 106. lifting gear guide members, 107. lifting gear movable parts, 108. cleaning controllers, 109. connecting lines, 110. Air outlet, 112. wind turbines, 113. bore driving mechanism, 114. air ducts, 117. air inlets, 118. drill bits, 119. vias.

Fig. 7 is the structural schematic diagram of another embodiment of the exploratory heading cleaning plant of the present invention：

101. holder, 102. lifting gear driving mechanisms, 103. lifting gear transmission mechanisms, 104. guide supports, 105. Drilling rod, 106. lifting gear guide members, 107. lifting gear movable parts, 108. cleaning controllers, 109. connecting lines, 110. Air outlet, 112. wind turbines, 113. bore driving mechanism, 114. air ducts, 117. air inlets, 118. drill bits, 119. vias, 120. dust Filter device.

Fig. 8 is the structural schematic diagram of another embodiment of the exploratory heading cleaning plant of the present invention：

101. holder, 102. lifting gear driving mechanisms, 103. lifting gear transmission mechanisms, 104. guide supports, 105. Drilling rod, 106. lifting gear guide members, 107. lifting gear movable parts, 108. cleaning controllers, 109. connecting lines, 110. Air outlet, 111. water inlet pipes, 112. wind turbines, 113. brill driving mechanisms, 114. air ducts, 115. outlet pipes, 116. water outlets, 117. Air inlet, 118. drill bits, 119. vias, 121. water pumps.

Fig. 9 is a kind of structural schematic diagram of embodiment of the fixed exploratory heading sounding gear of the present invention：

151. depth measurement holders, 152. detection holes, 153. rangefinders, 154. depth measurement controllers, 155. connecting lines.

Figure 10 is the structural schematic diagram of another embodiment of the exploratory heading sounding gear of the present invention：

151. depth measurement holders, 152. detection holes, 154. depth measurement controllers, 155. connecting lines, 156. lifting gear driving machines Structure, 157. lifting gear transmission mechanisms, 160. lifting gear guide members, 161. lifting gear movable parts, 162. encoders, 163. depth measurement exploring blocks.

Figure 11 is the structural schematic diagram of another embodiment of the exploratory heading sounding gear of the present invention：

151. depth measurement holders, 152. detection holes, 154. depth measurement controllers, 155. connecting lines, 156. lifting gear driving machines Structure, 157. lifting gear transmission mechanisms, 160. lifting gear guide members, 161. lifting gear movable parts, 162. encoders, 163. depth measurement exploring blocks, 164. limit switches.

Figure 12 is the structural schematic diagram of another embodiment of the exploratory heading sounding gear of the present invention：

151. depth measurement holders, 152. detection holes, 154. depth measurement controllers, 155. connecting lines, 156. lifting gear driving machines Structure, 157. lifting gear transmission mechanisms, 160. lifting gear guide members, 161. lifting gear movable parts, 162. encoders, 163. depth measurement exploring blocks, 164. limit switches, 165. close to switch, and 166. into hole detection part.

Figure 13 is a kind of a kind of structural schematic diagram of embodiment of exploratory heading backfilling apparatus of the present invention：

21. pedestal is backfilled, 22. feed bins, 23. material conveying mechanisms, 24. discharge ports, 25. backfill controllers, 27. connections Line.

Figure 14 is the structural schematic diagram of another embodiment of the exploratory heading backfilling apparatus of the present invention：

21. backfilling pedestal, 22. feed bins, 23. material conveying mechanisms, 24. discharge ports, 25. backfill controllers, 26. compress dress It sets, 27. connecting lines.

Figure 15 is the structural schematic diagram of another embodiment of the exploratory heading backfilling apparatus of the present invention：

21. backfilling pedestal, 22. feed bins, 23. material conveying mechanisms, 24. discharge ports, 25. backfill controllers, 26. compress dress It sets, 27. connecting lines, 28. heating devices.

Figure 16 is a kind of structural schematic diagram of embodiment of the exploratory heading detection cleaning depth measurement backfilling apparatus of the present invention：

201. chassis five, 202. controllers five, 203. exploratory heading automatic detection devices five, 204. exploratory heading cleaning plants five, 205. exploratory heading sounding gears five, 206. exploratory heading backfilling apparatus five, 207. connecting lines.

Figure 17 is a kind of structural schematic diagram of embodiment of the exploratory heading detection cleaning depth measurement backfill flying robot of the present invention：

31. aircraft, the detection cleaning depth measurement backfill of 32. exploratory headings, 34. connecting lines, 35. controller of aircraft, 36. operations Hole.

Figure 18 is the structural representation of another embodiment of the exploratory heading detection cleaning depth measurement backfill flying robot of the present invention Figure：

31. aircraft, the detection cleaning depth measurement backfill of 32. exploratory headings, 33. positioning devices, 34. connecting lines, 35. flying vehicles controls Device, 36. operation holes.

Specific implementation mode

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right The present invention is described in further detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, It is not intended to limit the present invention.

Implement use-case one

As shown in Figure 1, be a kind of a kind of structural schematic diagram of embodiment of exploratory heading automatic detection device of the present invention, including Detect pedestal 11, ground detection 12, connecting line 13, detection controller 14.

The detection pedestal 11 includes preferably bottom surface for fixing, protecting other component, shape.

The cooperation of the ground detection 12 is fixed on detection pedestal 11；

The detection controller 14 is fixedly installed with the detection cooperation of pedestal 11；

The detection controller 14 is computer control, is the prior art.

The ground detection 12 is connected by connecting line 13 and the detection controller 14；

The connecting line 13 is connected with detection pedestal 11, ground detection 12, detection controller 14.

The ground detection 12 is used to obtain the measurement data and/or photographed data on detection zone ground.

The ground detection 12 is preferably filled using image collection using image acquisition device, range unit, radar It sets.

The image acquisition device is one of DV or digital camera, preferably digital camera；Image The image information of acquisition is transferred to detection controller 14 by harvester, and detection controller 14 is analyzed image, visited Hole position coordinates in the picture and/or exploratory heading diameter；Optionally, further according to opposite detection 11 origin of pedestal of image acquisition device Coordinate, obtain the coordinate of opposite detection 11 origin of pedestal of exploratory heading.

Optionally, the exploratory heading automatic detection device further includes input interface, the input interface and detection controller 14 It is connected；The input interface is used to receive external input signal；Preferably, including input interface；

The input interface includes starting interface and/or stopping interface, preferred including starting interface and stopping interface；Institute It is connection and/or communication connection, preferably connection to state input interface；

After the detection controller 14 receives the enabling signal that startup interface transmits, start to work；The detection control After device 14 receives the stop signal that stopping interface transmitting, it is stopped.

Optionally, the exploratory heading automatic detection device further includes signal output apparatus；It include preferably signal output apparatus.

The signal output apparatus is connected with detection controller 15, cooperation is fixedly installed；The signal output apparatus For exporting the information such as testing result and/or working condition.

The signal output apparatus is wireless communication device in the prior art or wire communication device；The wireless communication Device includes at least one of ZigBee transport protocols, WiFi transport protocols, Bluetooth transmission protocol, GPRS communication protocols；It is described to have Line communication device includes at least one of circuit output device, serial ports wire communication device, Parallel Interface Communication device；The wire communication Device, wireless communication device are the prior arts.Preferably use serial ports wire communication device.

Optionally, the detection controller at least further includes one of following interfaces：

Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile number are logical Believe interface, near field communication interface, wired communication interface；Preferably, mobile digital communication interface；

Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface It is analog interface or digital interface；Preferably digital interface；

Preferably, the detection controller further includes communication interface, video interface, audio interface.

All electrical equipments are by the means of power on detection pedestal 11；The supply unit is generator And/or storage battery power supply system and/or generator combine power supply system and/or externally fed interface arrangement with accumulator；It is preferred that Be storage battery power supply system.

Implement use-case two

As shown in Fig. 2, be a kind of structural schematic diagram of exploratory heading automatic detection device another kind embodiment of the present invention, including Detect pedestal 11, motion platform 15, laser ranging system 16, detection controller 14, connecting line 13.

Implement use-case two with implement use-case one the difference is that, implementing the ground detection 12 that uses of use-case two is Laser ranging system 16；The cooperation of the laser ranging system 16 is fixed on motion platform 15；The motion platform 15 is matched Conjunction is fixed on detection pedestal 11；

The laser ranging system 16 is wireless distance finding device or laser ranging system；The wireless distance finding device, laser Range unit is the prior art；Preferably laser ranging system；

The laser ranging system 16 is connected by connecting line 13 and detects controller 14；

The motion platform 15 is two dimension or multidimensional or two axis or multiaxial motion platform；Two dimension or multidimensional or two axis or multiaxis Motion platform is the prior art；Being connected by connecting line 13 for the motion platform 15 detects controller 14；Preferably Two axis motion platforms；Under the control of detection controller 14, motion platform 15 drives laser ranging system 16 to measure detection zone The distance of each measurement point in domain to laser ranging system 16；Each measurement point in detection zone is controlled in detection in advance It is arranged on device, is determined in region preferably through line space, the column pitch between the setting measurement point on detection controller The position of measurement point.Line space, column pitch between measurement point should be set smaller than the one third of exploratory heading diameter, preferably 1/10th.

Implement use-case three

As shown in figure 3, being that (Fig. 4 is Fig. 3 institutes for the main flow chart of a kind of embodiment of exploratory heading detection method of the present invention a kind of Show that the sub-process figure of the processing step S3 of flow chart, Fig. 5 are the sub-process figures of the processing step S4 of flow chart shown in Fig. 3), it is described Exploratory heading detection method is used to detect position and/or the diameter of the exploratory heading in detection zone, including following processing steps：

S1) block-by-blocks traverse detection zone；One angle in self-test region starts, every time one detection subregion of detection, institute State the detection length of subregion, width is set greater than exploratory heading diameter, make a detection subregion that can only be visited there are one complete Hole；Adjacent two detection subregions are overlapped at least half of exploratory heading diameter in row, and 2 rows are overlapped at least half of exploratory heading diameter；In row Two adjacent row detection subregions are overlapped at least half of exploratory heading diameter；After one detection subregion detection, it is moved in row Next detection subregion；After a line detects, next line is detected；Preferably, the length of subregion is detected, width is set as 1.5 times of (citings of exploratory heading diameter：When exploratory heading is 50 millimeters a diameter of, the length of subregion is detected, width is set as 75 millimeters)； Preferably, two adjacent in row detection subregions are overlapped 0.7 exploratory heading diameter, and 2 rows are overlapped 0.7 exploratory heading diameter；To next When row is mobile, when the height of remaining non-detection zone is less than 0.7 exploratory heading diameter, it is moved to regional edge edge；To next When row are mobile, when 0.7 exploratory heading diameter of short of width of remaining non-detection zone, be moved to regional edge along；

S2) measures the distance data matrix for obtaining detection subregion；It detects at one and is detected in subregion, according to The ranks spacing (be smaller than exploratory heading diameter 1/5th) of pre-set test point determines the inspection being located in detection zone The position of measuring point；Each test point is measured to the distance of ground detection, obtains the distance data matrix of detection zone；It is excellent Choosing, the ranks spacing of test point is set as 2 millimeters；

S3.3) finds out candidate exploratory heading edge point：Judge whether the absolute value of the distance difference is more than or more than or equal to setting Fixed threshold value (preferred, to be set as 10 millimeters), if it is, thinking the corresponding test point of 2 points in a pair of consecutive points For candidate exploratory heading edge point, the position of correspondence this 2 points in exploratory heading candidate edge point marks matrix A makes marks；

S4.4) looks for the adjacent side of exploratory heading along point：In exploratory heading edge point traverses label matrix B, centered on point P, row Or column distance point P distances search next markd element in the range of x (presetting, it is preferred that x=3) a point (being denoted as P2)；It finds, removes the corresponding labels of point P2 in exploratory heading edge point traverses label matrix B, marked in exploratory heading edge point The corresponding labels of mark point P in Matrix C, record P are equal to P2, go to step S4.4；It does not find, goes to step S4.5；

S4.5) judges whether the exploratory heading found is complete：In exploratory heading candidate edge point marks matrix A, in being with point P The heart, row or column range points P searches next markd element in the range of x point；It finds, it is believed that find complete Exploratory heading；It does not find, it is believed that is found is incomplete exploratory heading, goes to step S4.2 and looks for next exploratory heading；

L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if , it is believed that find exploratory heading, it is believed that the central point of exploratory heading calculates the position of exploratory heading central point at the midpoint of point P1, P3 line；If Do not exist, goes to step S4.2；

S4.8) processing terminates.

In the detection controller 14 of exploratory heading automatic detection device 32 or the equipment of carrying exploratory heading automatic detection device 32 Operation includes the program of exploratory heading detection method in detection controller.

Optionally, processing step S3.3 is replaced by：

S3.4) finds out candidate exploratory heading edge point：

According to the positive and negative determination of the difference, the point is located in hole, outside hole；If the difference is just, minuend corresponds to Test point be located in hole；If the difference is negative, the corresponding test point of subtrahend is located in hole；

The test point being located in hole in a pair of of consecutive points of selection and/or the test point outside hole, on exploratory heading candidate side Corresponding position in point label matrix A makes marks.

Optionally, processing step S4.6 is replaced by：

S4.10) traversals calculate diameter, the center point coordinate of exploratory heading：It calculates successively in exploratory heading edge point label Matrix C The distance between all the points of tape label obtain maximum distance (being denoted as L) and maximum distance corresponding 2 between markd point A point (being denoted as P1, P3)；

L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if , it is believed that find exploratory heading, it is believed that the central point of exploratory heading calculates the position of exploratory heading central point at the midpoint of point P1, P3 line；If Do not exist, goes to step S4.2.

Optionally, the processing step S4.6 is replaced by：

S4.11) maximum widths, height method traversal calculate diameter, the center point coordinate of exploratory heading：Exploratory heading edge is calculated successively Point label Matrix C in tape label all the points between line-spacing, row away from, find maximum line-spacing, row away from and its endpoint；

Using maximum line-spacing, big value of the row away among or small value or its average value as exploratory heading diameter (being denoted as L)；

L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if , it is believed that exploratory heading is found, using maximum line-spacing, crosspoint of the row away from corresponding line as exploratory heading central point, or with maximum row Away from or row the midpoint away from corresponding line be exploratory heading central point；

If not, going to step S4.2.

Optionally, the exploratory heading detection method further includes following processing steps：

S5) coordinate transforms:According to the coordinate of exploratory heading automatic detection device, exploratory heading center point coordinate is coordinately transformed, Obtain coordinate of the exploratory heading central point relative to exploratory heading automatic detection device origin.

At this point, location information is transferred to exploratory heading automatic detection device 32 by the connecting line being connect with positioning device 33, or Carry the detection controller of the equipment of exploratory heading automatic detection device 32；

It should be noted that above-mentioned optional part, in addition to clearly stating preferably, in use, can make up different Technical solution.

Implement use-case four

As shown in fig. 6, being a kind of a kind of structural schematic diagram of embodiment of exploratory heading cleaning plant of the present invention, including holder 101, lifting gear driving mechanism 102, lifting gear transmission mechanism 103, guide support 104, drilling rod 105, lifting gear guiding Component 106, cleaning controller 108, connecting line 109, air outlet 110, wind turbine 112, bores driving at lifting gear movable part 107 Mechanism 113, air duct 114, air inlet 117, drill bit 118, via 119.

Lifting gear driving mechanism 102, lifting gear transmission mechanism 103, lifting gear guide member 106, lifting gear Movable part 107 constitutes lifting gear；

It bores driving mechanism 113, drilling rod 105, drill bit 118 and constitutes brill；

Wind turbine 112, air duct 114, air inlet 117, air outlet 110 constitute exhausting dust exhaust.

The holder 101 is used to fix all parts of the present apparatus, and shape includes preferably bottom surface, facade.

In the bottom surface of the holder 101, the position of corresponding 118 direction of motion of drill bit is equipped with the via 119, so that the drill bit 118 is deep into the following of the holder 102 by the via 119；

The lifting gear cooperation is fixed on the facade of the holder 101；The direction of motion of the lifting gear, vertically In the bottom surface of the holder 101；

The lifting gear driving mechanism 102, the lifting gear transmission mechanism 103, the lifting gear guide member 106, the lifting gear movable part 107 is equipped with；

The lifting gear driving mechanism 102 drives the lifting gear to live by the lifting gear transmission mechanism 103 Dynamic component 107 moves on the lifting gear guide member 106；

The lifting gear is that structures, the preferably lead screws such as guide tracked, the towed, rack-and-pinion of lead screw are guide tracked；It is described The power and driving mechanism of lifting gear are equipped with it；The guide tracked lifting gear driving mechanism 102 of lead screw is to match with lead screw The motor of connection is closed, lead screw is its lifting gear transmission mechanism 103, and guide rail is lifting gear guide member 106；The lifting dress It is the prior art to set.

The brill cooperation is fixed on the lifting gear movable part 107；

The brill driving mechanism 113, the drilling rod 105, the drill bit 118 are equipped with；The diameter of the drill bit 118 with Exploratory heading diametric fit is selected, it is preferred that uses the drill bit 118 of the diameter as the drill bit used when making exploratory heading.

Brill driving mechanism 113 is electronic or diesel engine, gasoline engine, manual drive；It is preferably electronic；

Drill bit 118 is equipped with drilling rod 105, is located at the top of drilling rod 105；The removing material of the drill bit 118 is super Hard material, preferably diamond；

The cooperation of the guide support 104 is fixed on the lifting gear movable part 107 and/or the brill driving mechanism On 113；

The guide support 104 is arranged in the same direction with the drilling rod 105, shorter than described 105 at least 1 millimeter of the drilling rod；Preferably Shorter than 20 millimeters；

The exhausting dust exhaust is fixed on the lifting gear movable part 107 and/or the brill driving mechanism 113 On；

The cooperation of the wind turbine 112 is fixed in the lifting gear movable part 107 and/or the brill driving mechanism 113；

The wind turbine 112, the air duct 114, the air inlet 117 are equipped with；

Wind turbine 112 is electronic, diesel engine, gasoline engine, manual drive；It is preferably electronic；

The cooperation of the air duct 114 is fixed on the guide support 104；110 one end fits of air outlet in the air duct 114 It is fixedly connected with the wind turbine 112；The air inlet 117 in the air duct 114 is located at 118 rear portion of the drill bit；In the guiding Under the fixation of holder 104, the air duct 114 is not contacted with the drilling rod 105；

Minimum range of 114 outer wall of the air duct apart from 105 center of the drilling rod is more than 1 millimeter of 105 radius of the drilling rod More than；

Maximum distance of 114 outer wall of the air duct apart from 105 center of the drilling rod is less than 1 milli of radius of the drill bit 118 Meter or more；

Minimum range of 117 outer wall of the air inlet apart from 105 center of the drilling rod is more than 105 radius of the drilling rod, 1 milli Meter or more；

Maximum distance of 117 outer wall of the air inlet apart from 105 center of the drilling rod is less than the radius 1 of the drill bit 118 Millimeter or more；

The cleaning controller 108 is fixed with the cooperation of the holder 101；The cleaning controller 108 is computer control Device or line control unit；Preferably computer control；The cleaning controller 108 and peripheral control unit and/or power supply It is connected；

The cleaning controller 108 passes through the connecting line 109 and the lifting gear, the brill, the exhausting dust discharge Device is connected.Controller 108 is cleared up for manual control and/or receives automatic control command, power supply, and control system work Make；The connecting line 109 includes power cord, control line etc., is the prior art.

When work, drilling rod 105 is directed at exploratory heading, enters exploratory heading in rotation；While drilling rod 105 rotates, alternatively, in drill bit 118 when initially entering inside exploratory heading, and wind turbine 112 is started to work；The clast that drill bit 118 is cut away passes through air inlet under wind action Mouth 117, enters air duct 114, as wind is carried over exploratory heading；After cleaning is completed or drill bit 118 exits exploratory heading, or with brill First 118 are stopped, and wind turbine 112 is stopped.

The means of power that all electrical equipments are connected by clearing up controller 108；The supply unit is generator And/or storage battery power supply system and/or generator combine power supply system with accumulator；Preferably storage battery power supply system.

The removing material of the drill bit 118 is superhard material, preferably diamond.

Air duct 114 is the pipeline being not likely to produce compared with large deformation, preferably metal tube.

The cross section in the air duct 114 is round, oval, irregular shape, or around or partially around described The closed figure of drilling rod 105；It is preferably round.

The shape at 119 edge of the via is closed or open；It is preferably round.

The air inlet 117, it is consistent with the shape in 114 cross section of the air duct, or be tubaeform；Preferably loudspeaker Shape.

Implement use-case five

As shown in fig. 7, being a kind of structural schematic diagram of another embodiment of exploratory heading cleaning plant of the present invention, including branch Frame 101, lifting gear driving mechanism 102, lifting gear transmission mechanism 103, guide support 104, drilling rod 105, lifting gear draw Component 106 is led, lifting gear movable part 107, cleaning controller 108, connecting line 109, air outlet 110, wind turbine 112, bores and drives Motivation structure 113, air duct 114, air inlet 117, drill bit 118, via 119, dust filtering device 120.

Implement use-case five and be with the difference for implementing use-case four, increases dust filtering device 120.

In 110 tail end of air outlet, dust filtering device is set；The dust filtering device drives with wind turbine 112 and/or brill Mechanism 113 and/or the cooperation of lifting gear movable part 107 are fixed；Preferably, coordinate with lifting gear movable part 107 and fix；

The dust filtering device is membrane filtration dust-extraction unit, cloud and mist dust-arrest device, cloud and mist dust-arrest device, bag-type dust dress It sets, one of cyclone dust collector, wet dust separater, electrostatic precipitator etc.；Preferably bag-type dust collector；The dust Filter device is the prior art.

Implement use-case six

As shown in figure 8, being a kind of structural schematic diagram of another embodiment of exploratory heading cleaning plant of the present invention, including branch Frame 101, lifting gear driving mechanism 102, lifting gear transmission mechanism 103, guide support 104, drilling rod 105, lifting gear draw Lead component 106, lifting gear movable part 107, cleaning controller 108, connecting line 109, air outlet 110, water inlet pipe 111, wind Machine 112 bores driving mechanism 113, air duct 114, outlet pipe 115, water outlet 116, air inlet 117, drill bit 118, via 119, water Pump 121.

Implement use-case six and be with the difference for implementing use-case five, it further includes water supply installation to implement use-case six；

The water supply installation includes water pump 121, water inlet pipe 111, outlet pipe 115；

The water pump 121, the water inlet pipe 111, the outlet pipe 115 are connected；

The cooperation of the water pump 121 is fixed on the holder 101 or the lifting gear movable part 107；

The water pump 121 is electric water pump, preferably peristaltic pump；

The water inlet of the water inlet pipe 111 is positioned over water tank or connection water supply line；

The outlet pipe 115 extends to 118 back of the drill bit, and cooperation is fixed on the guide support 104；It is described go out It is the pipeline being not likely to produce compared with large deformation that water pipe 115, which is located at 104 corresponding part of the guide support,；

Minimum range of 115 outer wall of the outlet pipe apart from 105 center of the drilling rod is more than 105 radius of the drilling rod, 1 milli Meter or more；

Maximum distance of 115 outer wall of the outlet pipe apart from 105 center of the drilling rod is less than the radius 1 of the drill bit 118 Millimeter or more；

It is located at 118 back of drill bit described in water outlet 116, is more than 1 millimeter, preferably 20 millimeters apart from drill bit 118；

The water pump 121 is connected by the connecting line 109 and the cleaning controller 108；

The water supply installation is used for into exploratory heading plus water, plays the role of reduction temperature of diamond bit, reduces airborne dust.

Its way of supplying water is that small flow persistently adds water or small flow period timing adding water.Its way of supplying water is small flow Persistently plus when water, flow is less than 100 milliliters per minute, and preferred flow is 5 milliliters per minute；Its way of supplying water is small flow week When phase property timing adding water, flow is less than 100 milliliters per minute, and the water period is added to be more than 0.5 second, adds the water time less than 60 seconds, preferably Plus the water period be 3 seconds, add the water time be 1 second；Preferred way of supplying water is that small flow persistently adds water.

The shape at 114 edge of the water outlet, it is consistent or tubaeform with the shape in the cross section of outlet pipe 115, preferably It is circle.

Implement use-case seven

Implement another embodiment that use-case seven is a kind of exploratory heading cleaning plant of the present invention.

Implement use-case seven and be with the difference for implementing use-case six, the exhausting dust exhaust is replaced by slush pump cleaning dress It sets；The slush pump cleaning plant includes slush pump, hydraulic fill pipeline；The setting of the slush pump cleaning plant is filled with exhausting dust discharge The setting set is similar, and the slush pump is instead of the wind turbine, and the hydraulic fill pipeline is instead of the air duct；The water supply installation It is the water supply installation of larger flow.

The slush pump is connected by the connecting line 109 and the cleaning controller 108.

When work, largely to exploratory heading injected clear water, the rotation of drill bit the crushing in exploratory heading and stirs into water supply installation Into water, exploratory heading is discharged in the water of mixing sundries by slush pump, plays the purpose of cleaning exploratory heading.

Drill bit stop to exploratory heading deep enter after, 121 continue working of water pump for a period of time, slush pump water pump stopping after, It works again a period of time, for cleaning out the sundries in exploratory heading, and the water in exploratory heading is discharged.

It should be noted that the import of hydraulic fill pipeline is different from the import of air draft pipe, it is the prior art.

It should be noted that due to the import of hydraulic fill pipeline, it is higher than drill bit 118, the water in exploratory heading can not be cleared up completely；It visits The a small amount of water retained in hole, waits for a period of time and penetrates into underground, or is discharged using the modes such as artificial.

The water supply installation is used for into exploratory heading plus water, plays reduction temperature of diamond bit, reduces airborne dust, and flow takes sundries out of Effect.Its way of supplying water is that larger flow persistently adds water or big flow periodicity timing adding water.Its way of supplying water is larger flow Persistently plus when water, flow is more than 1000 milliliters per minute, and preferred flow is 5000 milliliters per minute；Its way of supplying water is to flow greatly When amount periodicity timing adding water, flow is more than 5000 milliliters per minute, and the water period is added to be more than 0.5 second, and the water time is added to be less than 60 seconds, Preferably plus the water period is 3 seconds, and it is 1 second to add the water time；Preferred way of supplying water is that larger flow persistently adds water.

Implement use-case eight

As shown in figure 9, being a kind of a kind of structural schematic diagram of embodiment of exploratory heading sounding gear of the present invention, including depth measurement Holder 151, detection hole 152, rangefinder 153, depth measurement controller 154, connecting line 155.

The depth measurement holder 151 includes bottom surface, the other component for fixing the exploratory heading sounding gear；

In the bottom surface of the depth measurement holder 151, the position of the corresponding sounding gear detection direction is equipped with the inspection Gaging hole 152 enables the rangefinder 153 to detect the exploratory heading of 151 lower section of the depth measurement holder by the detection hole 152； The edge of the detection hole 152 be it is closed or open, it is preferably closed；

The cooperation of the rangefinder 153 is fixed on the depth measurement holder 151；

The cooperation of depth measurement controller 154 is fixed on the depth measurement holder 151；

The depth measurement controller 154 is computer control, is the prior art；

The connecting line 155 is the summation for connecting the circuit of each component and external equipment inside exploratory heading sounding gear；

The depth measurement controller 154 is connected by connecting line 155 and peripheral control unit and/or power supply；

The depth measurement controller 154 is connected by the connecting line 155 and the rangefinder 153.

The sounding gear includes rangefinder 153；The rangefinder 153 includes ultrasonic range finder 153 or laser ranging Instrument 153 or one of infrared range-measurement system 153 or electromagnetic distance measuring instrument 153, preferably laser range finder 153.

The rangefinder 153 is by communication line or analog signal to external transmission measurement as a result, preferably through simulation Signal is to external transmission measurement result；

Depth measurement controller 154 receives the measurement result that rangefinder 153 transmits.

Depth measurement controller 154 is by communication line or analog signal to external transmission measurement result.

The means of power that all electrical equipments are connected by depth measurement controller 154；The supply unit is generator And/or storage battery power supply system and/or generator combine power supply system with accumulator；Preferably storage battery power supply system.

In use, laser range finder 153 measures distance perpendicular to exploratory heading direction, laser range finder 153 is subtracted apart from ground The distance in face obtains the depth of exploratory heading.

Implement use-case nine

As shown in Figure 10, be the present invention a kind of exploratory heading sounding gear another embodiment structural schematic diagram, including Depth measurement holder 151, detection hole 152, depth measurement controller 154, connecting line 155, lifting gear driving mechanism 156, lifting gear pass Motivation structure 157, lifting gear guide member 160, lifting gear movable part 161, encoder 162, depth measurement exploring block 163.

Implement use-case nine and be with the difference for implementing use-case eight, the sounding gear for implementing use-case eight is rangefinder 153, is implemented The sounding gear of use-case nine is lifting gear, depth measurement exploring block 163, depth measurement detection device；Implement the depth measurement holder of use-case nine 151 further include facade；

The lifting gear cooperation is fixed on the facade of the depth measurement holder 151；The direction of motion of the lifting gear, Perpendicular to the bottom surface of the depth measurement holder 151；

The lifting gear includes：Lifting gear driving mechanism 156, lifting gear transmission mechanism 157, lifting gear guiding Component 160, lifting gear movable part 161；

The lifting gear driving mechanism 156, the lifting gear transmission mechanism 157, the lifting gear guide member 160, the lifting gear movable part 161 is equipped with；

The lifting gear driving mechanism 156 drives the lifting gear to live by the lifting gear transmission mechanism 157 Dynamic component 161 moves on the lifting gear guide member 160；

The lifting gear is that structures, the preferably lead screws such as guide tracked, the towed, rack-and-pinion of lead screw are guide tracked；

The power and driving mechanism of the lifting gear are equipped with it；The guide tracked lifting gear driving mechanism of lead screw 156 be the motor being connected with lead screw, and lead screw is its lifting gear transmission mechanism 157, and guide rail is lifting gear guide member 160；The lifting gear is the prior art.

The cooperation of depth measurement exploring block 163 is fixed on lifting gear movable part 161, with lifting gear movable part The decline of part 161, is deep into exploratory heading；The depth measurement exploring block 163 is rigid objects, and front end is round or disk, diameter More than 3 millimeters, it is preferred that front end is disk, a diameter of 30 millimeters of disk；When work, depth measurement exploring block 163 is deep into spy In hole.

The depth measurement detection device 163 is encoder 162 or grating scale, preferably encoder 162.

The cooperation of depth measurement detection device 163 is fixed on the lifting gear driving mechanism 156 and/or lifting gear transmission In mechanism 157 and/or lifting gear movable part 161 and/or depth measurement holder 151.

Encoder 162 or grating scale and lifting gear cooperation installation are the prior arts.

The mating connection of encoder 162 or grating scale and depth measurement controller 154 is the prior art, encoder 162 or grating Connecting line between ruler and depth measurement controller 154 is to be directly connected to, or connected by connecting line 155, preferably through connecting line 155 connections.

The depth measurement detection device 163 is by communication line or analog signal or pulse signal to external transmission measurement knot Fruit.Encoder 162 or grating scale are by communication line or analog signal or pulse signal to external transmission measurement as a result, preferred Using pulse signal to external transmission measurement result.

When work, whether depth measurement exploring block 163 described in artificial judgment enters exploratory heading, if reaches exploratory heading bottom；It is described Depth measurement exploring block 163 is judged into exploratory heading by eyes；The depth measurement exploring block 163 reaches exploratory heading bottom, listening or See that lifting gear declines judgement of being obstructed.

Depth measurement controller 154 receive into hole detection device send into hole signal when, position at this time is recorded, as spy Hole top position.

154 lifting gear movable part 161 of depth measurement controller reaches position when exploratory heading bottom, as exploratory heading bottom position It sets.

Depth measurement controller 154 records position when lifting gear movable part 161 enters exploratory heading and reaches exploratory heading bottom, meter The absolute value of the difference for calculating two positions, obtains the depth of exploratory heading.

Implement use-case ten

As shown in figure 11, be the present invention a kind of exploratory heading sounding gear another embodiment structural schematic diagram, including Depth measurement holder 151, detection hole 152, depth measurement controller 154, connecting line 155, lifting gear driving mechanism 156, lifting gear pass Motivation structure 157, lifting gear guide member 160, lifting gear movable part 161, encoder 162, depth measurement exploring block 163, Limit switch 164.

Implement use-case ten and be with the difference for implementing use-case nine, it further includes contact detecting apparatus to implement use-case ten；It is described to connect Tactile detection device includes one of limit switch 164 or microswitch or close switch, is preferred for limit switch 164.The limit The test side of bit switch 164 is arranged downward, convenient for detection and the contact of exploratory heading bottom.

Limit switch 164 is fixedly installed in the front end of the depth measurement exploring block 163, for detecting contact exploratory heading bottom；Institute Limit switch 164 is stated to be connected with depth measurement controller 154.

When lifting gear declines, after depth measurement controller 154 receives the signal that limit switch 164 touches exploratory heading bottom, Stop the decline of lifting gear, records the position of lifting gear movable part 161 at this time.

Implement use-case 11

As shown in figure 12, be the present invention a kind of exploratory heading sounding gear another embodiment structural schematic diagram, including Depth measurement holder 151, detection hole 152, depth measurement controller 154, connecting line 155, lifting gear driving mechanism 156, lifting gear pass Motivation structure 157, lifting gear guide member 160, lifting gear movable part 161, encoder 162, depth measurement exploring block 163, Limit switch 164, close to switch 165, into hole detection part 166.

Implement use-case 11 and be with the difference for implementing use-case nine, ten, it further includes into hole detection device to implement use-case 11 (close to switch 165), into hole detection part 166；It is described to be fixedly installed close to switch 165 and the depth measurement support assorted；It is described It is fixedly installed into hole detection part 166 and lifting gear movable part cooperation；

It is described to be connected close to switch 165 and depth measurement controller 154；

It is described to include one of limit switch or microswitch or close switch 165 close to switch 165, it is preferably close to open Close 165.

Metal parts or the institute being integrally fixed at into hole detection part 166 on the lifting gear movable part 161 State some position on lifting gear movable part 161.

On lifting gear movable part 161, it is equipped with a signal label (being referred to as into hole detection part 166)；Into Hole detection part 166 is metal bump or recess, and raised height (depth of recess) is more than the range close to switch 165, makes When the activity of exploratory heading sounding gear not only enters exploratory heading, detects into hole detection part 166 close to switch 165, sent to outside Signal；It is preferable to provide metal bump；

Optionally, signal label can adjust upper and lower position；Signal label can adjust upper and lower position, it is preferred that signal Label can adjust upper and lower position.

After depth measurement controller 154 receives the signal sent close to switch 165, lifting gear movable part 161 at this time is recorded Position, the position as exploratory heading mouth.

Implement use-case 12

As shown in figure 13, be the present invention a kind of exploratory heading backfilling apparatus a kind of embodiment structural schematic diagram, including return Fill out pedestal 21, feed bin 22, material conveying mechanism 23, discharge port 24, backfill controller 25, connecting line 27.

The backfill pedestal 21 is for carrying other component；

The cooperation of the material conveying mechanism 23 is fixedly installed on the backfill pedestal 21；The material conveying mechanism 23 is Feeding screw or other kinds of feed appliance, preferably feeding screw；

The feed bin 22 is arranged with 23 secure fit of the material conveying mechanism, the outlet mating connection object of feed bin 22 The feed inlet of material conveyer structure 23；The discharge port 24 is located at the end of the material conveying mechanism 23, is conveyed with the material Mechanism 23 is equipped with, and material leaves exploratory heading backfilling apparatus from the discharge port 24；

The backfill controller 25 is equipped on the backfill pedestal 21；

The connecting line 27 is equipped on the backfill pedestal 21, is that backfill controller 25 connects other component The summation of circuit；

The backfill controller 25 is connected the material conveying mechanism 23 by the connecting line 27；

The backfill controller 25 is computer control or circuit controller for controlling the work of exploratory heading backfilling apparatus.

When work, the feed bin 22 receives backfill material；The discharge port 24 of the material conveying mechanism 23 connects with exploratory heading It connects, the material that discharge port 24 transfers out is made to enter in exploratory heading；Preferably, the diameter of discharge port is less than exploratory heading diameter.

Optionally, discharge port 24 connects one section of hose, to be connect with exploratory heading；The front end of hose, optionally connects metal Discharge nozzle, and metal discharging nozzle can be stretched into easily inside exploratory heading, it is preferred that including hose and metal discharging nozzle.

The power of the material conveying mechanism 23 is electronic, or is diesel engine, gasoline engine, manual drive；Preferably It is electronic.

All electrical equipments are by the means of power on backfill pedestal 21；The supply unit is generator And/or storage battery power supply system and/or generator combine power supply system and/or external power supply with accumulator；It is preferably external Power supply.

Implement use-case 13

As shown in figure 14, be the present invention a kind of exploratory heading backfilling apparatus a kind of embodiment structural schematic diagram, including return Fill out pedestal 21, feed bin 22, material conveying mechanism 23, discharge port 24, backfill controller 25, pressing device 26, connecting line 27.

Implement use-case 13 and be with the difference for implementing use-case 12, it further includes pressing device 26 to implement use-case 13.

The pressing device 95 is equipped on backfill pedestal 21.

The pressing device 95 is connected by connecting line 27 and backfills controller 25.

After exploratory heading time is filled with, the material conveying mechanism 23 leaves exploratory heading；The pressing device 26 moves on on exploratory heading Side, is pressed downward, and the material beyond ground is compressed.

The pressing device 26 includes hold-down mechanism, pressing molding mold；The pressing molding mold is can to cover spy Hole, the shape horminess metal plate consistent with ground shape around exploratory heading；The hold-down mechanism is machinery pressure in the prior art Tight device or automatic compacting device；The hold-down mechanism includes jack；Preferably automatic compacting device.

Implement use-case 14

As shown in figure 15, be the present invention a kind of exploratory heading backfilling apparatus a kind of embodiment structural schematic diagram, including return Fill out pedestal 21, feed bin 22, material conveying mechanism 23, discharge port 24, backfill controller 25, pressing device 26, connecting line 27, heating Device 28.

Implement use-case 14 and be with the difference for implementing use-case 13, it further includes heating device 28 to implement use-case 14.

The heating device 28 is arranged with the feed bin 22 and/or 23 secure fit of the material conveying mechanism；Preferably, In the bottom of the feed bin 22 and/or surrounding lower part, electric heater unit is set；The electric heater unit is thermal resistance heating dress It sets or electromagnetic heater；Preferably electromagnetic heater.

The backfill controller 25 is connected the heating device 28 by the connecting line 27；

The effect of heating device 28 is that the material in the material conveying mechanism 23 and/or the feed bin 22 is made to be held in conjunction Suitable temperature range.

Heating device 28 is controlled by the backfill controller 25 or temperature controller control, preferably by temperature controller Control；The temperature controller is the prior art.

Implement use-case 15

As shown in figure 16, it is that a kind of a kind of structure of embodiment of exploratory heading detection cleaning depth measurement backfilling apparatus of the present invention is shown It is intended to：It is surveyed including chassis 5 201, controller 5 202, exploratory heading automatic detection device 5 203, exploratory heading cleaning plant 5 204, exploratory heading Deep device 5 205, exploratory heading backfilling apparatus 5 206, connecting line 207.

The chassis 5 201 is for fixing other component；

It is the controller 5 202, the exploratory heading automatic detection device 5 203, the exploratory heading cleaning plant 5 204, described Exploratory heading sounding gear 5 205, the exploratory heading backfilling apparatus 5 206 are equipped on the chassis 5 201；

It is the controller 5 202, the exploratory heading automatic detection device 5 203, the exploratory heading cleaning plant 5 204, described Exploratory heading sounding gear 5 205, the exploratory heading backfilling apparatus 5 206 are connected；

The controller 5 202 is computer control, the work for controlling whole device；

The exploratory heading automatic detection device 5 203 is for detecting exploratory heading；

The exploratory heading cleaning plant 5 204 is used to clear up the sundries in exploratory heading；

The exploratory heading sounding gear 5 205 is used to measure the depth of exploratory heading；

The exploratory heading backfilling apparatus 5 206 is for backfilling exploratory heading；

The connecting line 207 is used for connecting components.

The exploratory heading automatic detection device 5 203 is one of exploratory heading automatic detection device of the present invention；Preferably Implement the exploratory heading automatic detection device described in use-case one.

The exploratory heading cleaning plant 5 204 is one of exploratory heading cleaning plant of the present invention；Preferably implement use-case Exploratory heading cleaning plant described in seven.

The exploratory heading sounding gear 5 205 is one of similar exploratory heading sounding gear of the present invention；Preferably implement Exploratory heading sounding gear described in use-case 11；It is with the difference for implementing use-case 11, encoder 162 is filled with exploratory heading cleaning The lifting part mating connection for setting 5 204 measures the depth of exploratory heading by detecting the stroke of lifting part；

The minimum point dropped to using lifting gear is the bottom of exploratory heading.

The exploratory heading backfilling apparatus 5 206 is one of exploratory heading backfilling apparatus of the present invention；Preferably implement use-case Exploratory heading backfilling apparatus described in 14.

Optionally, the exploratory heading detection cleaning depth measurement backfilling apparatus further includes positioning device, and the positioning device is used for true Determine the position of aircraft, includes preferably positioning device.

The positioning device is the combination of satellite positioning device, inertial positioning device, base station location device, it is preferred that institute It is the double source positioning device in conjunction with satellite positioning device and inertial positioning device to state positioning device.

The positioning device is connected with controller 5 202, or is cleared up with exploratory heading automatic detection device 5 203, exploratory heading One of device 5 204, exploratory heading sounding gear 5 205, exploratory heading backfilling apparatus 5 206 are connected；Preferably, with controller five 202 are connected.

The positioning device is fixed with the cooperation of chassis 5 201, or is filled with exploratory heading automatic detection device 5 203, exploratory heading cleaning The cooperation of one of 5 204, exploratory heading sounding gear 5 205, exploratory heading backfilling apparatus 5 206 is set to fix；Preferably, with controller 5 202 Cooperation is fixed.

It should be noted that exploratory heading automatic detection device 5 203, exploratory heading cleaning plant 5 204, exploratory heading sounding gear five 205, exploratory heading backfilling apparatus 5 206 is each has the controller of oneself by oneself, is either directly controlled by controller 5 202 or part has The controller of oneself is partly directly controlled by controller 5 202；

Exploratory heading automatic detection device 5 203, exploratory heading cleaning plant 5 204, exploratory heading sounding gear 5 205, exploratory heading backfill dress When setting the controller that 5 206 have oneself, each controller is connected with controller 5 202, under the control of controller 5 202 Work.

It should be noted that exploratory heading automatic detection device 5 203, exploratory heading cleaning plant 5 204, exploratory heading sounding gear five 205, the component inside exploratory heading backfilling apparatus 5 206, cooperation are fixed on the holder inside each device, or cooperation is fixed on bottom On frame 5 201, or part cooperation is fixed on the holder inside each device, and part cooperation is fixed on chassis 5 201.

Optionally, at least exploratory heading automatic detection device 5 203, exploratory heading cleaning plant 5 204, exploratory heading sounding gear 5 205, One of exploratory heading backfilling apparatus 5 206 also includes motion；The motion is connected with controller 5 202；Institute It states motion and moves to operating position under the control of controller 5 202, after the completion of work, return.The motion is Two dimension or multidimensional or two axis or Multi-shaft movement mechanism.Preferably, exploratory heading cleaning plant 5 204, exploratory heading sounding gear 5 205, spy Hole backfilling apparatus 5 206 includes two-dimensional motion mechanism.

It should be noted that the controller 5 202 and the exploratory heading automatic detection device 5 203, the exploratory heading are cleared up The combination of device 5 204, the exploratory heading sounding gear 5 205, the exploratory heading backfilling apparatus 5 206, can form a variety of devices；

It should be noted that the controller 5 202, the exploratory heading automatic detection device 5 203, the exploratory heading cleaning dress 5 204 mating connections are set, becomes exploratory heading and detects cleaning plant automatically；

It is the controller 5 202, the exploratory heading automatic detection device 5 203, the exploratory heading cleaning plant 5 204, described Exploratory heading sounding gear 5 205 is connected, and becomes exploratory heading and detects cleaning sounding gear automatically；

It is the controller 5 202, the exploratory heading automatic detection device 5 203, the exploratory heading cleaning plant 5 204, described Exploratory heading sounding gear 5 205, the exploratory heading backfilling apparatus 5 206 are connected, and become exploratory heading and detect cleaning depth measurement backfill automatically Device；

The controller 5 202, the exploratory heading cleaning plant 5 204, the exploratory heading backfilling apparatus 5 206 are connected, Backfilling apparatus is cleared up as exploratory heading；

The controller 5 202, the exploratory heading cleaning plant 5 204, the exploratory heading sounding gear 5 205, the exploratory heading Backfilling apparatus 5 206 is connected, and becomes exploratory heading cleaning depth measurement backfilling apparatus；

It is the controller 5 202, the exploratory heading automatic detection device 5 203, the exploratory heading cleaning plant 5 204, described Exploratory heading backfilling apparatus 5 206 is connected, and becomes exploratory heading and detects cleaning backfilling apparatus automatically.

Implement use-case 16

As shown in figure 17, it is that a kind of exploratory heading detection cleaning depth measurement of the present invention backfills a kind of embodiment of flying robot Structural schematic diagram, including aircraft 31, exploratory heading detection cleaning depth measurement backfilling apparatus 32, connecting line 34, controller of aircraft 35, work Industry hole 36.

The exploratory heading detection cleaning depth measurement backfilling apparatus 32 is exploratory heading detection cleaning depth measurement backfilling apparatus of the present invention 32 or other exploratory heading detection cleaning depth measurement backfilling apparatus 32；Preferably implement the exploratory heading detection cleaning described in use-case 15 to survey Deep backfilling apparatus 32；

The depth that exploratory heading detection cleaning depth measurement backfilling apparatus 32 is visited for clearing up exploratory heading, measuring exploratory heading.

32 cooperation of exploratory heading detection cleaning depth measurement backfilling apparatus is fixed on aircraft 31；

The cooperation of the controller of aircraft 35 is fixedly mounted on aircraft 31；

The cooperation of the connecting line 34 is fixedly mounted on aircraft 31；

The operation hole 36 is located on aircraft 31, and the exploratory heading detection cleaning depth measurement backfilling apparatus 32 is coordinated to be arranged；Institute Exploratory heading detection cleaning depth measurement backfilling apparatus 32 is stated to clear up exploratory heading by the operation hole 36, measure exploratory heading；

The controller of aircraft 35 detects cleaning depth measurement backfilling apparatus 32 by 34 mating connection exploratory heading of connecting line；

The controller 5 202 is connected with the controller of aircraft 35；

The exploratory heading detection cleaning depth measurement backfilling apparatus 32 is for after aircraft 31 stays in above exploratory heading, cleaning to be visited Hole measures exploratory heading；

The controller of aircraft 35 is computer control；

The connecting line 34 is the computer control system connecting line coordinated with controller of aircraft 35；

Optionally, the controller 5 202 shares a controller with the controller of aircraft 35, it is preferred that described Controller 5 202 shares a controller with the controller of aircraft 35.

Optionally, the monitoring in installation monitoring work region is coordinated on the exploratory heading detection cleaning depth measurement backfill flying robot Video camera；The monitor camera mating connection monitor；The monitor includes being located at the monitor of driver's cabin and/or being located at Aircraft carries the monitor for manipulating position and/or remote controler and/or remote monitor and/or mobile phone.Preferably, monitoring camera is installed Machine, the monitor are the monitor positioned at driver's cabin.Optionally, during the work time, the shadow of record monitor camera shooting Picture.

It should be noted that under the control of controller of aircraft 35, the exploratory heading position that the meeting basis of aircraft 31 detects, Corresponding position is moved to work.

Optionally, aircraft also includes wheel；Aircraft is moved on ground using wheel；Preferably, aircraft includes wheel Son.

Implement use-case 17

As shown in figure 18, it is that a kind of exploratory heading detection cleaning depth measurement of the present invention backfills another embodiment of flying robot Structural schematic diagram, including aircraft 31, exploratory heading detection cleaning depth measurement backfilling apparatus 32, positioning device 33, connecting line 34, flight Device controller 35, operation hole 36.

Implement use-case 17 and be with the difference for implementing use-case 16, implements use-case 17 and increase positioning device 33.

The cooperation of the positioning device 33 is fixed on aircraft 31；

The controller of aircraft 35 detects cleaning depth measurement backfilling apparatus 32, positioning by 34 mating connection exploratory heading of connecting line Device 33；

The positioning device 33 is used for determining the position of aircraft.

The positioning device 33 is the combination of satellite positioning device, inertial positioning device, base station location device, it is preferred that The positioning device 33 is the double source positioning device in conjunction with satellite positioning device and inertial positioning device.

Optionally, when exploratory heading, which detects cleaning depth measurement backfilling apparatus 32, includes positioning device, controller of aircraft 35 can also Cleaning depth measurement backfilling apparatus 32 is enough detected by exploratory heading and obtains location information, it is preferred that exploratory heading detection cleaning depth measurement backfilling apparatus Positioning device is not included on 32.

Implement use-case 18

Implement another the implementing that use-case 18 is a kind of exploratory heading detection cleaning depth measurement backfill flying robot of the present invention Example.

Implement use-case 18 and is that aircraft 31 is unmanned vehicle with the difference for implementing use-case 16,17.

Optionally, the sensor that aircraft 31 has perception, detects ambient enviroment includes at least one of the following：Video camera, Temperature sensor, radar, humidity sensor, luminance sensor；Preferably, including video camera, temperature sensor, brightness sensing Device.

Implement use-case 19

Implement another the implementing that use-case 19 is a kind of exploratory heading detection cleaning depth measurement backfill flying robot of the present invention Example.

Implement use-case 19 and is that aircraft 31 is remotely piloted vehicle with the difference for implementing use-case 16,17.

Implement use-case 20

Implement another the implementing that use-case 20 is a kind of exploratory heading detection cleaning depth measurement backfill flying robot of the present invention Example.

Implement use-case 20 and is with the difference for implementing use-case 16,17,18,19, the controller of aircraft 35 at least further include one of following function：

1) controls exploratory heading and detects the detection for clearing up depth measurement backfill flying robot's progress exploratory heading and/or cleaning and/or depth measurement And/or backfill；

2) controls exploratory heading detection cleaning depth measurement backfill flying robot and is moved to exploratory heading detection zone, is moved in the region Detection；

3) is moved to the position of suitable exploratory heading cleaning and/or depth measurement and/or backfill.

It should be noted that the calculating shown in the flowchart of the accompanying drawings that computer instruction can be can perform at such as one group It is executed in machine system, although also, show the logical order of processing in flow charts, it in some cases, can be with Shown or described processing is executed different from processing sequence herein.

The present invention provides a kind of exploratory headings to detect cleaning depth measurement backfilling apparatus, can detect the position of exploratory heading automatically, crush, The sundries in exploratory heading is cleaned out, the depth of exploratory heading is measured, backfills exploratory heading, movement is quick and convenient, improves the work of exploratory heading detection Make efficiency.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.

Claims

1. a kind of exploratory heading detection cleaning depth measurement backfills flying robot, it is characterised in that：Cleaning depth measurement backfill is detected including exploratory heading Device, aircraft, controller of aircraft, operation hole；

The operation hole is located on aircraft, coordinates the exploratory heading detection cleaning depth measurement backfilling apparatus setting；The exploratory heading detection It clears up depth measurement backfilling apparatus and operation is carried out by the operation hole；

The controller of aircraft is computer control.

2. exploratory heading detection cleaning depth measurement according to claim 1 backfills flying robot, it is characterised in that：It further include positioning Device；

The positioning device cooperation fixed setting is on board the aircraft；

The controller of aircraft mating connection positioning device.

3. exploratory heading detection cleaning depth measurement according to claim 1 backfills flying robot, it is characterised in that：The cleaning is surveyed Deep controller shares a controller with the controller of aircraft.

4. exploratory heading detection cleaning depth measurement according to claim 1 backfills flying robot, it is characterised in that：The aircraft It is unmanned vehicle or remotely piloted vehicle.

5. the exploratory heading detection cleaning depth measurement according to one of claim 1-4 backfills flying robot, it is characterised in that：It is described Controller of aircraft at least further includes one of following function：

1) control exploratory heading detection cleaning depth measurement backfill flying robot carry out exploratory heading detection and/or cleaning and/or depth measurement and/ Or backfill；

2) controls exploratory heading detection cleaning depth measurement backfill flying robot and is moved to exploratory heading detection zone, moves and detects in the region；

6. exploratory heading detection cleaning depth measurement according to claim 1 backfills flying robot, it is characterised in that：The exploratory heading inspection Survey cleaning depth measurement backfilling apparatus, including chassis five, controller five, exploratory heading automatic detection device five, exploratory heading cleaning plant five, exploratory heading Sounding gear five, exploratory heading backfilling apparatus five；

The chassis five is for fixing other component；

The controller five, the exploratory heading automatic detection device five, the exploratory heading cleaning plant five, the exploratory heading sounding gear Five, the exploratory heading backfilling apparatus five is equipped on the chassis five；

The controller five, the exploratory heading automatic detection device five, the exploratory heading cleaning plant five, the exploratory heading sounding gear Five, the exploratory heading backfilling apparatus five is connected；

7. exploratory heading detection cleaning depth measurement according to claim 2 backfills flying robot, it is characterised in that：The positioning dress Set be satellite positioning device, inertial positioning device, base station location device combination.

8. exploratory heading detection cleaning depth measurement according to claim 6 backfills flying robot, it is characterised in that：The exploratory heading is certainly Motion detection device five includes ground detection；The ground detection is connected with the controller five；The ground Detection device is used to obtain the measurement data and/or photographed data on detection zone ground.

9. exploratory heading detection cleaning depth measurement according to claim 6 backfills flying robot, it is characterised in that：The exploratory heading is clear Manage device five, including holder, via, lifting gear, brill, guide support, exhausting dust exhaust, cleaning controller；

The cleaning controller is computer control, is worked for controlling exploratory heading cleaning plant five；

The cleaning controller is connected with the controller five；

The cleaning controller is connected with controller five；

The lifting gear includes：Lifting gear driving mechanism, lifting gear transmission mechanism, lifting gear guide member, lifting Device movable part；

The brill includes：Bore driving mechanism, drilling rod, drill bit；

In the bottom surface of the holder, the position in the corresponding drill bit movement direction is equipped with the via, enables the drill bit The following of the holder is enough deep by the via；

The lifting gear cooperation is fixed on the facade of the holder；The direction of motion of the lifting gear, perpendicular to described The bottom surface of holder；

The lifting gear driving mechanism, the lifting gear transmission mechanism, the lifting gear guide member, lifting dress Movable part is set to be equipped with；

The lifting gear driving mechanism drives the lifting gear movable part in institute by the lifting gear transmission mechanism It states and is moved on lifting gear guide member；The brill cooperation is fixed on the lifting gear movable part；

The guide support is arranged in the same direction with the drilling rod；

The wind turbine, the air duct, the air inlet are equipped with；

The air duct cooperation is fixed on the guide support；The air outlet one end fits in the air duct are fixedly connected with the wind Machine；The air inlet in the air duct is located at the drill bit rear portion；Under the fixation of the guide support, the air duct not with institute State drilling rod contact；

The cleaning controller is fixed with the support assorted；The cleaning controller is computer control or circuit control dress It sets；The cleaning controller is connected with peripheral control unit and/or power supply；

The cleaning controller is connected with the lifting gear, the brill, the exhausting dust exhaust.

10. exploratory heading detection cleaning depth measurement according to claim 7 backfills flying robot, it is characterised in that：The ground Detection device is range unit, and the range unit is wireless distance finding device or laser ranging system, the range unit cooperation It is fixed on two dimension or multidimensional or two axis or multiaxial motion platform；The two dimension or multidimensional or two axis or multiaxial motion platform Cooperation is fixed on the chassis five.