CN114352258A - Coal mine underground gas outburst-eliminating drilling coal pit peeping device and method based on laser - Google Patents
Coal mine underground gas outburst-eliminating drilling coal pit peeping device and method based on laser Download PDFInfo
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Abstract
The invention discloses a laser-based coal mine underground gas outburst-eliminating drilling coal pit peering device and a laser-based coal mine underground gas outburst-eliminating drilling coal pit peering method, wherein the device comprises a data receiving and processing unit, a push rod and a measuring probe; the measuring probe comprises an installation cylinder, a first laser ranging sensor, a second laser ranging sensor, a first motor, a second motor, a camera and a posture sensor, and the lower part of the installation cylinder is coaxially connected with the upper end of the pushing rod through a transition connecting piece. The invention has high automation degree, reduces manual operation and effectively reduces measurement errors. The measured data can be processed to obtain the parameters of position, attitude, shape, volume and the like of the space of the coal nest and obtain a three-dimensional model of the coal nest. The method provides reliable technical support for evaluation of single-hole gas extraction influence space, further provides basis for layout of a group-hole gas outburst elimination drilling network and dynamic adjustment of drilling positions, and also provides basis for reasonable layout of gas outburst elimination engineering.
Description
Technical Field
The invention belongs to the technical field of coal mine underground gas outburst elimination, and particularly relates to a laser-based coal mine underground gas outburst elimination drilling coal pit peeping device and method.
Background
The fifth rule of the Fine rules for preventing coal and gas outburst states that regional and local comprehensive outburst prevention measures should be formulated and implemented in coal mine enterprises and outburst mines with outburst mines in combination with mine mining conditions. "
Drilling drainage is mostly adopted for regional and local comprehensive outburst prevention measures, and the design of a drainage drilling laying network is mainly based on the single-hole influence range. Due to the differences of mining depths, coal seam gas content, coal rock layer permeability and permeability of various coal mines, the drainage drill holes can release gas power, so that the spatial range of outburst elimination is different. At present, different mines are subjected to numerical simulation according to a certain mathematical physical model mainly according to the influence range of the extraction holes observed by laying observation holes or according to parameters such as measured ground stress, coal rock stratum mechanical properties, gas pressure, gas content, coal rock stratum permeability coefficient and the like. For theoretical and technical reasons, the influence range of the drainage drill hole estimated by the two modes mostly adopts the parameter of 'influence radius' which takes the drill hole as the center and is equidistant outwards.
In order to improve the effect of single-hole gas drainage holes and enlarge the 'influence radius', hydraulic punching is generally adopted for hole making in production. The 'coal pit' space is irregular due to the heterogeneity of coal seam shape, mechanical property and crushing degree, the technology of high-pressure water power and the like, namely the distances between the walls of the coal pit and the axial trace of the drill hole are unequal.
The parameter of 'influence radius' of single-hole gas drainage is used for designing a drainage drilling hole layout network, so that 'coal and gas outburst elimination blank zones' often exist, and in addition, the axial trace of the actual construction drilling hole often deviates from the axial trace of the designed drilling hole and sometimes deviates far, so that the actual coal and gas outburst elimination effect is often not ideal.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a laser-based coal mine underground gas outburst-eliminating drilling coal pit peeking device and method. The method can accurately measure parameters such as the spatial position, the posture, the form and the volume of the coal pit, accurately define the influence space of the gas drainage hole, provide a design basis for a gas drainage hole arrangement network, and provide technical support for dynamic adjustment of the position, the pitch angle, the azimuth angle, the construction process and the like of the subsequent construction hole.
In order to solve the technical problems, the invention adopts the following technical scheme: the laser-based coal mine underground gas outburst drilling coal pit peering device comprises a data receiving and processing unit, a push rod and a measuring probe; the measuring probe comprises an installation cylinder, a first laser ranging sensor, a second laser ranging sensor, a first motor, a second motor, a camera and a posture sensor, wherein the first laser ranging sensor and the posture sensor are arranged on the lower side in the installation cylinder, the first motor and the second laser ranging sensor are arranged on the upper part of the inner side of the installation cylinder, a main shaft of the first motor is vertical to a main shaft of the second motor, the main shaft of the first motor is parallel to the central line of the installation cylinder, the upper end of the main shaft of the first motor is connected with the lower side part of the second motor through a connecting seat, the second motor is positioned above the outer side of the installation cylinder, a connecting rod piece is arranged at the end part of the main shaft of the second motor, the second laser ranging sensor is arranged on the connecting rod piece, and the first laser ranging sensor, the second laser ranging sensor, the first motor, the second motor, the camera and the posture sensor are all connected with a data receiving and processing unit through communication cables penetrating through a push rod, the lower part of the mounting cylinder is coaxially connected with the upper end of the pushing rod through a transition connecting piece.
The transition connecting piece comprises an upper internal thread cylinder, a conical cylinder, a lower internal thread cylinder, an upper reinforcing plate and a lower reinforcing plate, the conical cylinder is of a cylindrical structure with a thick upper part and a thin lower part, the lower end of the upper internal thread cylinder is fixedly connected with the conical cylinder, the outer circle of the lower part of the mounting cylinder extends into and is in threaded connection with the upper internal thread cylinder, the upper reinforcing plate is disc-shaped, the lower reinforcing plate is annular, the upper reinforcing plate is fixedly arranged at the upper part in the conical cylinder, the outer circle of the lower reinforcing plate is fixedly connected with the lower end of the conical cylinder, the inner circle of the lower reinforcing plate is fixedly connected with the outer circle of the lower end of the lower internal thread cylinder, the upper end of the upper internal thread cylinder is fixedly connected with the lower surface of the upper reinforcing plate, and the upper end of the pushing rod extends into and is in threaded connection with the lower internal thread cylinder; and a pressure spring which is in abutting fit with the bottom of the mounting cylinder is fixedly arranged on the upper surface of the upper reinforcing plate.
The upper part of the excircle of the mounting cylinder is in threaded connection with a transparent cover, the transparent cover covers the second motor and the second laser ranging sensor inside, the lower part of the transparent cover is in a cylindrical structure, and the upper part of the transparent cover is in a conical guide structure with a sharp upper end and a thick lower end; the mounting tube between the upper end of the upper internal thread tube and the lower end of the transparent cover is provided with a mounting hole, and the first laser ranging sensor is arranged on the inner side of the mounting hole and emits laser outwards towards the mounting hole.
The first motor is established in the center department on installation section of thick bamboo upper portion, and the camera is the high definition digtal camera of taking the LED lamp, and the camera is equipped with two, and two cameras are located the left and right sides of first motor respectively and shoot towards the top.
And the pushing rod is in threaded connection with a locking nut, and the upper end of the locking nut is in compression joint with the lower surface of the lower reinforcing plate.
The peeping method of the coal mine underground gas outburst drilling coal pit peeping device based on laser comprises the following steps:
(1) the measuring probe is stretched into a hole of a drilled hole, the attitude sensor, the camera and the first laser ranging sensor are started, and the data receiving and processing unit is placed outside the hole of the drilled hole;
(2) the handheld push rod enables the measuring probe to slowly move along a drill hole, in the moving process, a conical guide structure on the upper portion of the transparent cover plays a guiding role in the drill hole, the attitude sensor records attitude data of the measuring probe, the camera shoots an image of the inner wall of the drill hole, the first laser ranging sensor monitors the distance from the measuring probe to the wall of the drill hole, data obtained by monitoring of the attitude sensor, the camera and the first laser ranging sensor is transmitted to the data receiving and processing unit through a communication cable, and the data receiving and processing unit displays the image and the data in real time;
(3) when the first laser ranging sensor monitors that the distance between the first laser ranging sensor and the wall of the drilled hole is larger than a fixed value, the first laser ranging sensor judges that the first laser ranging sensor enters a coal pit space, meanwhile, the camera assists in judging that the first laser ranging sensor moves in place, and the measuring probe is stopped being pushed;
(4) the first motor, the second motor and the second laser ranging sensor are started, the first motor and the second motor drive the second laser ranging sensor to rotate, and the second laser ranging sensor acquires three-dimensional information data of a coal pit space.
The specific process of the step (4) is as follows:
(A) when the main shaft of the first motor rotates clockwise or anticlockwise for a certain step angle, the second laser ranging sensor carries out ranging once, and the ranging is circulated until the main shaft of the first motor rotates for 360 degrees and then the second laser ranging sensor resets;
(B) repeating the step (A) for measuring the distance by multiple coal pits every time the main shaft of the second motor rotates clockwise or anticlockwise by a certain step angle; when the accumulated rotation angle of the second motor is greater than 180 degrees, the measurement is finished;
(C) and (C) transmitting the data measured in the steps (A) and (B) by the second laser ranging sensor to a data receiving and processing unit for processing and three-dimensional modeling to obtain parameters such as the position, the posture, the shape and the volume of the coal pit and a three-dimensional model.
The specific process of the step (4) is as follows:
a. when the main shaft of the second motor rotates clockwise or anticlockwise for a certain step angle, the step angle is less than 10 degrees, the second laser ranging sensor carries out ranging once, and the process is circulated until the accumulated rotation of the main shaft of the second motor is more than or equal to 180 degrees;
b. when the main shaft of the first motor rotates clockwise or anticlockwise for a certain step angle, the step angle is less than 10 degrees, when the main shaft of the second motor rotates anticlockwise or clockwise for a certain step angle, the step angle is less than 10 degrees, the second laser ranging sensor carries out ranging once, and the process is circulated until the main shaft of the first motor and the main shaft of the second motor rotate more than or equal to 180 degrees;
c. and repeating the steps a and b until the measurement is finished when the accumulated rotation angle of the spindle of the first motor is greater than 360 degrees.
By adopting the technical scheme, the first motor and the second motor in the invention are a servo motor, a steering engine, a stepping motor and the like which can control the rotation angle. The rotating step angles of the first motor and the second motor can be set, the control precision of the servo motor can reach 0.27 degrees at present, the smaller the step angle is, the denser the acquired data is, the setting range of the step angle is 0.3-90 degrees, and a fixed value in the range of 0.3-90 degrees can be selected during application.
The invention has the advantages that the laser ranging sensor is used for measuring the distance, and the precision is very high. The motor (servo motor, steering engine or stepping motor) capable of accurately controlling the rotation angle is used, the angle control precision can reach 0.3 degrees, the control module formed by the first motor and the second motor drives the laser ranging sensor to scan the coal pit, the scanning range is comprehensive, and the data is reliable. The invention has high automation degree, reduces manual operation and effectively reduces measurement errors. The measured data can be processed to obtain the parameters of position, attitude, shape, volume and the like of the space of the coal nest and obtain a three-dimensional model of the coal nest. The method provides reliable technical support for evaluation of single-hole gas extraction influence space, further provides basis for layout of a group-hole gas outburst elimination drilling network and dynamic adjustment of drilling positions, and also provides basis for reasonable layout of gas outburst elimination engineering. The method is simple to operate, accurate and reliable, and high in application value.
Drawings
FIG. 1 is a schematic illustration of the present invention in the field of testing;
FIG. 2 is a schematic structural view of the scoping device of the present invention;
FIG. 3 is a block diagram of the test flow of the present invention.
Detailed Description
As shown in fig. 1-3, the laser-based coal mine gas outburst elimination drilling coal pit peeking device comprises a data receiving and processing unit 1 (an underground explosion-proof computer, an embedded explosion-proof mobile phone and the like can be adopted), a push rod 2 (a light aluminum alloy tube can be adopted) and a measuring probe 3; the measuring probe 3 comprises a mounting cylinder 4, a first laser ranging sensor 5, a second laser ranging sensor 6, a first motor 7, a second motor 8, a camera 9 and a posture sensor 10, wherein the first laser ranging sensor 5 and the posture sensor 10 are arranged on the lower side inside the mounting cylinder 4, the first motor 7 and the second laser ranging sensor 6 are arranged on the upper portion inside the mounting cylinder 4, a main shaft of the first motor 7 is perpendicular to a main shaft of the second motor 8, the main shaft of the first motor 7 is parallel to the central line of the mounting cylinder 4, the upper end of the main shaft of the first motor 7 is connected with the lower side portion of the second motor 8 through a connecting seat 11, the second motor 8 is positioned above the outer side of the mounting cylinder 4, a connecting rod piece 12 is arranged at the end portion of the main shaft of the second motor 8, the second laser ranging sensor 6 is arranged on the connecting rod piece 12, and the first laser ranging sensor 5, the second laser ranging sensor 6, The first motor 7, the second motor 8, the camera 9 and the attitude sensor 10 are all connected with the data receiving and processing unit 1 through communication cables penetrating through the push rod 2, and the lower part of the installation cylinder 4 is coaxially connected with the upper end of the push rod 2 through a transition connecting piece.
The transition connecting piece comprises an upper internal thread cylinder 13, a conical cylinder 14, a lower internal thread cylinder 15, an upper reinforcing plate 21 and a lower reinforcing plate 22, the conical cylinder 14 is of a cylindrical structure with a thick upper part and a thin lower part, the lower end of the upper internal thread cylinder 13 is fixedly connected with the conical cylinder 14, the outer circle of the lower part of the mounting cylinder 4 extends into and is in threaded connection with the upper internal thread cylinder 13, the upper reinforcing plate 21 is disc-shaped, the lower reinforcing plate 22 is annular, the upper reinforcing plate 21 is fixedly arranged at the upper part in the conical cylinder 14, the outer circle of the lower reinforcing plate 22 is fixedly connected with the lower end of the conical cylinder 14, the inner circle of the lower reinforcing plate 22 is fixedly connected with the lower end of the lower internal thread cylinder 15, the upper end of the upper internal thread cylinder 13 is fixedly connected with the lower surface of the upper reinforcing plate 21, and the upper end of the push rod 2 extends into and is in threaded connection with the lower internal thread cylinder 15; a pressure spring 23 which is in abutting fit with the bottom of the installation cylinder 4 is fixedly arranged on the upper surface of the upper reinforcing plate 21. The pressure spring 23 upwards presses the mounting cylinder 4, so that the threaded connection between the mounting cylinder 4 and the upper internal thread cylinder 13 is more reliable, and the locking effect is achieved.
The upper portion of the excircle of the mounting cylinder 4 is in threaded connection with a transparent cover 16, the transparent cover 16 covers the second motor 8 and the second laser ranging sensor 6 inside, the lower portion of the transparent cover 16 is of a cylindrical structure, and the upper portion of the transparent cover 16 is of a conical guide structure 17 with a sharp upper end and a thick lower end. The transparent cover 16 serves to protect the second motor 8 and the second laser ranging sensor 6 from movement within the borehole, as well as to provide guidance. And a mounting hole is formed in the mounting cylinder between the upper end of the upper internal thread cylinder 13 and the lower end of the transparent cover, and the first laser ranging sensor is arranged on the inner side of the mounting hole and emits laser outwards towards the mounting hole. Go up the excircle of an internal thread section of thick bamboo 13 upper end and translucent cover and be greater than an installation section of thick bamboo 4 excircle, when removing in drilling 19, go up the excircle of an internal thread section of thick bamboo 13 upper end and translucent cover and the pore wall of drilling 19 and produce the friction, can not wear and tear first laser ranging sensor 5.
The push rod 2 is connected with a locking nut 18 through threads, and the locking nut 18 is in pressure joint with the lower surface of the lower reinforcing plate 22.
The peeping method of the coal mine underground gas outburst drilling coal pit peeping device based on laser comprises the following steps:
(1) the measuring probe 3 is extended into the orifice of the drill hole 19, the attitude sensor 10, the camera 9 and the first laser ranging sensor 5 are started, and the data receiving and processing unit 1 is placed outside the orifice of the drill hole 19;
(2) the measurement probe 3 is slowly moved along the drill hole 19 by a handheld push rod, in the moving process, a conical guide structure 17 on the upper portion of a transparent cover 16 plays a guiding role in the drill hole 19, a posture sensor 10 records posture data of the measurement probe 3, a camera 9 shoots an image of the inner wall of the drill hole 19, a first laser ranging sensor 5 monitors the distance from the measurement probe 3 to the hole wall of the drill hole 19, data obtained by monitoring of the posture sensor 10, the camera 9 and the first laser ranging sensor 5 are transmitted to a data receiving and processing unit 1 through a communication cable, and the data receiving and processing unit 1 displays the image and the data in real time;
(3) when the first laser ranging sensor 5 monitors that the distance between the first laser ranging sensor and the hole wall of the drill hole 19 is larger than a fixed value, the first laser ranging sensor judges that the first laser ranging sensor enters the space of the coal pit 20, meanwhile, the camera 9 assists in judging that the first laser ranging sensor moves in place, and the measuring probe 3 stops being pushed;
(4) the first motor 7, the second motor 8 and the second laser ranging sensor 6 are started, the first motor 7 and the second motor 8 drive the second laser ranging sensor 6 to rotate, and the second laser ranging sensor 6 carries out three-dimensional information data acquisition on the coal pit 20 space.
The specific process of the step (4) is as follows:
(A) when the main shaft of the first motor 7 rotates clockwise or anticlockwise for a certain step angle, the second laser ranging sensor 6 measures distance once, and the process is circulated until the main shaft of the first motor 7 rotates for 360 degrees, and then the second laser ranging sensor 6 resets;
(B) repeating the step (A) for measuring the distance of the multiple coal pits 20 when the main shaft of the second motor 8 rotates clockwise or anticlockwise for a certain step angle; when the accumulated rotation angle of the second motor 8 is greater than 180 degrees, the measurement is finished;
(C) and (3) transmitting the data measured in the steps (A) and (B) by the second laser ranging sensor 6 to the data receiving and processing unit 1 for processing and three-dimensional modeling to obtain parameters such as the position, the posture, the shape and the volume of the coal pit 20 and a three-dimensional model.
The specific process of the step (4) is as follows:
a. when the main shaft of the second motor 8 rotates clockwise or anticlockwise for a certain step angle, wherein the step angle is less than 10 degrees, the second laser ranging sensor 6 carries out ranging once, and the process is circulated until the accumulated rotation of the main shaft of the second motor 8 is more than or equal to 180 degrees;
b. when the main shaft of the first motor 7 rotates clockwise or anticlockwise for a certain step angle, the step angle is less than 10 degrees, when the main shaft of the second motor 8 rotates anticlockwise or clockwise for a certain step angle, the step angle is less than 10 degrees, the second laser ranging sensor 6 carries out ranging once, and the process is circulated until the rotation of the main shaft of the first motor 7 and the rotation of the main shaft of the second motor 8 are accumulated to be more than or equal to 180 degrees;
c. repeating steps a and b until the measurement is finished when the accumulated rotation angle of the spindle of the first motor 7 is >360 °.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. Colliery is colliery gas outburst drilling coal nest peeps survey device based on laser, its characterized in that: the device comprises a data receiving and processing unit, a push rod and a measuring probe; the measuring probe comprises an installation cylinder, a first laser ranging sensor, a second laser ranging sensor, a first motor, a second motor, a camera and a posture sensor, wherein the first laser ranging sensor and the posture sensor are arranged on the lower side in the installation cylinder, the first motor and the second laser ranging sensor are arranged on the upper part of the inner side of the installation cylinder, a main shaft of the first motor is vertical to a main shaft of the second motor, the main shaft of the first motor is parallel to the central line of the installation cylinder, the upper end of the main shaft of the first motor is connected with the lower side part of the second motor through a connecting seat, the second motor is positioned above the outer side of the installation cylinder, a connecting rod piece is arranged at the end part of the main shaft of the second motor, the second laser ranging sensor is arranged on the connecting rod piece, and the first laser ranging sensor, the second laser ranging sensor, the first motor, the second motor, the camera and the posture sensor are all connected with a data receiving and processing unit through communication cables penetrating through a push rod, the lower part of the mounting cylinder is coaxially connected with the upper end of the pushing rod through a transition connecting piece.
2. The laser-based coal mine downhole gas blind borehole coal seam peeking apparatus of claim 1, wherein: the transition connecting piece comprises an upper internal thread cylinder, a conical cylinder, a lower internal thread cylinder, an upper reinforcing plate and a lower reinforcing plate, the conical cylinder is of a cylindrical structure with a thick upper part and a thin lower part, the lower end of the upper internal thread cylinder is fixedly connected with the conical cylinder, the outer circle of the lower part of the mounting cylinder extends into and is in threaded connection with the upper internal thread cylinder, the upper reinforcing plate is disc-shaped, the lower reinforcing plate is annular, the upper reinforcing plate is fixedly arranged at the upper part in the conical cylinder, the outer circle of the lower reinforcing plate is fixedly connected with the lower end of the conical cylinder, the inner circle of the lower reinforcing plate is fixedly connected with the outer circle of the lower end of the lower internal thread cylinder, the upper end of the upper internal thread cylinder is fixedly connected with the lower surface of the upper reinforcing plate, and the upper end of the pushing rod extends into and is in threaded connection with the lower internal thread cylinder; and a pressure spring which is in abutting fit with the bottom of the mounting cylinder is fixedly arranged on the upper surface of the upper reinforcing plate.
3. The laser-based coal mine downhole gas blind borehole coal seam peeking apparatus of claim 2, wherein: the upper part of the excircle of the mounting cylinder is in threaded connection with a transparent cover, the transparent cover covers the second motor and the second laser ranging sensor inside, the lower part of the transparent cover is in a cylindrical structure, and the upper part of the transparent cover is in a conical guide structure with a sharp upper end and a thick lower end; the mounting tube between the upper end of the upper internal thread tube and the lower end of the transparent cover is provided with a mounting hole, and the first laser ranging sensor is arranged on the inner side of the mounting hole and emits laser outwards towards the mounting hole.
4. The laser-based coal mine downhole gas blind borehole coal seam peeking apparatus of claim 3, wherein: the first motor is established in the center department on installation section of thick bamboo upper portion, and the camera is the high definition digtal camera of taking the LED lamp, and the camera is equipped with two, and two cameras are located the left and right sides of first motor respectively and shoot towards the top.
5. The laser-based coal mine downhole gas blind borehole coal seam peeking apparatus of claim 4, wherein: and the pushing rod is in threaded connection with a locking nut, and the upper end of the locking nut is in compression joint with the lower surface of the lower reinforcing plate.
6. The peeking method of the laser-based coal mine underground gas outburst drilling coal pit peeking device according to claim 5, which is characterized in that: the method comprises the following steps:
(1) the measuring probe is stretched into a hole of a drilled hole, the attitude sensor, the camera and the first laser ranging sensor are started, and the data receiving and processing unit is placed outside the hole of the drilled hole;
(2) the handheld push rod enables the measuring probe to slowly move along a drill hole, in the moving process, a conical guide structure on the upper portion of the transparent cover plays a guiding role in the drill hole, the attitude sensor records attitude data of the measuring probe, the camera shoots an image of the inner wall of the drill hole, the first laser ranging sensor monitors the distance from the measuring probe to the wall of the drill hole, data obtained by monitoring of the attitude sensor, the camera and the first laser ranging sensor is transmitted to the data receiving and processing unit through a communication cable, and the data receiving and processing unit displays the image and the data in real time;
(3) when the first laser ranging sensor monitors that the distance between the first laser ranging sensor and the wall of the drilled hole is larger than a fixed value, the first laser ranging sensor judges that the first laser ranging sensor enters a coal pit space, meanwhile, the camera assists in judging that the first laser ranging sensor moves in place, and the measuring probe is stopped being pushed;
(4) the first motor, the second motor and the second laser ranging sensor are started, the first motor and the second motor drive the second laser ranging sensor to rotate, and the second laser ranging sensor acquires three-dimensional information data of a coal pit space.
7. The peeking method of the laser-based coal mine underground gas outburst drilling coal pit peeking device according to claim 6, which is characterized in that: the specific process of the step (4) is as follows:
(A) when the main shaft of the first motor rotates clockwise or anticlockwise for a certain step angle, the second laser ranging sensor carries out ranging once, and the ranging is circulated until the main shaft of the first motor rotates for 360 degrees and then the second laser ranging sensor resets;
(B) repeating the step (A) for measuring the distance by multiple coal pits every time the main shaft of the second motor rotates clockwise or anticlockwise by a certain step angle; when the accumulated rotation angle of the second motor is greater than 180 degrees, the measurement is finished;
(C) and (C) transmitting the data measured in the steps (A) and (B) by the second laser ranging sensor to a data receiving and processing unit for processing and three-dimensional modeling to obtain parameters such as the position, the posture, the shape and the volume of the coal pit and a three-dimensional model.
8. The peeking method of the laser-based coal mine underground gas outburst drilling coal pit peeking device according to claim 6, which is characterized in that: the specific process of the step (4) is as follows:
a. when the main shaft of the second motor rotates clockwise or anticlockwise for a certain step angle, the step angle is less than 10 degrees, the second laser ranging sensor carries out ranging once, and the process is circulated until the accumulated rotation of the main shaft of the second motor is more than or equal to 180 degrees;
b. when the main shaft of the first motor rotates clockwise or anticlockwise for a certain step angle, the step angle is less than 10 degrees, when the main shaft of the second motor rotates anticlockwise or clockwise for a certain step angle, the step angle is less than 10 degrees, the second laser ranging sensor carries out ranging once, and the process is circulated until the main shaft of the first motor and the main shaft of the second motor rotate more than or equal to 180 degrees;
c. and repeating the steps a and b until the measurement is finished when the accumulated rotation angle of the spindle of the first motor is greater than 360 degrees.
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