CN211193864U

CN211193864U - Novel drilling image acquisition robot

Info

Publication number: CN211193864U
Application number: CN201921582866.2U
Authority: CN
Inventors: 朱庆文; 赵爽; 殷齐浩; 王洪闪; 王凯; 杜贻腾; 冉金林
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2019-09-23
Filing date: 2019-09-23
Publication date: 2020-08-07
Anticipated expiration: 2029-09-23

Abstract

The utility model discloses a novel drilling image acquisition robot will solve the problem that exists among the current drilling image acquisition process. The product comprises a self-feeding device, a cleaning device, a collecting device, a connecting device and a control device. The self-advancing device of the utility model is provided with 8 self-rotating anti-skid rubber wheels with adjustable supporting angles, and a high-torque motor is arranged in the self-advancing device, so that the self-advancing device can be driven to advance in a drilling hole in the middle; the cleaning device of the utility model can clean the protective shell of the protective lens in the drilling hole, thereby improving the image acquisition precision; the utility model discloses a controlling means is equipped with control button and function button, marching speed, gesture and light source luminance when can controlling image acquisition to with the real-time storage of information collection. The utility model is suitable for a colliery tunnel roof drilling detects, has characteristics easy and simple to handle, collection efficiency is high, the collection precision is high, and data collection can truly reflect tunnel roof country rock deformation crushing characteristic.

Description

Novel drilling image acquisition robot

Technical Field

The invention relates to the field of coal mine rock stratum detection, in particular to a novel drilling image acquisition robot.

Background

Coal is used as an important energy fuel and a chemical raw material, and plays an important role in national economic development and people's life. In order to exploit coal resources to the maximum extent and save production cost, most coal seams are exploited in a roof cutting pressure relief gob-side entry retaining mode.

Coal mining tends to cause fracture, fragmentation, caving of the overlying strata and deformation of the underlying strata. The height of the working face caving zone and the deformation characteristics of the top plate are important parameters for gob-side entry retaining support, so that the detection of the surrounding rock of the top plate of the roadway has strong guiding significance for the safety production of the working face. In addition, the existing top-cutting pressure relief mode is mostly carried out by adopting a presplitting blasting mode, the thickness and lithology of a rock stratum have great influence on a blasting result, a blast hole after blasting needs to be detected, whether a blasting cutting line is communicated or not is detected, the blasting effect is judged, and a charging structure is adjusted. It is still common practice to drill holes in the roof strata for inspection to obtain image data.

Therefore, in the coal seam mining process, the imaging equipment is used for detecting the top plate rock layer drilling hole, which is a necessary means for ensuring safe production, and the method has the characteristics of intuition, simplicity and convenience. However, in the practical application process, many problems also occur. Firstly, most roadway roof rock stratums have crack water and are moist in holes, a lens of a conventional peeping instrument is deeply drilled to form a layer of water mist in the lens, image acquisition distortion is caused, the lens deeply drilled can only be removed when the condition is handled, and the lens is cleaned and then placed into the drilled hole again for testing. Secondly, if the rock stratum of the hole wall part is soft rock such as mudstone and the like, the soft rock is disintegrated and broken when meeting water, so that the workload of drilling and dredging is increased; in addition, if the lens is sheltered from by detritus mud in the testing process, still need to withdraw from the camera lens in the drilling and clear up. At present, the collecting lens of the commonly used peeping instrument needs a connecting rod connected end to be pushed into the drill hole, the workload and the labor intensity are increased, important data in the collecting process is the depth of image collecting, a special wire roller or a device is needed to record the length of the pushing rod or a cable in a deep drill hole, the use is very inconvenient, and if the lens is in an accident condition of hole collapse and the like, the lens is clamped in the drill hole and cannot be taken out, so that the instrument is scrapped.

Above-mentioned problem is that all on-the-spot measurement personnel meet actual conditions, if meet drilling geological conditions relatively poor, need repeatedly dredge downthehole detritus and clearance instrument camera lens, greatly consume staff's physical power and energy. As is well known, the coal mine tunnel has the disadvantages of high humidity, high coal dust concentration, high noise and extremely poor working conditions, the existing instruments and means are utilized, each time the drilling detection is performed, the on-site detection personnel can fully clear the lens without octanoic acid for doing things, the lens is easily shielded by water vapor and detritus residues, the collected image is not clear, the manpower and material resources are wasted, and the good detection effect is not achieved.

The invention of application No. 2019100052189 provides a drilling speculum that can be operated by a single person. This appearance is peeied at in drilling includes the probe of making a video recording, the push rod, formation of image host computer and metal crate, the probe of making a video recording sets up in the tip of push rod, metal crate is equipped with depth counter pulley, it makes the probe of making a video recording remove in to drilling to promote the drilling and peeld appearance one-man operation, but need use the push rod to impel the camera to drilling, a plurality of push rods pass through screwed joint and screw interface connection, lead to gathering image pause and acquisition time to lengthen, and the camera lens does not have any anti-fogging and handle and anticollision protection, applicable conditions is limited.

The invention with the application number of 2016105853264 discloses a self-adaptive centering and antifouling device for a camera of a mining drilling peeping instrument, which comprises a probe rod, the camera, a cable, a buckle, a fixed disc, a positioning nut and an elastic steel wire, and mainly aims to enable the camera to be positioned in the center of a drilling hole and prevent the camera from touching the hole wall, but when the lens is pushed to a mudstone and a broken area, the elastic steel wire is embedded into the broken area to cause the lens to be incapable of being pushed, the surface of the lens is condensed by water vapor and cannot be cleaned in the drilling hole, and only an orifice can be withdrawn for cleaning, so that the time is wasted.

Related research and improvements are also underway.

Disclosure of Invention

An object of an embodiment of the present invention is to provide a novel drilling image acquisition robot, so as to solve the problems proposed in the above background art.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

a novel drilling image acquisition robot comprises a self-advancing device 1, a cleaning device 2, an acquisition device 3, a connecting device 4 and a control device 5; the self-advancing device 1 is arranged outside the connecting device and provides advancing power for the invention; the cleaning device 2 is arranged between the acquisition device 3 and the connecting device 4, and can clean the protective shell 32 of the invention, so that the definition of image acquisition is ensured; the acquisition device 3 is arranged on the upper part of the connecting device 4 and is a rock stratum image acquisition part of the invention; the connecting device 4 connects the parts of the invention together; the control device 5 can send instructions to control the image acquisition function of the invention.

As a further scheme of the embodiment of the invention: the self-advancing device 1 comprises a self-rotating type antiskid rubber wheel 11, a screw rod bracket 12, a support rod 13, a bracket moving motor 14 and a power cable 15; the outer side of the autorotation type antiskid rubber wheel 11 is a contact layer made of wear-resistant antiskid rubber, the outer side of the autorotation type antiskid rubber wheel 11 is in close contact with a rock wall, a high-torque motor inside the autorotation type antiskid rubber wheel 11 is provided with electric energy by a power cable 15 and can rotate under the power-on state, a novel driving type drilling image acquisition robot moves in a drilling hole, the novel drilling image acquisition robot has 8 autorotation type antiskid rubber wheels 11 which are distributed at the upper part and the lower part of a connecting device, the autorotation type antiskid rubber wheels 11 record the number of rotation turns and convert the number of the rotation turns into the depth in the rotation process and store the depth in a storage module 57, and the average value recorded by the 8 autorotation type antiskid rubber wheels 11 is the drilling depth; the screw rod bracket 12 is a stainless steel rod with threads on the surface, one end of the screw rod bracket is connected with the interface 41, and the other end of the screw rod bracket is connected with the self-rotating anti-skid rubber wheel 11; the support rod 13 is a short round rod made of stainless steel, one end of the short round rod is connected with the support moving motor 14, the other end of the short round rod is connected with the support rod interface 42, and the support rod interface is hinged and can rotate; the support moving motor 14 is connected to the screw rod support 12, and when the power is on, the support moving motor 14 can move on the surface of the screw rod support 12 to control the contact angle of the self-rotating anti-skid rubber wheel 11 and the rock wall, so that the self-rotating anti-skid rubber wheel is suitable for drilling holes with different sizes, the self-rotating anti-skid rubber wheel 11 is ensured to be always in close contact with the rock wall, and idling is prevented; the power cable 15 supplies power to the carriage moving motor 14.

As a further scheme of the embodiment of the invention: the cleaning device 2 comprises a cleaning liquid storage bin 21, a cleaning liquid spray head 22, a cleaning ring moving mechanism 23, a cleaning liquid delivery pipe 24 and a cleaning ring 25; the cleaning liquid storage bin 21 is positioned in the connecting device, is used for containing cleaning liquid, is a bin body made of plastic, and is provided with a connector connected with the cleaning liquid delivery pipe 24 at the lower end; the cleaning liquid spray head 22 is a spray head on the cleaning ring 25, the lower end of the cleaning liquid spray head is connected with the cleaning liquid delivery pipe 24, and the cleaning liquid can be uniformly sprayed on the protective shell 32 to clean the protective shell 32; the cleaning ring moving mechanism 23 is positioned at the lower part of the cleaning ring 25, the upper end of a lifting rod 231 of the cleaning ring moving mechanism 23 is connected with the cleaning ring 25, the lower end of the lifting rod is fixed on the surface of the connecting device, after the cleaning liquid spray head 22 sprays the cleaning liquid, a motor 232 of the cleaning ring moving mechanism 23 is electrified to drive the cleaning ring 25 to move up and down to wipe the surface of the protective shell 32 clean; the cleaning liquid sending pipe 24 is a connecting pipe for connecting the cleaning liquid storage bin 21 and the cleaning liquid spray head 22; the cleaning ring 25 is a circular ring made of rubber, the inner side of the circular ring is high and low in edge, and cleaning liquid can flow to the lower part along the cleaning ring 25 in the cleaning process.

As a further scheme of the embodiment of the invention: cleaning ring moving mechanism 23 includes lifter 231, motor 232 and screw shaft 233, lifter 231 is the aluminum alloy body of rod that the surface has the recess, its recess interlocks each other with the bulge of screw shaft 233, motor 232 is located cleaning ring moving mechanism 23 upper portion, can receive the washing instruction that arithmetic processing module 56 sent, carry out forward and reverse rotation, screw shaft 233 links to each other with motor 232, it is unanimous with motor 232 direction of rotation, screw shaft surface has the bulge, can interlock with lifter 231 recess, in rotatory process, it takes place vertical motion to drive lifter 231, lifter 231 drives cleaning ring 25 and reciprocates and wipes the protecting crust 32 surface clean.

According to the further scheme of the embodiment of the invention, the collecting device 3 comprises a panoramic lens 31, a protective shell 32, an L ED illuminating lamp 33, a conical protective cap 34 and a built-in azimuth angle measuring instrument 35, the panoramic lens 31 is an information collecting lens on the inner side of the protective shell 32 and can collect images in the 360 directions of the rock wall of the drilled hole, the protective shell 32 is made of tempered glass through high-temperature processing, an electric heating wire is arranged in the protective shell 32 and heats the protective shell 32 in the process of collecting the images in the drilled hole to prevent water vapor from being condensed on the surface of the protective shell and improve the collecting precision, the L ED illuminating lamp 33 provides a light source for the panoramic lens 31, the brightness of the L ED illuminating lamp 33 is adjustable, the conical protective cap 34 is located at the front end of the protective shell 32 and aims to protect the protective shell 32 from being impacted by hard rock so as to ensure the safety of the panoramic lens 31, and the built-in azimuth angle measuring.

As a further scheme of the embodiment of the invention: the connecting device 4 comprises a screw rod bracket interface 41, a support rod interface 42, a rotating shaft 43, a cable interface 44, a cable 45 and a shell 46; the screw bracket interface 41 is positioned outside the shell 46 to provide an attachment point for the screw bracket 12, the screw bracket 12 is connected with the shell 46 through the rotating shaft 43, and the screw bracket 12 can rotate around the screw bracket interface 41; the support rod interface 42 is positioned outside the shell 46 and provides an attachment point for the support rod 13, the support rod 13 is connected with the shell 46 through the rotating shaft 43, and the support rod 13 can rotate around the support rod interface 42; the cable line interface 44 is an interface between the connecting device and a cable line 45; the cable 45 is a four-copper-core externally-clamped steel stranded cable, a power supply and a signal transmission line are contained in the cable, one end of the cable is connected with the cable connector 44, the other end of the cable is connected with the main cable socket 51, the power supply and signal transmission effects are achieved, the cable is high in strength and good in flexibility, a wear-resistant plastic layer is attached to the surface of the cable, and the length of the cable is selected according to the drilling depth and the test requirements.

As a further scheme of the embodiment of the invention: the control device 5 comprises a main cable socket 51, a power interface 52, an operation key area 53, a function key area 54, a high-definition display screen 55, an operation processing module 56 and a storage module 57; the main cable socket 51 is an interface between the control device and the cable 45, and plays a role in power supply and signal transmission; the power interface 52 is an interface between the control device and an underground power supply and provides electric energy for the novel drilling image acquisition robot; the operation key area 53 can control the starting, the advancing speed, the advancing direction and the supporting angle of the screw rod bracket 12 of the novel drilling image acquisition robot; the function key area 54 can control the heating of the protective shell 32, the spraying of the cleaning liquid spray head 22 and the movement of the cleaning ring moving mechanism 23 of the novel drilling image acquisition robot; the high-definition display screen 55 can display parameters such as drilling images, traveling speed, drilling directions, drilling depths and the like in real time; the operation processing module 56 can send the instructions of the operation key area 53 and the function key area 54 to the corresponding parts to realize the function operation, and process and store the data of the advancing and the collecting; the storage module 57 is a data acquisition and storage unit, has a large-capacity storage function, and meets the requirement of recording and storing accumulated hole depth data of more than 1000 m.

The use method of the novel drilling image acquisition robot comprises the following specific steps:

(1) connecting the cable connector 44 with the main cable socket 51 by using a cable 45, and starting up;

(2) the novel drilling image acquisition robot is placed in a peeping hole, and the angle of a support moving motor 14 and a lead screw support 12 is adjusted by using a control device 5, so that an autorotation type antiskid rubber wheel 11 is contacted with a drilling rock wall;

(3) the control device 5 is used for setting the advancing speed of the autorotation type antiskid rubber wheel 11, the heating function of the protective shell 32 is started, the collection is started after 10 seconds, and the collected drilling hole image data and the collected azimuth angle data are stored in the storage module 57;

(4) if the protective shell 32 is shielded by rock debris, mud and the like, the collection is suspended, the control device 5 is used for controlling the cleaning liquid spray head 22 to spray mist cleaning liquid to the protective shell 32, controlling the cleaning ring 25 to clean and wipe the protective shell 32, and collecting is continued after wiping is finished;

(5) when the conical protective cap 34 of the novel drilling image acquisition robot reaches the bottom of the hole, the acquisition is finished, the acquired data is completely stored in the storage module 57, and the control device 5 is used for controlling the novel drilling image acquisition robot to withdraw from the drilling hole so as to finish the drilling information acquisition.

Compared with the prior art, the embodiment of the invention has the beneficial effects that:

the novel drilling image acquisition robot is provided with 8 self-rotating anti-skidding rubber wheels which are divided into an upper group and a lower group, each group is provided with 4 self-rotating anti-skidding rubber wheels, the outer sides of the self-rotating anti-skidding rubber wheels are contact layers made of wear-resistant anti-skidding rubber, the contact layers are adjusted by a support moving motor, the novel drilling image acquisition robot can be in close contact with a rock wall, a panoramic lens can be placed in the center of a drill hole, and the acquisition effect is guaranteed.

The invention uses 8 self-rotating anti-skid rubber wheels to rotate in the hole wall of the drill hole to drive the acquisition device to move in the drill hole, thereby saving the work of a connecting rod, saving time, ensuring the continuity and integrity of the acquired image, converting the number of turns of the self-rotating anti-skid rubber wheels into the depth of the drill hole by the operation processing module and synchronously storing the depth of the drill hole and the image data, and clearly acquiring the deformation and crushing characteristics of surrounding rocks in different depth ranges of the top plate of the tunnel.

The cleaning device is independently arranged, when the protective shell is shielded by rock debris and mud, the protective shell is cleaned by using the cleaning liquid and the cleaning ring, so that the repeated work of taking out and wiping the lens from the drilled hole is avoided, and the acquisition efficiency is improved.

The protective shell is arranged on the outer side of the panoramic lens, so that the lens can be protected from being stained, dust and water vapor in a drill hole are prevented from corroding, the electric heating function is achieved, water vapor is prevented from being condensed on the surface of the protective shell, and the collected image is clearer.

The control device is used for controlling the starting, the advancing speed and the advancing direction of the drilling image acquisition robot and the supporting angle of the screw rod bracket, so that the drilling image acquisition robot is simple and convenient to operate and complete in function.

The cable used by the invention is a four-copper-core externally-clamped steel stranded wire cable which comprises a power supply and a signal transmission line, so that an electric energy transmission signal can be provided for the invention, the cable has high strength and good flexibility, and the robot can be rescued from a hole to escape by pulling the cable when a hole collapse accident happens in a drilling hole.

Drawings

Fig. 1 is a structural diagram of each part of the novel drilling image acquisition robot.

Fig. 2 is a combined diagram of a self-advancing device, a cleaning device, a collecting device and a connecting device of the novel drilling image collecting robot.

Fig. 3 is a detailed diagram of a cleaning device and a collecting device of the novel drilling image collecting robot.

Fig. 4 is a detailed view of a self-advancing device and a connecting device of the novel drilling image acquisition robot.

Fig. 5 is a detailed diagram of a control device of the novel drilling image acquisition robot.

Fig. 6 is a top view of a self-propelled device of the novel drilling image acquisition robot.

Fig. 7 is a top view of a cleaning ring of the novel drilling image acquisition robot.

Fig. 8 is an internal structure view of a cleaning ring moving mechanism of the novel drilling image acquisition robot.

The automatic cleaning device comprises a 1-self-advancing device, an 11-self-rotating type anti-skid rubber wheel, a 12-lead screw support, a 13-supporting rod, a 14-support moving motor, a 15-power cable, a 2-cleaning device, a 21-cleaning liquid storage bin, a 22-cleaning liquid spray head, a 23-cleaning ring moving mechanism, a 231-lifting rod, a 232-motor, a 233-screw shaft, a 24-cleaning liquid conveying pipe, a 25-cleaning ring, a 3-acquisition device, a 31-panoramic lens, a 32-protective shell, a 33-L ED illuminating lamp, a 34-conical protective cap, a 35-built-in azimuth angle measuring instrument, a 4-connecting device, a 41-lead screw support interface, a 42-supporting rod interface, a 43-rotating shaft, a 44-cable interface, a 45-cable, a 46-shell, a 5-control device, a 51-main cable socket, a 52-power supply interface, a 53-operation key area, a 54-function key area, a 55-operation display screen, a 56-operation processing module and.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

For convenience of use, the self-propelled device 1 comprises a self-rotating type antiskid rubber wheel 11, a screw rod bracket 12, a support rod 13, a bracket moving motor 14 and a power cable 15; the outer side of the autorotation type antiskid rubber wheel 11 is a contact layer made of wear-resistant antiskid rubber, the outer side of the autorotation type antiskid rubber wheel 11 is in close contact with a rock wall, a high-torque motor inside the autorotation type antiskid rubber wheel 11 is provided with electric energy by a power cable 15 and can rotate under the power-on state, a novel driving type drilling image acquisition robot moves in a drilling hole, the novel drilling image acquisition robot has 8 autorotation type antiskid rubber wheels 11 which are distributed at the upper part and the lower part of a connecting device, the autorotation type antiskid rubber wheels 11 record the number of rotation turns and convert the number of the rotation turns into the depth in the rotation process and store the depth in a storage module 57, and the average value recorded by the 8 autorotation type antiskid rubber wheels 11 is the drilling depth; the screw rod bracket 12 is a stainless steel rod with threads on the surface, one end of the screw rod bracket is connected with the interface 41, and the other end of the screw rod bracket is connected with the self-rotating anti-skid rubber wheel 11; the support rod 13 is a short round rod made of stainless steel, one end of the short round rod is connected with the support moving motor 14, the other end of the short round rod is connected with the support rod interface 42, and the support rod interface is hinged and can rotate; the support moving motor 14 is connected to the screw rod support 12, and when the power is on, the support moving motor 14 can move on the surface of the screw rod support 12 to control the contact angle of the self-rotating anti-skid rubber wheel 11 and the rock wall, so that the self-rotating anti-skid rubber wheel is suitable for drilling holes with different sizes, the self-rotating anti-skid rubber wheel 11 is ensured to be always in close contact with the rock wall, and idling is prevented; the power cable 15 supplies power to the carriage moving motor 14.

Further, the cleaning device 2 comprises a cleaning solution storage bin 21, a cleaning solution spray head 22, a cleaning ring moving mechanism 23, a cleaning solution liquid feeding pipe 24 and a cleaning ring 25; the cleaning liquid storage bin 21 is positioned in the connecting device, is used for containing cleaning liquid, is a bin body made of plastic, and is provided with a connector connected with the cleaning liquid delivery pipe 24 at the lower end; the cleaning liquid spray head 22 is a spray head on the cleaning ring 25, the lower end of the cleaning liquid spray head is connected with the cleaning liquid delivery pipe 24, and the cleaning liquid can be uniformly sprayed on the protective shell 32 to clean the protective shell 32; the cleaning ring moving mechanism 23 is positioned at the lower part of the cleaning ring 25, the upper end of a lifting rod 231 of the cleaning ring moving mechanism 23 is connected with the cleaning ring 25, the lower end of the lifting rod is fixed on the surface of the connecting device, after the cleaning liquid spray head 22 sprays the cleaning liquid, a motor 232 of the cleaning ring moving mechanism 23 is electrified to drive the cleaning ring 25 to move up and down to wipe the surface of the protective shell 32 clean; the cleaning liquid sending pipe 24 is a connecting pipe for connecting the cleaning liquid storage bin 21 and the cleaning liquid spray head 22; the cleaning ring 25 is a circular ring made of rubber, the inner side of the circular ring is high and low in edge, and cleaning liquid can flow to the lower part along the cleaning ring 25 in the cleaning process.

Further, the cleaning ring moving mechanism 23 comprises a lifting rod 231, a motor 232 and a screw shaft 233, the lifting rod 231 is an aluminum alloy rod body with a groove on the surface, the groove of the aluminum alloy rod body is mutually meshed with the protruding part of the screw shaft 233, the motor 232 is positioned on the upper part of the cleaning ring moving mechanism 23 and can receive a cleaning instruction sent by the operation processing module 56 and rotate forwards and backwards, the screw shaft 233 is connected with the motor 232 and is consistent with the rotation direction of the motor 232, the surface of the screw shaft is provided with the protruding part and can be meshed with the groove of the lifting rod 231, in the rotating process, the lifting rod 231 is driven to move vertically, and the lifting rod 231 drives the cleaning ring 25 to move vertically to clean the surface of the protective shell 32.

Further, the collecting device 3 comprises a panoramic lens 31, a protective shell 32, an L ED illuminating lamp 33, a conical protective cap 34 and a built-in azimuth angle measuring instrument 35, wherein the panoramic lens 31 is an information collecting lens on the inner side of the protective shell 32 and can collect images in the 360 directions of the rock wall of the drilled hole, the protective shell 32 is made of toughened glass through high-temperature processing, an electric heating wire is arranged in the protective shell and heats the protective shell 32 in the process of collecting the images in the drilled hole to prevent water vapor from condensing on the surface of the protective shell and improve the collecting precision, the L ED illuminating lamp 33 provides a light source for the panoramic lens 31, the brightness of the L ED illuminating lamp 33 is adjustable, the conical protective cap 34 is located at the front end of the protective shell 32 and aims to protect the protective shell 32 from being impacted by hard rocks so as to ensure the safety of the panoramic lens 31, and the built-in azimuth angle measuring instrument 35 is installed below.

Further, the connecting device 4 comprises a screw rod bracket interface 41, a support rod interface 42, a rotating shaft 43, a cable interface 44, a cable 45 and a shell 46; the screw bracket interface 41 is positioned outside the shell 46 to provide an attachment point for the screw bracket 12, the screw bracket 12 is connected with the shell 46 through the rotating shaft 43, and the screw bracket 12 can rotate around the screw bracket interface 41; the support rod interface 42 is positioned outside the shell 46 and provides an attachment point for the support rod 13, the support rod 13 is connected with the shell 46 through the rotating shaft 43, and the support rod 13 can rotate around the support rod interface 42; the cable line interface 44 is an interface between the connecting device and a cable line 45; the cable 45 is a four-copper-core externally-clamped steel stranded cable, a power supply and a signal transmission line are contained in the cable, one end of the cable is connected with the cable connector 44, the other end of the cable is connected with the main cable socket 51, the power supply and signal transmission effects are achieved, the cable is high in strength and good in flexibility, a wear-resistant plastic layer is attached to the surface of the cable, and the length of the cable is selected according to the drilling depth and the test requirements.

Further, the control device 5 includes a main cable socket 51, a power interface 52, an operation key area 53, a function key area 54, a high-definition display screen 55, an operation processing module 56, and a storage module 57; the main cable socket 51 is an interface between the control device and the cable 45, and plays a role in power supply and signal transmission; the power interface 52 is an interface between the control device and an underground power supply and provides electric energy for the novel drilling image acquisition robot; the operation key area 53 can control the starting, the advancing speed, the advancing direction and the supporting angle of the screw rod bracket 12 of the novel drilling image acquisition robot; the function key area 54 can control the heating of the protective shell 32, the spraying of the cleaning liquid spray head 22 and the movement of the cleaning ring moving mechanism 23 of the novel drilling image acquisition robot; the high-definition display screen 55 can display parameters such as drilling images, traveling speed, drilling directions, drilling depths and the like in real time; the operation processing module 56 can send the instructions of the operation key area 53 and the function key area 54 to the corresponding parts to realize the function operation, and process and store the data of the advancing and the collecting; the storage module 57 is a data acquisition and storage unit, has a large-capacity storage function, and can record and store hole depth data of more than 1000 m.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A novel drilling image acquisition robot is characterized by comprising a self-feeding device (1), a cleaning device (2), an acquisition device (3), a connecting device (4) and a control device (5), wherein the self-feeding device (1) comprises a self-rotating type anti-skidding rubber wheel (11), a screw rod bracket (12), a supporting rod (13), a bracket moving motor (14) and a power cable (15), the self-rotating type anti-skidding rubber wheel (11) is distributed on the upper portion and the lower portion of the connecting device (4), one end of the screw rod bracket (12) is connected with a screw rod bracket interface (41), the other end of the screw rod bracket is connected with the self-rotating type anti-skidding rubber wheel (11), the supporting rod (13) is connected with a support bracket moving motor (14), the other end of the screw rod bracket moving motor (14) is connected with a support rod interface (42), the bracket moving motor (14) is connected with the screw rod bracket (12), the cleaning device (2) comprises a cleaning liquid storage bin (21), a cleaning liquid feeding tube (24) and a cleaning ring (25), a cleaning liquid feeding tube (25), a cleaning solution storage device (31) and a panoramic lens interface storage device (34) which are arranged below a panoramic lens interface acquisition device (34), a panoramic lens interface module (34) which is arranged below a panoramic lens interface module, a panoramic lens interface module which is arranged below a panoramic lens shell (34) and a panoramic lens shell (34), the panoramic lens shell (31) and a panoramic lens shell, the panoramic lens shell (34), the panoramic lens shell is arranged in a panoramic lens shell, the panoramic lens shell is arranged in a panoramic lens shell, the panoramic lens shell is arranged in a panoramic lens shell, a panoramic lens shell is arranged in a panoramic lens shell, a panoramic lens shell is arranged in a panoramic lens shell, a panoramic.