A concrete bridge crack detection system based on digital image processing

Abstract

The application discloses a concrete bridge crack detection system based on digital image processing and relates to the technical field of detection equipment. The first traveling trolley and the second traveling trolley are symmetrical to each other and are detachably fixed together through the vehicle body combination assembly. The first traveling trolley comprises a cylindrical shell, a top plate, a camera assembly, a rotating disc, a sliding bearing block and a crescent-shaped clamping body. The carrying walking vehicle is provided with two vehicle body frames, two carrying rods, two rod head guide wheels and two hanging ropes. The column-climbing assembly is used for fixing itself on the pier column of the bridge body in a cladding manner to form a track. The concrete bridge crack detection system based on digital image processing has the technical effects that the detection efficiency is high, manual on-site participation is not needed and the use limitation is small.

Description

Technical Field

[0001] This invention relates to the field of detection equipment technology, and in particular to a concrete bridge crack detection system based on digital image processing. Background Technology

[0002] Bridges are an important component of the transportation system, and the condition of cracks on the bottom of a bridge is one of the key indicators of its quality.

[0003] For cracks on the underside of concrete bridges, the main detection methods at home and abroad are manual inspection and inspection robots (negative pressure adsorption climbing robots). Manual inspection is inaccurate, slow, time-consuming, inefficient, dangerous, and labor-intensive. While inspection robots can reduce labor intensity and danger, their application is limited, they are expensive, unstable, and prone to problems such as discontinuous images, missed shots, or repeated shots, resulting in low detection efficiency. Chinese invention patent CN2014108071 discloses a concrete bridge crack detection device based on digital image processing, which uses a camera to photograph the bridge body and automatically detects cracks based on image processing. Although this reduces detection costs and improves efficiency to some extent, it requires manual movement of the camera in multiple locations, resulting in high labor intensity and limited applicability due to the inconvenience of placing the camera under some bridge sections. Summary of the Invention

[0004] This application provides a concrete bridge crack detection system based on digital image processing, which solves the technical problems of low detection efficiency, high labor intensity and limited application of existing concrete bridge crack detection systems; and achieves the technical effects of high detection efficiency, no need for on-site manual intervention and fewer application limitations.

[0005] This application provides a concrete bridge crack detection system based on digital image processing, characterized in that it includes a first traveling trolley, a second traveling trolley, a vehicle body assembly, a load-bearing traveling vehicle, and a column climbing assembly; The first and second traveling trolleys are symmetrical to each other and can be detachably fixed together by the vehicle body assembly; The first traveling trolley includes a cylindrical shell with a displacement guide rail fixed on its side wall, a top plate fixed on the top of the cylindrical shell, a camera assembly fixed on the top plate, a rotating disk positioned at one end of the cylindrical shell, a sliding bearing block that slides on the displacement guide rail, and a ring-shaped clamp fixed on the sliding bearing block and used to be fitted onto the climbing column assembly. The number of the carrying vehicles is two, both of which travel on the bridge surface near the edge of the bridge surface. Each vehicle includes a frame with a built-in rope winch, a carrying rod fixed at one end to the frame, a rod head guide wheel positioned at the end of the carrying rod away from the frame, and a suspension rope positioned at one end of the rope winch and fixed at the other end to the rotating disc. The climbing column assembly is used to fix itself to the pier of the bridge body by wrapping it to form a track. The main body is a combination of a strip of metal sheet and an elastic rubber sheet fixed on the metal sheet. The climbing column assembly includes a carrier container shell with a built-in inflation / deflation assembly, a first belt and a second belt, and an inflation / deflation assembly including an air pump and an air delivery pipe. The container shell is a box-shaped shell with through slots on both sides; The internal structure of the carrier container shell has two rotating drums for winding up and releasing the first and second belts; A rod-shaped guide rail is fixed on the outer wall of the bearing container shell; The first and second belts are symmetrically arranged and have the same structure, both including a strip-shaped soft plate, an outer elastic membrane, and a guide rail soft bag; The outer elastic membrane is a long rectangular elastic rubber membrane with its edges fixed to the edge of the strip-shaped flexible plate, forming a strip-shaped space together with the strip-shaped flexible plate; When the amount of gas in the strip-shaped space increases, the strip-shaped flexible plate bends; The guide rail soft bag is a round rod-shaped rubber elastic bag, which is tightly attached to and fixed on the surface of the outer elastic membrane away from the strip soft plate. It is the same length as the strip soft plate, and the ring-shaped clamping body is sleeved on the guide rail soft bag. The air pump is built into the rotating drum; When the first and second traveling trolleys move along the climbing column assembly, they will slide on the rod-shaped guide rail and the guide rail soft bladder. The ends of the first and second belts away from the container shell are fixed with rigid rings at the ends. The rigid rings at the ends are generally rhomboid in cross-section and are fixed to the end edges of the strip-shaped soft plate and the outer elastic membrane. The ends of the strip-shaped flexible plate away from the supporting container shell and the ends of the outer elastic membrane away from the supporting container shell have gas channels for discharging gas from the strip-shaped space. Two sealed soft bladders are fixed on the rigid ring of the plate head. The sealed soft bladders are cylindrical elastic bladders that are connected to the inflation and deflation assembly. They are in an inflated state under normal conditions and when inflated, they come into contact with each other to seal the gas passage. When it is necessary to shorten the climbing column assembly, the gas will be quickly discharged from the rigid ring at the plate head by controlling the contraction of the closed soft bladder and the rotation of the rotating drum.

[0006] Preferably, the strip-shaped flexible sheet is a long strip of metal flexible sheet, which is rectangular in shape, with a width greater than 30 cm and a thickness of 1 to 4 mm.

[0007] Preferably, the ring-shaped clamping body includes an arc-shaped bearing plate, a rotating arc-shaped plate, and a rotating drive assembly. The number of arc-shaped bearing plates is one, and the number of rotating arc-shaped plates is two. The length directions of the arc-shaped bearing plates and the rotating arc-shaped plates are the same, and the convex surface of the arc-shaped bearing plate is fixed on the sliding bearing block. Two rotating arc-shaped plates are respectively hinged to the two long sides of the arc-shaped support plate; one or more cylindrical drive wheels are positioned on the concave surface of the arc-shaped support plate, the drive wheels have built-in motors, are rotatably connected to the arc-shaped support plate, and their axial direction is perpendicular to the length direction of the arc-shaped support plate; One or more cylindrical rotating wheels are positioned on the concave surface of the rotating arc plate. The rotating wheels are rotatably connected to the rotating arc plate, and their axial direction is perpendicular to the length direction of the rotating arc plate, which reduces the friction. The rotation drive assembly is used to drive the rotating arc plate to rotate around the arc bearing plate, thereby enabling the ring-shaped clamp to be clamped on the climbing column assembly or to detach from the climbing column assembly in real time.

[0008] Furthermore, the vehicle body assembly includes an insertion fixing post positioned on the first traveling trolley and an insertion positioning hole positioned on the second traveling trolley; The insertion fixing post and the insertion positioning hole are both located at the end of the cylindrical shell that is not fixed with the rotating disk. The insertion fixing post is an electric telescopic rod, and an electric pin is fixed on its side wall near the end. When it is necessary to combine the first and second traveling trolleys, the control insertion fixing post extends and is driven into the insertion positioning hole. Then, the control electric pin extends and abuts against the inner wall of the insertion positioning hole. Finally, the insertion fixing post retracts to achieve the combination and fixation of the second traveling trolley and the first traveling trolley.

[0009] Preferably, there are two suspension ropes positioned on the first and second traveling trolleys, and the two ropes are horizontal to each other with a distance of more than 15 centimeters between them.

[0010] Preferably, the guide rail soft bag is densely covered with multiple shaping ropes, which are steel wire ropes or rubber ropes, and both ends are fixed to the inner wall of the guide rail soft bag.

[0011] Preferably, the edge of the strip-shaped flexible plate is fixed with an isolation sheet, which is a strip of cloth with a width greater than 8 cm.

[0012] Preferably, the strip-shaped flexible sheet has multiple rotating columns positioned on the surface away from the outer elastic membrane. The rotating columns are cylindrical and both ends are rotatably connected to the support body. The support body is a block that is fixed to the strip-shaped flexible sheet and plays a supporting role. The axis of the rotating column is the same as the width direction of the strip-shaped flexible plate; When the climbing component needs to detach from the pier, the inflation / deflation component is controlled to release some of the gas in the strip space, so that only the rotating column is in contact with the pier. At this time, the climbing component is controlled to move relative to the first traveling trolley.

[0013] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: By optimizing and improving existing concrete bridge crack detection systems, two load-bearing vehicles traveling on the bridge deck are used to suspend a first and a second traveling trolley via ropes, which move under the bridge. Normally, the first and second traveling trolleys are fixed together and can slide along a strip-shaped climbing component. The climbing component bends and deforms when inflated and tends to expand when deflated. If the first and second traveling trolleys encounter a pier during their movement, the climbing component deforms and wraps around the pier. The first and second traveling trolleys then separate, bypass the pier, and automatically reassemble on the other side. This effectively solves the technical problems of low detection efficiency, high labor intensity, and limited application in existing concrete bridge crack detection systems. Furthermore, it achieves the technical effects of a digital image processing-based concrete bridge crack detection system with high detection efficiency, no need for on-site human intervention, and fewer application limitations. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the concrete bridge crack detection system based on digital image processing in this application. Figure 2 This is a schematic diagram showing the positional relationship between the climbing column assembly and the first and second traveling trolleys. Figure 3 This is a structural diagram of the first and second traveling trolleys; Figure 4 A schematic diagram showing the positional relationship between the inserted fixed post and the first traveling trolley; Figure 5 A schematic diagram showing the positional relationship between the insertion positioning hole and the second traveling trolley; Figure 6 Here is a simplified structural diagram of the climbing column assembly; Figure 7 This is a schematic diagram showing the positional relationship between the strip-shaped flexible sheet and the insulating flexible sheet. Figure 8 This is a schematic diagram illustrating the travel status changes of the concrete bridge crack detection system based on digital image processing in this application. Figure 9 This is a schematic diagram showing the positional relationship between the rotating column and the strip-shaped flexible plate; Figure 10 A schematic diagram showing the positional relationship between the container shell and the strip-shaped flexible plate; Figure 11 This is a schematic diagram of the deformation state of the climbing column assembly; Figure 12 A simplified structural diagram of the container shell; Figure 13 This is a schematic diagram showing the positional relationship between the rigid ring at the plate head and the closed soft sac; Figure 14 This is a schematic diagram showing the connection between the pump body and each of the bladders.

[0015] In the picture: Front column 001, rear column 002, first traveling trolley 100, cylindrical housing 110, shifting guide rail 111, insertion fixing column 112, top plate 120, camera assembly 130, rotating disk 140, sliding bearing block 150, ring-shaped clamping body 160, arc-shaped bearing plate 161, rotating arc-shaped plate 162, drive wheel 163, rotating wheel 164, rotating drive assembly 165, second traveling trolley 200, insertion positioning hole 211, bearing traveling trolley 300 310, vehicle frame, 311, support rod, 320, rod head guide wheel, 330, rope, 340, climbing column assembly, 400, strip soft plate, 410, support plate, 411, pump body, 412, isolation soft sheet, 413, support body, 414, rotating column, 415, outer elastic membrane, 420, guide rail soft bag, 430, support container shell, 440, through groove, 441, rotating drum, 442, rod-shaped guide rail, 443, plate head hard ring, 444, closed soft bag. Detailed Implementation

[0016] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0017] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0019] Example 1 like Figures 1 to 6As shown, the concrete bridge crack detection system based on digital image processing of this application includes a first traveling trolley 100, a second traveling trolley 200, a vehicle body assembly, a load-bearing traveling vehicle 300, a column climbing assembly 400, a power assembly, and a control unit.

[0020] The first traveling trolley 100 and the second traveling trolley 200 have basically the same structure. They are symmetrical to each other and can be detachably fixed together by the vehicle body assembly. The first traveling trolley 100 includes a cylindrical shell 110, a top plate 120, a camera assembly 130, a rotating disk 140, a sliding support block 150, and a ring-shaped clamping body 160. The cylindrical shell 110 is a horizontally arranged hollow cylinder. The top plate 120 is fixed to the top of the cylindrical shell 110 and serves to support the camera assembly 130. A shifting guide rail 111 for sliding the sliding support block 150 is fixed on the side wall of the cylindrical shell 110. The shifting guide rail 111 is generally arc-shaped. The camera assembly 130 is fixed to the top of the top plate 120 and is used to capture and process images of the bridge bottom. This is prior art and will not be described in detail here. For details, please refer to patent number CN2014108071. Chinese invention patent; the rotating disk 140 is disc-shaped and rotatably connected to one end of the cylindrical housing 110 around its own axis, serving to support and fix the suspension rope 340; the sliding bearing block 150 is a block, slidably positioned on the shift guide rail 111, and slides along the shift guide rail 111 under the control of the control unit; the ring-shaped clamping body 160 is generally tubular with a ring-shaped longitudinal section, used to be fitted onto the climbing column assembly 400 in a timely manner so that the first traveling trolley 100 can slide along the climbing column assembly 400; the ring-shaped clamping body 160 is fixed on the surface of the sliding bearing block 150 away from the cylindrical housing 110; the length direction of the ring-shaped clamping body 160 is the same as the axial direction of the cylindrical housing 110.

[0021] Furthermore, an arc-shaped rack is fixed on the shift guide rail 111, and a motor with gears is built into the output shaft of the sliding bearing block 150, with the gears meshing with the rack.

[0022] Furthermore, the ring-shaped clamping body 160 includes an arc-shaped support plate 161, a rotating arc-shaped plate 162, and a rotation drive assembly 165. Both the arc-shaped support plate 161 and the rotating arc-shaped plate 162 are arc-shaped plates. There is one arc-shaped support plate 161 and two rotating arc-shaped plates 162. The length directions of the arc-shaped support plate 161 and the rotating arc-shaped plate 162 are the same. The convex surface of the arc-shaped support plate 161 is fixed to the sliding support block 150. The two rotating arc-shaped plates 162 are respectively hinged to the two long sides of the arc-shaped support plate 161. One or more cylindrical drive wheels 163 are positioned on the concave surface of the arc-shaped support plate 161. The drive wheels 163 have built-in motors and are rotatably connected to the arc-shaped support plate 161. The axial direction is perpendicular to the length direction of the arc-shaped support plate 161; one or more cylindrical rotating wheels 164 are positioned on the concave surface of the rotating arc-shaped plate 162, and the rotating wheels 164 are rotatably connected to the rotating arc-shaped plate 162, with their axial direction perpendicular to the length direction of the rotating arc-shaped plate 162, thereby reducing friction; the rotating drive assembly 165 is used to drive the rotating arc-shaped plate 162 to rotate around the arc-shaped support plate 161, so that the ring-shaped clamping body 160 can be clamped on the climbing column assembly 400 or detached from the climbing column assembly 400 in real time; the rotating drive assembly 165 is preferably an electric telescopic rod controlled by the control unit, with one end hinged to the arc-shaped support plate 161 and the other end hinged to the sliding support block 150.

[0023] The second traveling trolley 200 has the same symmetrical structure as the first traveling trolley 100, and will not be described in detail here.

[0024] The vehicle assembly is used to detachably and fixedly connect the second traveling trolley 200 and the first traveling trolley 100 together, and to separate the two in a timely manner under the control of the control unit. It includes electric buckles, electric pins, etc.

[0025] Furthermore, the vehicle body assembly such as Figure 4 and Figure 5 As shown, it includes an insertion fixing post 112 positioned on the first traveling trolley 100 and an insertion positioning hole 211 positioned on the second traveling trolley 200; both the insertion fixing post 112 and the insertion positioning hole 211 are located at the end of the cylindrical housing 110 that is not fixed with the rotating disk 140. The insertion fixing post 112 is an electric telescopic rod, and an electric pin is fixed on its side wall near the end; when it is necessary to combine the first traveling trolley 100 and the second traveling trolley 200, the insertion fixing post 112 is controlled to extend and push into the insertion positioning hole 211, and then the electric pin is controlled to extend and abut against the inner wall of the insertion positioning hole 211. Finally, the insertion fixing post 112 is retracted to realize the combination and fixation of the second traveling trolley 200 and the first traveling trolley 100.

[0026] Preferably, the insertion positioning hole 211 is funnel-shaped near the end of the cylindrical housing 110 to guide the insertion fixing post 112 into place.

[0027] Preferably, a rubber block is fixed to the end of the electric pin.

[0028] Two carrying vehicles 300 are described, both traveling on the bridge deck near the edge (outside the driving lane or fence), moving synchronously and having identical structures. Each carrying vehicle 300 includes a vehicle frame 310, a carrying rod 320, a rod head guide wheel 330, and a suspension rope 340. The vehicle frame 310 is a box-shaped or frame structure with a traveling system 311 at the bottom and a built-in rope winch. The carrying rod 320 is rod-shaped, used to support and fix the rod head guide wheel 330, and is horizontally positioned with one end fixed to the vehicle frame 310. The length direction of the support rod 320 is approximately the same as or the same as the width direction of the bridge deck; the rod head guide wheel 330 is a horizontally arranged cylinder, fixedly or rotatably connected to the end of the support rod 320 away from the vehicle frame 310, and is used to guide the movement direction of the suspension rope 340; the suspension rope 340 is a steel wire rope, one end of which is positioned on the rope winding winch, and the other end is fixed on the rotating disk 140, always in contact with the rod head guide wheel 330 and always in a taut state; during testing, the rope winding winch, under the control of the control unit, winds up and releases the suspension rope 340 in a timely manner.

[0029] Preferably, in order to improve the stability of the movement of the first traveling trolley 100 and the second traveling trolley 200, there are two suspension ropes 340 positioned on the first traveling trolley 100 and the second traveling trolley 200, and the two are horizontal to each other with a distance of more than 15 centimeters between them.

[0030] Preferably, in order to improve the applicability of the concrete bridge crack detection system based on digital image processing of this application, and to make it applicable to bridges of various specifications, the bearing rod 320 is a telescopic rod, and the length of the bearing rod 320 can be adjusted before detection.

[0031] The climbing assembly 400 is used to fix itself to the pier of the bridge body by covering it, thereby providing a track for the movement of the first traveling trolley 100 and the second traveling trolley 200. The climbing assembly 400 includes a strip-shaped flexible plate 410, an outer elastic membrane 420, a guide rail soft bag 430, and an inflation / deflation assembly. The strip-shaped flexible plate 410 is a long strip of metal flexible plate, which is rectangular in shape, with a width greater than 30 cm and a thickness of 1 to 4 mm. The outer elastic membrane 420 is a long strip of rectangular elastic rubber membrane, with its edges fixed to the edges of the strip-shaped flexible plate 410, forming a strip-shaped space together with the strip-shaped flexible plate 410. For the convenience of description, this strip-shaped space is defined as a strip space. The guide rail soft bag 430 is a round rod-shaped rubber elastic bag, which is tightly attached to and fixed to the surface of the outer elastic membrane 420 away from the strip soft plate 410, and is the same length as the strip soft plate 410. The guide rail soft bag 430 provides a track for the movement of the first traveling trolley 100 and the second traveling trolley 200. The ring-shaped clamp 160 is sleeved on the guide rail soft bag 430, and the drive wheel 163 and the rotating wheel 164 are tightly attached to the guide rail soft bag 430. The inflation / deflation assembly is used to control the amount of gas in the strip space and the guide rail soft bag 430; the inflation / deflation assembly includes a support plate 411, a pump body 412, and a gas delivery pipe; the support plate 411 is fixed on the surface of the strip soft plate 410 near the outer elastic membrane 420, and plays a supporting and fixing role; the pump body 412 is an air pump, which is controlled by the control unit, and delivers gas to the strip space and the guide rail soft bag 430 through the gas delivery pipe and extracts gas from the strip space and the guide rail soft bag 430; when the amount of gas in the strip space increases, the strip soft plate 410 bends.

[0032] Preferably, the climbing column assembly 400 has a variety of different specifications, and the lengths of the different specifications are different.

[0033] Preferably, in order to ensure the uniform expansion of the guide rail soft bag 430, it is densely covered with multiple shaping ropes, which are steel wire ropes or rubber ropes, and both ends are fixed to the inner wall of the guide rail soft bag 430.

[0034] Preferably, in order to reduce wear caused by the outer elastic membrane 420 expanding and sticking tightly to the pier, such as Figure 7 As shown, the edge of the strip-shaped flexible plate 410 is fixed with an isolation soft sheet 413, which is a strip of cloth with a width greater than 8 cm.

[0035] The power assembly provides power to the operation of each component of the concrete bridge crack detection system based on digital image processing in this application, and the control unit plays the role of controlling the coordinated operation of each component of the concrete bridge crack detection system based on digital image processing. Both are existing technologies and will not be described in detail here.

[0036] Preferably, the control unit is a combination of a programmable logic controller and a remote control component.

[0037] For ease of description, the pier first enclosed by the climbing column assembly 400 is defined as the front column 001, and the pier subsequently enclosed by the climbing column assembly 400 is defined as the rear column 002; as... Figure 8 As shown, the concrete bridge crack detection system based on digital image processing according to the embodiments of this application is used in practice as follows: 1. First, a 300-ton load-bearing vehicle is placed on the bridge deck; 2. Then, control the rope reel winch to release the hoisting rope 340. The operator assembles the first traveling trolley 100 and the second traveling trolley 200 together on the ground, and assembles the climbing pole assembly 400 onto the first traveling trolley 100 and the second traveling trolley 200. At this time, the first traveling trolley 100 and the second traveling trolley 200 are close to the middle of the climbing pole assembly 400. At the same time, the camera assembly 130 begins to record and capture images. 3. Control the rope winch to wind up the hoisting rope 340, and lift the first traveling trolley 100, the second traveling trolley 200 and the climbing pole assembly 400, so that the climbing pole assembly 400 is at least 1 meter off the ground; 4. Control the sliding bearing block 150 to rotate, and at the same time control the inflation and deflation assembly to inflate the strip space, so that the climbing column assembly 400 covers the front column 001 (fixed to the front column 001 by friction). 5. Control the separation of the first traveling trolley 100 and the second traveling trolley 200, and coordinate with the movement of the carrying traveling trolley 300 and the rotation of the rope winding winch, so that the first traveling trolley 100 and the second traveling trolley 200 move along the guide rail soft bag 430 and pass around the front post 001 from both sides; control the first traveling trolley 100 and the second traveling trolley 200 to move to the end of the climbing pole assembly 400 and reassemble; control the deformation of the ring-shaped clamp 160 of the second traveling trolley 200 so that the second traveling trolley 200 disengages from the climbing pole assembly 400; 6. Control the discharge of some gas from the strip space, so that the climbing column assembly 400 detaches from the front column 001; 7. Control the drive wheel 163 on the first traveling trolley 100 to rotate, so that the climbing assembly 400 moves relative to the first traveling trolley 100 until the first traveling trolley 100 and the second traveling trolley 200 are once again located in the middle of the climbing assembly 400; 8. Control the deformation of the ring-shaped clamping body 160 of the second traveling trolley 200 so that the second traveling trolley 200 is assembled on the climbing column assembly 400; 9. Control the exhaust of some gas from the strip space and control the sliding bearing block 150 to rotate to the bottom of the first traveling trolley 100 and the second traveling trolley 200; at the same time, control the carrying traveling trolley 300 to move, so that the climbing component 400 gradually approaches the rear column 002; 10. When the climbing column assembly 400 approaches the rear column 002 (at this time the rear column 002 becomes the front column 001), repeat steps 4 to 9 until the entire bridge inspection is completed.

[0038] Preferably, in order to reduce friction between the climbing assembly 400 and the pier during movement (rotation), thereby reducing wear and improving the stability of the climbing assembly 400 during movement; such as Figure 9As shown, multiple rotating columns 415 are positioned on the surface of the strip-shaped flexible plate 410 away from the outer elastic membrane 420. The rotating columns 415 are cylindrical, with both ends rotatably connected to the bearing body 414. The bearing body 414 is a block, fixed to the strip-shaped flexible plate 410, and plays a supporting role. The rotating columns 415 are made of plastic, and their axial direction is the same as the width direction of the strip-shaped flexible plate 410. When the climbing component 400 needs to detach from the pier, the inflation and deflation component is controlled to discharge some of the gas in the strip space, so that only the rotating columns 415 are in contact with the pier. At this time, the stability of the climbing component 400 relative to the first traveling trolley 100 is better and the wear is less.

[0039] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages: This invention solves the technical problems of low detection efficiency, high labor intensity, and limited application of existing concrete bridge crack detection systems; it achieves the technical effect of high detection efficiency, no need for on-site manual intervention, and fewer application limitations for concrete bridge crack detection systems based on digital image processing; especially for elevated bridges, it greatly reduces the labor intensity of personnel.

[0040] Example 2 To accommodate piers of different sizes and specifications and reduce the impact of wind on shooting effects during movement, this application embodiment optimizes and improves the structure of the pier climbing component 400 based on the above embodiment. This allows the length of the pier climbing component 400 to be arbitrarily modified as needed and to retract after bypassing the pier. Specifically: like Figures 10 to 12As shown, the climbing column assembly 400 includes a bearing container shell 440 with a built-in inflation / deflation assembly, a first belt, a second belt, and an inflation / deflation assembly including an air pump and an air delivery pipe; the bearing container shell 440 is a box-shaped shell with through slots 441 on both sides for the first and second belts to enter and exit; two rotating drums 442 with built-in motors are positioned inside the bearing container shell 440, and the two rotating drums 442 are used to wind up and release the first and second belts respectively; a rod-shaped guide rail 443 is fixed on the outer wall of the bearing container shell 440, the rod-shaped guide rail 443 is a rod-shaped rigid guide rail, used to guide the movement of the first traveling trolley 100 and the second traveling trolley 200; the first belt and the second belt are symmetrically arranged and have the same structure, both including a strip-shaped soft plate 410, an outer elastic membrane 420, and a guide rail soft bag 430; the strip-shaped soft plate 410 is a long strip-shaped metal soft plate; the outer elastic membrane 420 is a long strip A rectangular elastic rubber membrane is fixed to the edge of a strip-shaped flexible plate 410, forming a strip-shaped space together with the strip-shaped flexible plate 410; the guide rail soft bag 430 is a cylindrical rubber elastic bag, its side tightly attached to and fixed to the surface of the outer elastic membrane 420 away from the strip-shaped flexible plate 410, and is the same length as the strip-shaped flexible plate 410; there are multiple air delivery tubes, which are respectively fixed on multiple strip-shaped flexible plates 410 and inside multiple guide rail soft bags 430. The length of the air supply pipe on the strip flexible plate 410 is approximately the same as the length of the strip flexible plate 410. The length of the air supply pipe inside the guide rail soft bag 430 is approximately the same as the length of the guide rail soft bag 430. The air supply pipe is densely covered with through holes. The air pump is built into the rotating drum 442, and the air supply pipe is fixed on the rotating drum 442. When the first traveling trolley 100 and the second traveling trolley 200 move along the climbing column assembly 400, they will slide on the rod-shaped guide rail 443 and the guide rail soft bag 430. In actual use, the rotation of the rotating drum 442 and the operation of the inflation / deflation assembly can be controlled according to the diameter of the pier column, thereby changing the total length of the climbing assembly 400.

[0041] Preferably, in order to facilitate the movement of the first traveling trolley 100 and the second traveling trolley 200 onto the guide rail soft bag 430, the end face of the rod-shaped guide rail 443 is inclined, and the angle between its end face and its own axis is 25 to 60 degrees.

[0042] Preferred, such as Figure 13 and Figure 14As shown, in order to accelerate the exhaust and retraction speed of the climbing column assembly 400 and thus improve detection efficiency, a rigid plate-head ring 444 is fixed to the ends of the first and second belts away from the bearing container shell 440. The rigid plate-head ring 444 is a ring with a rhomboid longitudinal section and is fixed to the end edges of the strip-shaped flexible plate 410 and the outer elastic membrane 420. The ends of the strip-shaped flexible plate 410 away from the bearing container shell 440 and the ends of the outer elastic membrane 420 away from the bearing container shell 440 are not fixed together, leaving a gas channel for exhausting the gas in the strip space. Two closed soft bags 445 are fixed on the rigid plate-head ring 444. The closed soft bags 445 are cylindrical elastic bags that are connected to the inflation and deflation assembly. Under normal conditions, they are in an inflated state and press against each other to seal the gas channel. When it is necessary to shorten the climbing column assembly 400, the closed soft bags 445 are controlled to contract while the rotating drum 442 is controlled to rotate, and the gas will be quickly discharged from the rigid plate-head ring 444.

[0043] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A concrete bridge crack detection system based on digital image processing, characterized in that: It includes a first traveling trolley, a second traveling trolley, a vehicle body assembly, a load-bearing traveling vehicle, and a climbing column assembly; The first and second traveling trolleys are symmetrical to each other and can be detachably fixed together by the vehicle body assembly; The first traveling trolley includes a cylindrical shell with a displacement guide rail fixed on its side wall, a top plate fixed on the top of the cylindrical shell, a camera assembly fixed on the top plate, a rotating disk positioned at one end of the cylindrical shell, a sliding bearing block that slides on the displacement guide rail, and a ring-shaped clamp fixed on the sliding bearing block and used to be fitted onto the climbing column assembly. The number of the carrying vehicles is two, both of which travel on the bridge surface near the edge of the bridge surface. Each vehicle includes a frame with a built-in rope winch, a carrying rod fixed at one end to the frame, a rod head guide wheel positioned at the end of the carrying rod away from the frame, and a suspension rope positioned at one end of the rope winch and fixed at the other end to the rotating disc. The climbing column assembly is used to fix itself to the pier of the bridge body by wrapping it to form a track. The main body is a combination of a strip of metal sheet and an elastic rubber sheet fixed on the metal sheet. The climbing column assembly includes a carrier container shell with a built-in inflation / deflation assembly, a first belt and a second belt, and an inflation / deflation assembly including an air pump and an air delivery pipe. The container shell is a box-shaped shell with through slots on both sides; The internal structure of the carrier container shell has two rotating drums for winding up and releasing the first and second belts; A rod-shaped guide rail is fixed on the outer wall of the bearing container shell; The first and second belts are symmetrically arranged and have the same structure, both including a strip-shaped soft plate, an outer elastic membrane, and a guide rail soft bag; The outer elastic membrane is a long rectangular elastic rubber membrane with its edges fixed to the edge of the strip-shaped flexible plate, forming a strip-shaped space together with the strip-shaped flexible plate; When the amount of gas in the strip-shaped space increases, the strip-shaped flexible plate bends; The guide rail soft bag is a round rod-shaped rubber elastic bag, which is tightly attached to and fixed on the surface of the outer elastic membrane away from the strip soft plate. It is the same length as the strip soft plate, and the ring-shaped clamping body is sleeved on the guide rail soft bag. The air pump is built into the rotating drum; When the first and second traveling trolleys move along the climbing column assembly, they will slide on the rod-shaped guide rail and the guide rail soft bladder. The ends of the first and second belts away from the container shell are fixed with rigid rings at the ends. The rigid rings at the ends are generally rhomboid in cross-section and are fixed to the end edges of the strip-shaped soft plate and the outer elastic membrane. The ends of the strip-shaped flexible plate away from the supporting container shell and the ends of the outer elastic membrane away from the supporting container shell have gas channels for discharging gas from the strip-shaped space. Two sealed soft bladders are fixed on the rigid ring of the plate head. The sealed soft bladders are cylindrical elastic bladders that are connected to the inflation and deflation assembly. They are in an inflated state under normal conditions and when inflated, they come into contact with each other to seal the gas passage. When it is necessary to shorten the climbing column assembly, the gas will be quickly discharged from the rigid ring at the plate head by controlling the contraction of the closed soft bladder and the rotation of the rotating drum.

2. The concrete bridge crack detection system based on digital image processing as described in claim 1, characterized in that: The strip-shaped flexible sheet is a long strip of metal flexible sheet, which is rectangular in shape, with a width greater than 30 cm and a thickness of 1 to 4 mm.

3. The concrete bridge crack detection system based on digital image processing as described in claim 2, characterized in that: The ring-shaped clamping body includes an arc-shaped bearing plate, a rotating arc-shaped plate, and a rotating drive assembly. There is one arc-shaped bearing plate and two rotating arc-shaped plates. The length directions of the arc-shaped bearing plate and the rotating arc-shaped plates are the same. The convex surface of the arc-shaped bearing plate is fixed on the sliding bearing block. Two rotating arc-shaped plates are respectively hinged to the two long sides of the arc-shaped support plate; one or more cylindrical drive wheels are positioned on the concave surface of the arc-shaped support plate, the drive wheels have built-in motors, are rotatably connected to the arc-shaped support plate, and their axial direction is perpendicular to the length direction of the arc-shaped support plate; One or more cylindrical rotating wheels are positioned on the concave surface of the rotating arc plate. The rotating wheels are rotatably connected to the rotating arc plate, and their axial direction is perpendicular to the length direction of the rotating arc plate, which reduces the friction. The rotation drive assembly is used to drive the rotating arc plate to rotate around the arc bearing plate, thereby enabling the ring-shaped clamp to be clamped on the climbing column assembly or to detach from the climbing column assembly in real time.

4. The concrete bridge crack detection system based on digital image processing as described in claim 1, characterized in that: The vehicle body assembly includes an insertion fixing post positioned on the first traveling trolley and an insertion positioning hole positioned on the second traveling trolley. The insertion fixing post and the insertion positioning hole are both located at the end of the cylindrical shell that is not fixed with the rotating disk. The insertion fixing post is an electric telescopic rod, and an electric pin is fixed on its side wall near the end. When it is necessary to combine the first and second traveling trolleys, the control insertion fixing post extends and is driven into the insertion positioning hole. Then, the control electric pin extends and abuts against the inner wall of the insertion positioning hole. Finally, the insertion fixing post retracts to achieve the combination and fixation of the second traveling trolley and the first traveling trolley.

5. The concrete bridge crack detection system based on digital image processing as described in claim 1, characterized in that: The suspension ropes positioned on the first and second traveling trolleys are both two, and they are horizontal to each other with a distance of more than 15 centimeters between them.

6. The concrete bridge crack detection system based on digital image processing as described in claim 1, characterized in that: The guide rail soft bag is densely packed with multiple shaping ropes, which are steel wire ropes or rubber ropes, and both ends are fixed to the inner wall of the guide rail soft bag.

7. The concrete bridge crack detection system based on digital image processing as described in claim 2, characterized in that: An isolation sheet is fixed to the edge of the strip-shaped flexible plate. The isolation sheet is a strip of cloth with a width greater than 8 centimeters.

8. The concrete bridge crack detection system based on digital image processing as described in claim 2 or 7, characterized in that: The strip-shaped flexible sheet has multiple rotating columns positioned on the side away from the outer elastic membrane. The rotating columns are cylindrical and rotatably connected to the support body at both ends. The support body is a block that is fixed to the strip-shaped flexible sheet and serves as a load-bearing component. The axis of the rotating column is the same as the width direction of the strip-shaped flexible plate; When the climbing component needs to detach from the pier, the inflation / deflation component is controlled to release some of the gas in the strip space, so that only the rotating column is in contact with the pier. At this time, the climbing component is controlled to move relative to the first traveling trolley.

Images