A bridge crack detection device

Abstract

The present invention relates to the technical field of bridge crack detection using optical means, and discloses a bridge crack detection device, including a mobile carrier, a fixing mechanism and a detection mechanism, wherein the fixing mechanism is connected to the mobile carrier, and the fixing mechanism has two fixing positions located above and below the mobile carrier; the detection mechanism includes an optical sensor component, which can be detachably installed in a fixing position and can be fixed in a fixing position above or below the mobile carrier, and the optical sensor component can obtain a bridge crack image based on optical means. When it is necessary to detect the top and bottom surfaces of the bridge, the optical sensor component is installed in the fixing positions located at the bottom and top of the mobile carrier, and the top and bottom surfaces of the bridge can be detected as needed; after the optical sensor component is installed, the mobile carrier carries the optical sensor component and moves above or below the bridge to perform a comprehensive scan of the bridge surface.

Description

Technical Field

[0001] The invention relates to the technical field of bridge crack detection using optical means, and in particular to a bridge crack detection device. Background Art

[0002] During the construction and use of bridges, some cracks may appear. It is necessary to inspect the bridges regularly to detect the cracks in time and determine the type of cracks and the corresponding measures to be taken.

[0003] At present, bridge cracks are mainly measured manually, and the width and depth of the cracks are detected manually. There are also professional equipment for crack detection. Announcement No. CN107064169B discloses a bridge crack detection device and detection method, including a control device, an installation trolley, a telescopic rod mechanism and a detection device. The control device includes a data processing device, a display, a walking controller, a camera shutter frequency detection unit, a telescopic rod adjustment device, a telescopic rod adjustment controller, a first distance detection unit and a second distance detection unit, a lighting brightness detection unit, a brightness adjustment module and a lighting brightness controller; the detection method includes the following steps: 1. Preparation before detection; 2. Image shooting and uploading; 3. Image capture; 4. Bridge crack image processing; 5. Calibration of calibration object image; 6. Calculation of bridge crack parameters and synchronous output.

[0004] In the above-mentioned bridge crack detection device, an image of the bottom surface of the bridge is collected by a camera at the bottom of the bridge, and cracks are identified based on the image. However, since the camera is fixed to the bottom of the bridge by a connecting structure and the camera is facing the bottom of the bridge, it can only detect cracks on the ground of the bridge, but cannot detect cracks on the top surface of the bridge, and cannot detect cracks at the top and bottom of the bridge. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide a bridge crack detection device to solve the technical problem that the bridge crack detection device in the prior art cannot detect cracks on the top and bottom of the bridge.

[0006] In order to achieve the above technical objectives, the technical solution of the present invention provides a bridge crack detection device, comprising:

[0007] Mobile carrier;

[0008] A fixing mechanism connected to the mobile carrier, the fixing mechanism having two fixing positions located above and below the mobile carrier; and

[0009] The detection mechanism includes an optical sensor component, which can be detachably installed in a fixed position and can be fixed in a fixed position above or below the mobile carrier. The optical sensor component can obtain a bridge crack image based on optical means.

[0010] In one embodiment, the optical sensing assembly includes a connector connection module detachably mounted at the fixed position and an optical camera module, a flash module and a laser ranging module connected to the connector connection module. The optical camera module is used to capture an image of the bridge. The flash module is used to fill in light or expose the image captured by the optical camera module. The laser ranging module is used to measure the distance between the optical camera module and the bridge.

[0011] In one embodiment, the detection mechanism also includes a circuit component, which is electrically connected to the optical sensor component and can supply power to the optical sensor component. The circuit component can be detachably installed in the fixed position, and is respectively arranged on the upper and lower sides of the mobile carrier with the optical sensor component, and the upper and lower positions of the circuit component and the optical sensor component can be interchanged.

[0012] In one embodiment, the fixing mechanism includes two fixing members, two flexible connecting members and two adjusting members, the two fixing members are respectively arranged above and below the mobile carrier, the fixing position is formed on the side of the fixing member facing away from the mobile carrier, the two flexible connecting members are arranged on both sides of the fixing member, the two ends of the flexible connecting member are respectively connected to the two fixing members, and the two adjusting members are respectively connected to the two flexible connecting members for adjusting the length of the flexible connecting members.

[0013] In one embodiment, the circuit component and the optical sensor component are electrically connected via the flexible connector and the two fixing components.

[0014] In one embodiment, the adjusting member includes a fixed sleeve and a first rotating part, the fixed sleeve is provided with a first through hole for the flexible connector to pass through, the fixed sleeve is sleeved on the flexible connector through the first through hole, the first rotating part is provided with a second through hole for the flexible connector to pass through, the first rotating part is sleeved on the flexible connector through the second through hole and is threadedly connected to the fixed sleeve.

[0015] In one embodiment, the inner wall of the first through hole and the outer wall and inner wall of the fixing sleeve are smoothly transitioned;

[0016] The inner wall of the second through hole and the outer wall of the first rotating part are smoothly transitioned.

[0017] In one embodiment, the fixing mechanism further includes two limiting members, and the limiting members correspond to the fixing sleeves one by one;

[0018] The adjusting member further comprises a second rotating part, the second rotating part is connected to the first rotating part via the limiting member, and the torque applied to the first rotating part is limited by the limiting member;

[0019] When the second rotating part rotates along the first direction and the rotation torque applied to the limiting member is less than a preset value, the limiting member transmits the torque output by the second rotating part to the first rotating part, and drives the first rotating part to rotate relative to the fixed sleeve;

[0020] When the second rotating part rotates along the first direction and the rotation torque transmitted by the second rotating part to the limiting member is greater than a preset value, the second rotating part slips relative to the limiting member and cannot drive the first rotating part to rotate relative to the fixed sleeve;

[0021] When the second rotating part rotates in the second direction, the torque output by the second rotating part is directly transmitted to the first rotating part via the limiting member, and the first rotating part is driven to rotate via the limiting member;

[0022] The first direction is opposite to the second direction.

[0023] In one embodiment, the limiting member includes a fixing ring, a third rotating part, a plurality of pushing parts and a plurality of elastic parts, the fixing ring is connected to the second rotating part, a plurality of limiting structures are formed on the inner wall of the fixing ring, the plurality of limiting structures are distributed at intervals along the circumference of the fixing ring, and the limiting structure has a side surface along the circumference of the second rotating part including an inclined surface and a vertical surface;

[0024] The third rotating part is connected to the first rotating part;

[0025] A plurality of pushing parts are distributed at intervals along the circumference of the third rotating part, one end of the pushing part is slidably connected to the third rotating part along the radial direction of the third rotating part, and the other end is arranged relative to the limiting structure; the elastic part connects the pushing part and the third rotating part, and is used to provide elastic force for the pushing part to slide against the limiting structure;

[0026] When the second rotating part rotates along the first direction and the rotation torque applied to the second rotating part is less than a preset value, the fixing ring and the limiting structure are driven to rotate along the first direction, the inclined surface of the limiting structure abuts against the pushing part, and the pushing part, the third rotating part and the first rotating part rotate along the first direction;

[0027] When the second rotating part rotates along the first direction and the rotation torque applied to the second rotating part is greater than a preset value, the inclined surface of the limiting structure abuts against the pushing part, and the limiting structure slides relative to the pushing part;

[0028] When the second rotating part rotates along the second direction, the vertical surface abuts against the pushing part, and the third rotating part and the first rotating part are pushed to rotate along the second direction through the pushing part.

[0029] In one embodiment, the second rotating portion is threadedly connected to the fixing sleeve;

[0030] The third rotating part is slidably connected to the second rotating part, and the pushing part can slide relative to the limiting structure along the axial direction of the second rotating part under the drive of the third rotating part;

[0031] When the second rotating part rotates along the first direction and the rotational torque applied to the second rotating part is greater than a preset value, the second rotating part can rotate close to and abut against the first rotating part. When the second rotating part approaches the first rotating part, it drives the fixing ring and the limiting structure to slide relative to the pushing part and the third rotating part.

[0032] Compared with the prior art, the beneficial effects of the present invention include: first, according to the part of the bridge to be detected, the optical sensor component is installed at a set fixed position, for example, when the top surface of the bridge needs to be detected, the optical sensor component is installed at a fixed position at the bottom of the mobile carrier, and when the bottom surface of the bridge needs to be detected, the optical sensor component is installed at a fixed position at the top of the mobile carrier. The position of the optical sensor component can be selectively installed according to the part to be detected, and the top and bottom surfaces of the bridge can be detected by a single optical sensor component; after the optical sensor component is installed, the mobile carrier carries the optical sensor component to move above or below the bridge to perform a comprehensive scan of the bridge surface, and the optical sensor component receives the light reflected by the bridge, or captures the image of the bridge surface by emitting light and receiving the reflected light. These lights can be visible light, infrared light or other specific wavelengths of light; then the collected image is analyzed and processed to extract the crack information on the bridge surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a three-dimensional schematic diagram of a bridge crack detection device according to an embodiment of the present invention;

[0034] Figure 2 is a three-dimensional schematic diagram of a bridge crack detection device according to an embodiment of the present invention;

[0035] Figure 3is a three-dimensional schematic diagram of a bridge crack detection device according to an embodiment of the present invention;

[0036] Figure 4 is a three-dimensional schematic diagram of a fixing mechanism and a detection mechanism in a bridge crack detection device according to an embodiment of the present invention;

[0037] Figure 5 is a three-dimensional schematic diagram of a fixing member and an optical sensing component in a bridge crack detection device according to an embodiment of the present invention;

[0038] Figure 6 is a three-dimensional schematic diagram of a fixing member and an optical sensing component in a bridge crack detection device according to an embodiment of the present invention;

[0039] Figure 7 is a three-dimensional schematic diagram of a fixing member and a circuit component in a bridge crack detection device according to an embodiment of the present invention;

[0040] Figure 8 is a three-dimensional schematic diagram of a fixing member and a circuit component in a bridge crack detection device according to an embodiment of the present invention;

[0041] Fig. 9 It is a structural schematic diagram of a flexible connecting member, an adjusting member and a limiting member in a bridge crack detection device according to an embodiment of the present invention;

[0042] Fig.10 It is a schematic structural diagram of a bridge crack detection device according to an embodiment of the present invention, in which a flexible connecting member, an adjusting member and a limiting member are hidden in a fixing sleeve;

[0043] Fig.11 is a cross-sectional view of a flexible connecting member, an adjusting member and a limiting member in a bridge crack detection device according to an embodiment of the present invention;

[0044] Fig.12 yes Fig.11 A local enlarged schematic diagram of the middle A;

[0045] Fig.13 is a cross-sectional view of a flexible connecting member, an adjusting member and a limiting member in a bridge crack detection device according to an embodiment of the present invention;

[0046] Fig.14 It is a structural schematic diagram of a second rotating part, a fixed ring, a limiting structure and an elastic part in a bridge crack detection device according to an embodiment of the present invention.

[0047] Description of reference numerals:

[0048] Mobile carrier 1;

[0049] Fixing mechanism 2; fixing position 2a; fixing member 21; flexible connecting member 22; adjusting member 23; fixing sleeve 231; first through hole 231a; first rotating part 232; second through hole 232a; second rotating part 233; annular airbag 234; limiting member 24; fixing ring 241; limiting structure 241a; inclined surface a1; vertical surface a2; third rotating part 242; pushing part 243; elastic part 244; nut 245;

[0050] Detection mechanism 3; optical sensor component 31; connection module 311; optical camera module 312; flash module 313; laser ranging module 314; circuit component 32. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] like Figures 1 to 13 As shown, the present invention provides a bridge crack detection device, including a mobile carrier 1, a fixing mechanism 2 and a detection mechanism 3, wherein the fixing mechanism 2 is connected to the mobile carrier 1, and the fixing mechanism 2 has two fixing positions 2a located above and below the mobile carrier 1; the detection mechanism 3 includes an optical sensor component 31, and the optical sensor component 31 is detachably installed at a fixing position 2a, and can be fixed at the fixing position 2a above or below the mobile carrier 1, and the optical sensor component 31 can obtain a bridge crack image based on optical means.

[0053] Specifically, firstly, the optical sensor component 31 is installed at a set fixed position 2a according to the part of the bridge to be detected. For example, when the top surface of the bridge needs to be detected, the optical sensor component 31 is installed at the fixed position 2a at the bottom of the mobile carrier 1. When the bottom surface of the bridge needs to be detected, the optical sensor component 31 is installed at the fixed position 2a at the top of the mobile carrier 1. The position of the optical sensor component 31 can be selectively installed according to the part to be detected. The top and bottom surfaces of the bridge can be detected by a single optical sensor component 31. After the optical sensor component 31 is installed, the mobile carrier 1 carries the optical sensor component 31 and moves above or below the bridge to perform a comprehensive scan of the bridge surface. The optical sensor component 31 receives the light reflected by the bridge, or captures the image of the bridge surface by emitting light and receiving the reflected light. These lights can be visible light, infrared light or other specific wavelengths of light; then the collected image is analyzed and processed to extract the crack information on the bridge surface.

[0054] It should be understood that the mobile carrier 1 can be a drone, a vehicle, a robot, etc.

[0055] It should be understood that the optical sensing component 31 may be an existing optical camera crack detection instrument. Figures 4 to 6 As shown, in one embodiment, the optical sensing assembly 31 includes a connecting module 311 detachably mounted at the fixed position 2a and an optical camera module 312, a flash module 313 and a laser ranging module 314 connected to the connecting module 311. The optical camera module 312 is used to capture an image of the bridge, the flash module 313 is used to fill in light or expose the image captured by the optical camera module 312, and the laser ranging module 314 is used to measure the distance between the optical camera module 312 and the bridge.

[0056] By setting the connection module 311, the connection module 311 detachably mounts the entire optical sensing assembly 31 to the fixed position 2a to ensure its stability and reliability during the detection process; the optical camera module 312 uses a high-resolution optical camera to clearly capture the details of the bridge surface, including cracks, rust and other defects. The flash module 313 is used to provide additional light supplement for the optical camera module 312. In the case of insufficient light or insufficient contrast, the flash module 313 can emit strong light to ensure that the captured image is clear and bright; the laser ranging module 314 uses laser ranging technology to measure the distance between the optical camera module 312 and the bridge surface in real time. This data is crucial for subsequent image processing and analysis because it can help correct the perspective deformation in the image and improve the accuracy of the detection results.

[0057] It should be understood that, among others, the connection module 311 can be a connection plate, a circuit board, a fixing plate, etc.; the optical camera module 312 can be a high-definition camera, a high-definition zoom camera, etc.; the flash module 313 can be a flash; the laser ranging module 314 can be a laser ranging sensor, a laser rangefinder, etc.

[0058] like Figure 7 and Figure 8 As shown, in one embodiment, the detection mechanism 3 also includes a circuit component 32, which is electrically connected to the optical sensor component 31 and can supply power to the optical sensor component 31. The circuit component 32 can be detachably installed in the fixed position 2a, and is respectively arranged on the upper and lower sides of the mobile carrier 1 with the optical sensor component 31, and the upper and lower positions of the circuit component 32 and the optical sensor component 31 can be interchanged.

[0059] The circuit component 32 is responsible for providing a stable power supply to the optical sensor component 31. Both the circuit component 32 and the optical sensor component 31 can be fixed in the fixed position 2a. According to the location of the bridge to be detected, the optical sensor component 31 is selectively set relative to the bridge, and the circuit component 32 is set on the side of the mobile carrier 1 away from the optical sensor component 31, so that the weight of the detection mechanism 3 is evenly distributed on both sides of the mobile carrier 1, and the gravity distribution on the upper and lower sides of the mobile carrier 1 is even, so as to avoid excessive weight on one side of the mobile carrier 1 affecting the aerodynamic shape and wind resistance of the mobile carrier 1.

[0060] It should be understood that the circuit assembly 32 includes a power supply (not shown in the figure), a communication module (not shown in the figure), a processor (not shown in the figure), etc. An existing structure that can power the optical sensing assembly 31 and electrically connect to other devices can also be used.

[0061] First, use imaging equipment to obtain pictures of structures or components; the pictures can be preliminarily cropped as needed; use deep learning detection models to identify and extract cracks in the pictures at the pixel level, perform image binarization, and obtain a binary image with black as cracks and white as background; obtain parameters such as crack length, area, maximum width, median width and fractal dimension through image processing methods such as skeleton extraction and maximum inscribed circle method.

[0062] In order to enable the detection mechanism 3 to be directly fixed to an existing carrier, such as a drone and a vehicle, Figures 1 to 4 As shown, in one embodiment, the fixing mechanism 2 includes two fixing members 21, two flexible connecting members 22 and two adjusting members 23. The two fixing members 21 are respectively arranged above and below the mobile carrier 1. A fixing position 2a is formed on the side of the fixing member 21 away from the mobile carrier 1. The two flexible connecting members 22 are arranged on both sides of the fixing member 21. The two ends of the flexible connecting member 22 are respectively connected to the two fixing members 21. The two adjusting members 23 are respectively connected to the two flexible connecting members 22 for adjusting the length of the flexible connecting member 22.

[0063] Specifically, when it is necessary to realize the connection between the fixing mechanism 2 and the mobile carrier 1, two fixing parts 21 are arranged on the upper and lower sides of the mobile carrier 1, and two flexible connecting parts 22 are arranged on both sides of the mobile carrier 1. The length of the flexible connecting part 22 is adjusted by the adjusting part 23, so that the two ends of the flexible connecting part 22 are respectively fastened to the two fixing parts 21, so that the two fixing parts 21 are fixed to the mobile carrier 1 by the two flexible connecting parts 22, thereby realizing the connection between the fixing mechanism 2 and the mobile carrier 1.

[0064] It should be understood that the flexible connection member 22 can be a flexible copper wire, a steel wire, a flexible rope, etc.

[0065] It should be understood that the circuit component 32 and the optical sensor component 31 may be connected by a wire, or may be connected by a conductor to transmit an electrical signal. Specifically, Figure 4 As shown, in one embodiment, the circuit component 32 is electrically connected to the optical sensor component 31 via the flexible connector 22 and two fixing components 21 .

[0066] The circuit component 32 and the optical sensor component 31 are electrically connected by means of a flexible connector 22 that serves as a fixation. The flexible connector 22 not only connects the two fixations 21, but also electrically connects the circuit component 32 and the optical sensor component 31 located on both sides of the mobile carrier 1 through the two flexible connectors 22 and the two fixations 21.

[0067] It should be understood that the flexible connector 22 can be a flexible copper wire, steel wire, etc., and the fixing member 21 is provided with a connector that can be electrically connected to the flexible connector 22, the circuit component 32 and the optical sensor component 31.

[0068] It should be understood that the adjusting member 23 may be a structure capable of adjusting the length of the rope, such as a rope winding wheel, a rope collecting wheel, etc. Specifically, Figures 9 to 11 As shown, in one embodiment, the adjusting member 23 includes a fixed sleeve 231 and a first rotating portion 232, the fixed sleeve 231 is provided with a first through hole 231a for the flexible connector 22 to pass through, the fixed sleeve 231 is sleeved on the flexible connector 22 through the first through hole 231a, the first rotating portion 232 is provided with a second through hole 232a for the flexible connector 22 to pass through, the first rotating portion 232 is sleeved on the flexible connector 22 through the second through hole 232a, and is threadedly connected to the fixed sleeve 231.

[0069] When the length of the flexible connector 22 needs to be adjusted, the fixing sleeve 231 is first fixed, and then the first rotating part 232 is driven to rotate relative to the fixing sleeve 231. The rotating first rotating part 232 drives the flexible connector 22 to be wound around the first rotating part 232, and can wind up the flexible connector 22 to shorten the length of the flexible connector 22 until the two ends of the flexible connector 22 connected to the two fixing members 21 are respectively tightened, thereby realizing the adjustment of the length of the flexible connector 22. After adjusting the length of the flexible connector 22, due to the threaded connection between the first rotating part 232 and the fixing sleeve 231, the threaded connection can limit the rotation of the first rotating part 232 relative to the fixing sleeve 231, and can prevent the wound flexible connector 22 from driving the first rotating part 232 to rotate relative to the fixing sleeve 231, and prevent the first rotating part 232 from rotating to release the flexible connector 22 and causing the flexible connector 22 to loosen.

[0070] Through the above arrangement, the flexible connector 22 passes through the fixed sleeve 231 through the first through hole 231a, and passes through the first rotating part 232 through the second through hole 232a. When the first rotating part 232 wraps around the flexible connector 22, it will cause the flexible connector 22 to bend relative to the fixed sleeve 231 and the first rotating part 232, so that the flexible connector 22 rubs against the fixed sleeve 231 and the first rotating part 232. To this end, in one of the embodiments, the inner wall of the first through hole 231a and the outer wall and inner wall of the fixed sleeve 231 have a smooth transition; the inner wall of the second through hole 232a and the outer wall of the first rotating part 232 have a smooth transition.

[0071] Through the above arrangement, when the first rotating part 232 rotates, it drives the flexible connector 22 to bend relative to the fixed sleeve 231 and the first rotating part 232. At this time, the flexible connector 22 abuts against and rubs against the first through hole 231a and the outer wall of the fixed sleeve 231. In this embodiment, by smoothly transitioning between the inner wall of the first through hole 231a and the outer wall and inner wall of the fixed sleeve 231, it is possible to avoid the flexible connector 22 passing through the fixed sleeve 231 at a sharp angle to damage the flexible connector 22. The second through hole 232a and the outer wall of the first rotating part 232 have a smooth transition, which can avoid the flexible connector 22 passing through the first rotating part 232 at a sharp angle to damage the flexible connector 22.

[0072] By controlling the first rotating part 232 to rotate relative to the fixed sleeve 231, the first rotating part 232 will wind the flexible connector 22. As the first rotating part 232 continues to rotate, the tension applied to the flexible connector 22 gradually increases. The flexible connector 22 is provided with a conductor for realizing electrical connection between the circuit component 32 and the optical sensor component 31. Excessive tension may cause the conductor in the flexible connector 22 to break, or the connection between the flexible connector 22 and the fixed component 21 to break. Therefore, it is necessary to control the tension applied to the flexible connector 22. For this purpose, Fig.11 and Fig.13As shown, in one embodiment, the fixing mechanism 2 further includes two limiting members 24, and the limiting members 24 correspond to the fixing sleeves 231 one by one; the adjusting member 23 further includes a second rotating portion 233, and the second rotating portion 233 is connected to the first rotating portion 232 via the limiting member 24, and the torque applied to the first rotating portion 232 is limited by the limiting member 24; when the second rotating portion 233 rotates along the first direction and the rotation torque applied to the limiting member 24 is less than the preset value, the limiting member 24 transmits the torque output by the second rotating portion 233 to the first rotating portion 232, and drives the first rotating portion 232 to rotate. The second rotating portion 232 rotates relative to the fixing sleeve 231; when the second rotating portion 233 rotates along the first direction and the rotation torque transmitted to the limiting member 24 by the second rotating portion 233 is greater than a preset value, the second rotating portion 233 slips relative to the limiting member 24 and cannot drive the fixing sleeve 231 relative to the first rotating portion 232 to rotate; when the second rotating portion 233 rotates along the second direction, the torque output by the second rotating portion 233 is directly transmitted to the first rotating portion 232 via the limiting member 24, and the first rotating portion 232 is driven to rotate via the limiting member 24; wherein the first direction is opposite to the second direction.

[0073] When the flexible connector 22 needs to be wound, the second rotating portion 233 is controlled to rotate along the first direction. At the beginning, the tension applied to the flexible connector 22 by the second rotating portion 233 through the limiting member 24 and the first rotating portion 232 is relatively small. At this time, the second rotating portion 233 directly drives the first rotating portion 232 to rotate through the limiting member 24. When the second rotating portion 233 continues to rotate, and the tension applied to the flexible connector 22 gradually increases until it exceeds the preset torque of the limiting member 24, the second rotating portion 233 slips relative to the limiting member 24. Continuing to rotate the second rotating portion 233 cannot drive the first rotating portion 232 to rotate relative to the fixed sleeve 231, which can limit the torque applied to the first rotating portion 232 by the second rotating portion 233, limit the tension applied to the flexible connector 22, and avoid excessive or insufficient tension applied to the flexible connector 22.

[0074] When the wound flexible connector 22 needs to be released, the second rotating part 233 is controlled to rotate in the second direction. The second rotating part 233 directly drives the first rotating part 232 to rotate via the limiting part 24. When rotating in the second direction, there is no torque limitation, so that the second rotating part 233 can smoothly drive the first rotating part 232 to rotate relative to the fixed sleeve 231.

[0075] It should be understood that the limiting member 24 may be a clutch capable of outputting a preset torque, or a friction transmission structure capable of outputting a preset torque. Specifically, Fig.11 , Fig.13 and Fig.14As shown, in one embodiment, the limiting member 24 includes a fixed ring 241, a third rotating portion 242, a plurality of pushing portions 243 and a plurality of elastic portions 244. The fixed ring 241 is connected to the second rotating portion 233. The inner wall of the fixed ring 241 is formed with a plurality of limiting structures 241a. The plurality of limiting structures 241a are distributed at intervals along the circumference of the fixed ring 241. The limiting structure 241a has a side surface along the circumference of the second rotating portion 233 including an inclined surface a1 and a vertical surface a2. The third rotating portion 242 is connected to the first rotating portion 232. The plurality of pushing portions 243 are distributed at intervals along the circumference of the third rotating portion 242. One end of the pushing portion 243 is slidably connected to the third rotating portion 242 along the radial direction of the third rotating portion 242, and the other end is arranged relative to the limiting structure 241a. The elastic portion 244 connects the pushing portion 243 and the third rotating portion 242, and is used to provide the pushing portion 2 43 slides against the elastic force of the limiting structure 241a; when the second rotating portion 233 rotates along the first direction and the rotational torque applied to the second rotating portion 233 is less than the preset value, the fixing ring 241 and the limiting structure 241a are driven to rotate along the first direction, and the inclined surface a1 of the limiting structure 241a abuts against the pushing portion 243 and the pushing portion 243, the third rotating portion 242 and the first rotating portion 232 rotate along the first direction; when the second rotating portion 233 rotates along the first direction and the rotational torque applied to the second rotating portion 233 is greater than the preset value, the inclined surface a1 of the limiting structure 241a abuts against the pushing portion 243, and the limiting structure 241a slides relative to the pushing portion 243; when the second rotating portion 233 rotates along the second direction, the vertical surface a2 abuts against the pushing portion 243, and the third rotating portion 242 and the first rotating portion 232 are pushed to rotate along the second direction through the pushing portion 243.

[0076] When the second rotating part 233 rotates along the first direction, the second rotating part 233 drives the fixing ring 241 and the limiting structure 241a to rotate relative to the fixing sleeve 231. Since the inclined surface a1 of the inner structure of the love network abuts the pushing part 243, when the torque input by the second rotating part 233 is within a preset range, the second rotating part 233, the fixing ring 241, the pushing part 243 of the limiting structure 241a, the third rotating part 242 and the first rotating part 232 rotate relative to the fixing sleeve 231. When the torque applied to the second rotating part 233 by the pushing part 243 exceeds the preset range, the pushing part 243 partially slides into the third rotating part 242 and can slide over the inclined surface a1 of the limiting structure 241a, so that the pushing part 243 slips relative to the fixing ring 241 and the first rotating part 232, thereby limiting the torque transmitted to the first rotating part 232 by the second rotating part 233 through the limiting member 24.

[0077] When the second rotating portion 233 rotates along the second direction, the second rotating portion 233 drives the fixing ring 241 and the limiting structure 241a to rotate relative to the fixing sleeve 231. At this time, the vertical surface a2 of the limiting structure 241a abuts the pushing portion 243, and the limiting structure 241a cannot rotate relative to the pushing portion 243 and slide over the pushing portion 243, thereby limiting the pushing portion 243 from rotating relative to the fixing ring 241 and the first rotating portion 232. When the second rotating portion 233 rotates along the second direction, the first rotating portion 232 can be directly driven to rotate along the second direction via the fixing ring 241, the limiting structure 241a, the pushing portion 243, and the third rotating portion 242, so that the first rotating portion 232 gradually releases the wound flexible connector 22.

[0078] It should be understood that the elastic portion 244 may be a spring, a spring sheet, an elastic block, etc., for providing elastic force for the pushing portion 243 that slides into the third rotating portion 242 to return to its original position.

[0079] It should be understood that the pushing portion 243 and the third rotating portion 242 may be slidably connected by a sliding plug-in method, or may be slidably connected by a slider and a slider.

[0080] In order to enable the third rotating portion 242 to slide relative to the second rotating portion 233, as shown in FIG. Fig.11 and Fig.13 As shown, in one embodiment, a receiving groove is provided on a side of the first rotating portion 232 relative to the second rotating portion 233, and the receiving groove is used for sliding insertion of the fixing ring 241 and the limiting structure 241a; a fixing hole is provided on the second rotating portion 233 relative to the third rotating portion 242, and the second rotating portion 233 is sleeved on the third rotating portion 242 through the fixing hole, and the limiting member 24 also includes a nut 245, which is threadedly connected to the third rotating portion 242 and is arranged on a side of the second rotating portion 233 away from the first rotating portion 232, and is used to limit the distance between the second rotating portion 233 and the first rotating portion 232.

[0081] By providing the receiving groove, when the second rotating portion 233 drives the fixing ring 241 and the limiting structure 241 a to approach the first rotating portion 232 , the receiving groove can accommodate the fixing ring 241 and the limiting structure 241 a between the first rotating portion 232 and the second rotating portion 233 .

[0082] When the torque applied by the second rotating part 233 to the first rotating part 232 via the limiting member 24 is greater than a preset value, at this time, the flexible connecting member 22 is wound to the maximum extent, and when the flexible connecting member 22 is tightened, the flexible connecting member 22 will also apply a force to the first rotating part 232 to rotate relative to the fixing sleeve 231 so as to relax the tightened flexible connecting member 22. In order to prevent the loosening of the flexible connecting member 22 and the loosening of the fixing member 21 relative to the mobile carrier 1, and to prevent the loosening of the fixing member 21 relative to the mobile carrier 1 and affect the shaking of the optical camera module 312 during shooting, for this purpose, as shown in FIG. Fig.11 and Fig.13 As shown, in one embodiment, the second rotating portion 233 is threadedly connected to the fixed sleeve 231; the third rotating portion 242 is slidably connected to the second rotating portion 233, and the pushing portion 243 can slide relative to the limiting structure 241a along the axial direction of the second rotating portion 233 under the drive of the third rotating portion 242; when the second rotating portion 233 rotates along the first direction and the rotational torque applied to the second rotating portion 233 is greater than a preset value, the second rotating portion 233 can rotate close to and abut against the first rotating portion 232, and when the second rotating portion 233 approaches the first rotating portion 232, it drives the fixing ring 241 and the limiting structure 241a to slide relative to the pushing portion 243 and the third rotating portion 242.

[0083] The second rotating part 233 continues to rotate. At this time, the inclined surface a1 of the limiting structure 241a squeezes the pushing part 243 and drives the pushing part 243 to slide into the third rotating part 242 until the inclined surface a1 slides over the pushing part 243, and no excessive torque is applied to the first rotating part 232. At the same time, the rotating second rotating part 233 is threadedly connected with the fixing sleeve 231, and the second rotating part 233 approaches the first rotating part 232 along the axial direction of the fixing sleeve 231 until the second rotating part 233 abuts against the first rotating part 232. At this time, the third rotating part 232 is rotated. The second rotating part 233 can apply a pre-tightening force to the first rotating part 232, and the pre-tightening force prevents the first rotating part 232 from loosening relative to the fixing sleeve 231, so that the flexible connecting member 22 is always taut. Moreover, during the rotation of the second rotating part 233, the inclined surface a1 of the limiting structure 241a squeezes the pushing part 243 and slides over the pushing part 243. At this time, the pushing part 243 contracts and will not drive the third rotating part 242 and the first rotating part 232 to rotate, thereby preventing the flexible connecting member 22 from being further tightened during rotation.

[0084] When the preload force applied to the first rotating portion 232 needs to be released, the second rotating portion 233 is rotated in the opposite direction. The second rotating portion 233 is rotated in the opposite direction via the fixing ring 241 and the limiting structure 241a to reduce the preload force. When the vertical surface a2 of the limiting structure 241a abuts against the pushing portion 243, the limiting structure 241a drives the pushing portion 243, the third rotating portion 242 and the first rotating portion 232 to rotate in the opposite direction, so that the first rotating portion 232 releases the flexible connector 22.

[0085] like Fig.12 As shown, in one of the embodiments, a ring groove is provided on the side of the fixing sleeve 231 facing the flying carrier, and the adjusting member 23 also includes an ring airbag 234, one side of the ring airbag 234 is embedded in the ring groove and the other side abuts the flying carrier, the ring airbag 234 is filled with gas, and the material of the ring airbag 234 is silicone.

[0086] During the process of winding the flexible connector 22, the flexible connector 22 is gradually tightened and applies abutting force to the fixed sleeve 231 to press the flying carrier. In this embodiment, an annular airbag 234 is provided, and the annular airbag 234 is provided between the fixed sleeve 231 and the flying carrier to reduce the direct contact between the fixed sleeve 231 and the flying carrier, and to avoid the end of the fixed sleeve 231 from scratching the flying carrier. Secondly, by providing the annular airbag 234, during the process of the fixed sleeve 231 pressing the flying carrier, the annular airbag 234 is gradually squeezed, and the annular airbag 234 is annular, and the material of the annular airbag 234 is silicone, which will cause the static friction between the annular airbag 234 and the flying carrier to increase, and the annular airbag 234 can limit the sliding of the fixed sleeve 231 relative to the flying carrier, and the annular airbag 234 can fit and adapt to the irregular outer wall of the flying carrier.

[0087] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A bridge crack detection device, characterized in that: include: Mobile carrier; A fixing mechanism connected to the mobile carrier, the fixing mechanism having two fixing positions located above and below the mobile carrier; and The detection mechanism includes an optical sensor component, which can be detachably mounted at one of the fixed positions and can be fixed at a fixed position above or below the mobile carrier, and the optical sensor component can obtain a bridge crack image based on optical means; The fixing mechanism comprises two fixing members, two flexible connecting members and two adjusting members, the two fixing members are respectively arranged above and below the movable carrier, the fixing position is formed on the side of the fixing member away from the movable carrier, the two flexible connecting members are arranged on both sides of the fixing member, the two ends of the flexible connecting member are respectively connected to the two fixing members, and the two adjusting members are respectively connected to the two flexible connecting members for adjusting the length of the flexible connecting members; the adjusting member comprises a fixing sleeve and a first rotating part, the fixing sleeve is provided with a first through hole for the flexible connecting member to pass through, the fixing sleeve is sleeved on the flexible connecting member through the first through hole, the first rotating part is provided with a second through hole for the flexible connecting member to pass through, the first rotating part is sleeved on the flexible connecting member through the second through hole, and is threadedly connected to the fixing sleeve; The fixing mechanism further comprises two limiting members, and the limiting members correspond to the fixing sleeves one by one; The adjusting member further comprises a second rotating part, the second rotating part is connected to the first rotating part via the limiting member, and the torque applied to the first rotating part is limited by the limiting member; When the second rotating part rotates along the first direction and the rotation torque applied to the limiting member is less than a preset value, the limiting member transmits the torque output by the second rotating part to the first rotating part, and drives the first rotating part to rotate relative to the fixed sleeve; When the second rotating part rotates along the first direction and the rotation torque transmitted by the second rotating part to the limiting member is greater than a preset value, the second rotating part slips relative to the limiting member and cannot drive the first rotating part to rotate relative to the fixed sleeve; When the second rotating part rotates in the second direction, the torque output by the second rotating part is directly transmitted to the first rotating part via the limiting member, and the first rotating part is driven to rotate via the limiting member; wherein the first direction is opposite to the second direction; The limiting member includes a fixing ring, a third rotating part, a plurality of pushing parts and a plurality of elastic parts, the fixing ring is connected to the second rotating part, a plurality of limiting structures are formed on the inner wall of the fixing ring, the plurality of limiting structures are distributed at intervals along the circumference of the fixing ring, and the limiting structure has a side surface along the circumference of the second rotating part including an inclined surface and a vertical surface; The third rotating part is connected to the first rotating part; A plurality of pushing parts are distributed at intervals along the circumference of the third rotating part, one end of the pushing part is slidably connected to the third rotating part along the radial direction of the third rotating part, and the other end is arranged relative to the limiting structure; the elastic part connects the pushing part and the third rotating part, and is used to provide elastic force for the pushing part to slide against the limiting structure; When the second rotating part rotates along the first direction and the rotation torque applied to the second rotating part is less than a preset value, the fixing ring and the limiting structure are driven to rotate along the first direction, the inclined surface of the limiting structure abuts against the pushing part, and the pushing part, the third rotating part and the first rotating part rotate along the first direction; When the second rotating part rotates along the first direction and the rotation torque applied to the second rotating part is greater than a preset value, the inclined surface of the limiting structure abuts against the pushing part, and the limiting structure slides relative to the pushing part; When the second rotating part rotates along the second direction, the vertical surface abuts against the pushing part, and the third rotating part and the first rotating part are pushed to rotate along the second direction through the pushing part.

2. The bridge crack detection device according to claim 1, characterized in that: The optical sensing assembly includes a connector module that is detachably mounted at the fixed position and an optical camera module, a flash module and a laser ranging module that are connected to the connector module. The optical camera module is used to capture an image of the bridge. The flash module is used to provide fill light or exposure for the image captured by the optical camera module. The laser ranging module is used to measure the distance between the optical camera module and the bridge.

3. The bridge crack detection device according to claim 1, characterized in that: The detection mechanism also includes a circuit component, which is electrically connected to the optical sensor component and can supply power to the optical sensor component. The circuit component can be detachably installed in the fixed position, and is respectively arranged on the upper and lower sides of the mobile carrier with the optical sensor component. The upper and lower positions of the circuit component and the optical sensor component can be interchanged.

4. The bridge crack detection device according to claim 3, characterized in that: The circuit component is electrically connected to the optical sensor component via the flexible connector and the two fixing components.

5. The bridge crack detection device according to claim 1, characterized in that: The inner wall of the first through hole and the outer wall and inner wall of the fixing sleeve have a smooth transition; The inner wall of the second through hole and the outer wall of the first rotating part are smoothly transitioned.

6. The bridge crack detection device according to claim 1, characterized in that: The second rotating part is threadedly connected to the fixed sleeve; The third rotating part is slidably connected to the second rotating part, and the pushing part can slide relative to the limiting structure along the axial direction of the second rotating part under the drive of the third rotating part; When the second rotating part rotates along the first direction and the rotational torque applied to the second rotating part is greater than a preset value, the second rotating part can rotate close to and abut against the first rotating part. When the second rotating part approaches the first rotating part, it drives the fixing ring and the limiting structure to slide relative to the pushing part and the third rotating part.

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