Tunnel inner wall image acquisition device

Abstract

The invention discloses a tunnel inner wall image acquisition device, and relates to the field of image acquisition, and the device comprises an angle adjustment module, a shooting module, a control module, and a motion module. The shooting module is in communication connection with the control module and is rotationally connected with the angle adjusting module; the control module is in communication connection with the angle adjusting module; the motion module is used for carrying the shooting module and the control module to move along a tunnel; the control module is used for controlling the shooting module to shoot images of the inner wall of the tunnel and controlling the angle adjusting module to adjust the shooting angle of the shooting module in a continuous rotation mode. The device provided by the invention can improve the high-speed rail tunnel inspection efficiency and reduce the inspection cost.

Description

Technical Field

[0001] The present application relates to the field of image acquisition technology, and in particular to a tunnel inner wall image acquisition device. Background Art

[0002] High-speed rail tunnel inspection work requires regular inspection of the status of the tunnel concrete inner wall, including whether there are cracks, peeling, water seepage, etc., to ensure driving safety. At present, manual inspection is usually used to inspect the inner wall of high-speed rail tunnels. However, the manual inspection method has the problems of inconvenient operation, high inspection cost, low inspection efficiency, and takes up a long maintenance time window. Summary of the invention

[0003] The present application provides a tunnel inner wall image acquisition device to solve the problems in the prior art of manual inspection of the inner wall of high-speed railway tunnels, such as inconvenient operation, high inspection cost, low inspection efficiency, and the need to occupy a long maintenance time window.

[0004] In a first aspect, the present application provides a tunnel inner wall image acquisition device, the device comprising: an angle adjustment module, a shooting module, a control module, and a motion module;

[0005] The shooting module is connected to the control module for communication, and is rotationally connected to the angle adjustment module; the control module is connected to the angle adjustment module for communication;

[0006] The motion module is used to carry the shooting module and the control module to move along the tunnel;

[0007] The control module is used to control the shooting module to shoot the image of the inner wall of the tunnel, and to control the angle adjustment module to adjust the shooting angle of the shooting module by continuous rotation.

[0008] Optionally, the angle adjustment module includes a reflector;

[0009] The control module is used to control the reflector to continuously rotate around the main optical axis of the shooting module so that the shooting range of the shooting module covers the inner wall of the tunnel.

[0010] Optionally, the tunnel comprises two sets of tracks, and the motion module comprises: at least four wheels;

[0011] The at least four wheels are used to move on two rows of inner tracks in the two groups of tracks respectively; the inner tracks are tracks on one side of the two groups of tracks close to the other group of tracks.

[0012] Optionally, a difference between the widths of the at least four wheels and the width of the inner track is greater than a preset width threshold.

[0013] Optionally, the device further comprises: a support module;

[0014] The support module is used to adjust the height of the shooting module from the ground where the tunnel is located by telescoping.

[0015] Optionally, the shooting module is located at the center of a cross section of the tunnel including the shooting module, and when the device moves in a straight tunnel, the movement speed of the movement module satisfies formula (1):

[0016]

[0017] Wherein, v is the movement speed, ω is the rotation angular velocity of the angle adjustment module, R is the radius of the tunnel, and FOV v is the field of view angle corresponding to the short side of the image captured by the shooting module, and α is the overlap rate of two adjacent images captured by the shooting module in the forward direction of the device.

[0018] Optionally, when the device moves in a curved tunnel, the movement speed of the movement module satisfies formula (2):

[0019]

[0020] Among them, the is the curvature radius of the curved tunnel.

[0021] Optionally, when the device moves in a straight tunnel or a curved tunnel, the time interval between two adjacent images captured by the shooting module satisfies formula (3):

[0022]

[0023] Among them, t interval is the time interval between two adjacent images taken by the shooting module, and β is the overlapping ratio of two adjacent images taken by the shooting module in the rotation direction of the reflector.

[0024] Optionally, the device further comprises a lighting module;

[0025] The angle adjustment module is further used to adjust the irradiation direction of the light emitted by the lighting module so as to illuminate the inner wall of the tunnel currently being photographed by the shooting module.

[0026] Optionally, the focusing distance of the shooting device satisfies formula (4), and / or formula (5):

[0027]

[0028] Wherein, ρ is the focus distance, r is the distance from the ground to the center of the cross section of the tunnel, and θ is the rotation angle of the angle adjustment module relative to the direction perpendicular to the ground of the tunnel;

[0029]

[0030] The field of view angle of the camera module in the forward direction of the device satisfies formula (6):

[0031]

[0032] Wherein, the FOV v1 is the field of view angle of the camera module in the forward direction of the device.

[0033] The present application provides a tunnel inner wall image acquisition device, which includes an angle adjustment module, a shooting module, a control module, and a motion module. The motion module is used to carry the shooting module and the control module to move along the tunnel; the control module is used to control the shooting module to shoot the image of the inner wall of the tunnel, and the angle adjustment module is controlled to adjust the shooting angle of the shooting module by continuous rotation. Through this implementation method, the tunnel inner wall image acquisition device can be used to capture the image of the inner wall of the tunnel in a fully automatic and non-manual manner, and then the inner wall of the tunnel can be inspected based on the image. The operation is simple, labor costs are saved, inspection efficiency is improved, and the time window required for inspection is shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0035] Figure 1 is a schematic diagram of a tunnel cross section;

[0036] Figure 2 A schematic diagram of the structure of a tunnel inner wall image acquisition device provided in this application;

[0037] Figure 3 A schematic diagram of a rotation method of an angle adjustment module provided in this application;

[0038] Figure 4 A schematic diagram of the structure of a tunnel inner wall and a tunnel inner wall image acquisition device provided in this application;

[0039] Figure 5 A schematic diagram of the structure of a lighting module provided in this application;

[0040] Figure 6 This is a schematic structural diagram of the third tunnel inner wall image acquisition device provided in this application.

[0041] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0042] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0043] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0044] Figure 1 is a schematic diagram of a tunnel cross section, such as Figure 1 As shown in FIG. 1 , the cross section of a tunnel is usually an arc that is cut off on the side close to the ground. Where O is the center of the circle where the arc representing the tunnel is located, R is the radius of the circle, and r is the distance from the center of the circle to the ground.

[0045] The inner wall of high-speed rail tunnels needs to be inspected regularly to ensure driving safety. At present, the inspection method for the inner wall of the tunnel is usually through manual inspection. For example, the inner wall of the tunnel can be checked with the naked eye to confirm whether there are cracks, water leaks, etc.; or, the inner wall of the tunnel can be inspected by photographing it with a camera or other camera device. However, the above-mentioned manual inspection method has the problems of cumbersome operation, high inspection cost, low inspection efficiency, and a long maintenance time window.

[0046] The inventors considered that if automatic inspections could be performed using equipment, it would save labor costs, simplify operations, and improve inspection efficiency.

[0047] In view of this, the present application provides a tunnel inner wall image acquisition device, which can automatically move along the high-speed railway tunnel, and automatically acquire images of the tunnel inner wall during the movement, and can cover the tunnel inner wall by adjusting the shooting angle to realize the inspection of the tunnel inner wall. In this way, the tunnel inspection can be realized more easily, the manual inspection cost can be reduced, and the inspection efficiency can be improved.

[0048] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below through specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0049] Figure 2 A schematic diagram of the structure of a tunnel inner wall image acquisition device provided in this application, such as Figure 2 As shown, the device includes: an angle adjustment module 11, a shooting module 12, a control module 13, and a motion module 14.

[0050] The connection relationship between each module is as follows:

[0051] The shooting module 12 is connected to the control module 13 for communication, and is rotationally connected to the angle adjustment module 11 ; the control module 13 is connected to the angle adjustment module 11 for communication.

[0052] The motion module 14 is used to carry the shooting module 12 and the control module 13 to move along the tunnel. The tunnel mentioned here can be any tunnel, for example, it can be a high-speed railway tunnel, a train tunnel, etc. The motion module 14 can include, for example, any device that can carry the shooting module 12 and the control module 13 to move along the tunnel. For example, if the tunnel is a high-speed railway tunnel, the motion module 14 can include, for example, wheels that can travel on the tunnel. The present application does not limit the number of wheels included in the motion module 14, for example, it can be two, four, or more. For another example, if the tunnel has no tracks, the motion module 14 can include, for example, rubber wheels to utilize them to move on the tunnel ground. It should be understood that Figure 2 The direction indicated by the arrow is the movement direction of the tunnel inner wall image acquisition device 1 in actual application.

[0053] The control module 13 is used to control the shooting module 12 to shoot the image of the inner wall of the tunnel, and to control the angle adjustment module 11 to adjust the shooting angle of the shooting module 12 by continuous rotation.

[0054] The control module 13 may include, for example, a control chip. The present application does not limit the chip specifications and models. The above-mentioned shooting module 12 may include, for example, any one or more of shooting devices such as a camera and a video camera. The above-mentioned angle adjustment module 11 may include, for example, any device that can change the transmission direction of light, such as a reflector 111. In this way, it is possible to change the transmission angle of light by rotation, and then adjust the shooting angle of the shooting module 12, so that the shooting module 12 can shoot the interior of the tunnel at different positions according to needs.

[0055] In this embodiment, the tunnel inner wall image acquisition device 1 includes an angle adjustment module 11, a shooting module 12, a control module 13, and a motion module 14. The motion module 14 is used to carry the shooting module 12 and the control module 13 to move along the tunnel; the control module 13 is used to control the shooting module 12 to shoot the image of the inner wall of the tunnel, and the angle adjustment module 11 is controlled to adjust the shooting angle of the shooting module 12 by continuous rotation. Through this implementation method, the tunnel inner wall image acquisition device 1 can use a fully automatic non-manual method to capture the image of the tunnel inner wall, and then the tunnel inner wall can be inspected based on it, which is easy to operate, saves labor costs, improves inspection efficiency, and shortens the time window required for inspection.

[0056] In addition, in this embodiment, the shooting angle of the shooting device is adjusted by rotating the adjustment module, so that the image of the inner wall of the tunnel that needs to be inspected can be obtained without rotating the shooting module 12, and only the adjustment module as an accessory can be rotated, which further improves the operability of the method. In other words, the only continuously rotating part is the adjustment module, and there are no electronic devices, so the use of structures such as slip rings to ensure the infinite rotation of electronic circuits can be avoided, thereby improving the reliability of the equipment.

[0057] As described above, in some embodiments, the angle adjustment module 11 may include a reflector 111. In this implementation, the control module 13 may be used to control the reflector 111 to rotate around the main optical axis of the shooting module 12 so that the shooting range of the shooting module 12 covers the inner wall of the tunnel. Figure 3 A schematic diagram of a rotation method of an angle adjustment module provided in this application, such as Figure 3 As shown, the structure of the angle adjustment module 11 can be, for example, Figure 3 As shown, the connection method of the angle adjustment module 11 and the shooting module 12 is as follows Figure 3 In this implementation, the shooting direction of the shooting module 12 is adjusted from the horizontal direction to the vertical direction through the reflector 111 of the angle adjustment module 11.

[0058] When the tunnel inner wall image acquisition device 1 moves in the tunnel, the angle adjustment module 11 including the reflector 111 can be adjusted according to Figure 3 In the manner shown, the main optical axis of the lens of the shooting module 12 is rotated to achieve surround shooting of the inner wall of the tunnel, thereby improving the usability of the tunnel inner wall image acquisition device 1, that is, the shooting range can fully cover the inner wall of the tunnel.

[0059] In some embodiments, the angle adjustment module 11 including the reflector 111 is in a continuous rotation state during the movement of the tunnel inner wall image acquisition device 1 along the tunnel, and the shooting angle of the shooting module 12 for the tunnel inner wall can be continuously adjusted to achieve continuous shooting of various positions of the tunnel inner wall. Figure 4 A schematic diagram of the structure of a device for collecting images of inner walls and tunnel inner walls provided in this application, such as Figure 4 As shown, the angle adjustment module 11 can be rotated continuously so that the shooting module can be adjusted according to the angle adjustment module 11. Figure 4 Shoot around the inner wall of the tunnel in the direction indicated by the arrow to achieve shooting of various positions on the inner wall of the tunnel.

[0060] High-speed railway tunnels are usually double-track, that is, the tunnel includes two sets of tracks. If the tunnel is a high-speed railway tunnel, the motion module 14 of the tunnel inner wall image acquisition device 1 may include at least four wheels 141. It should be understood that due to the display angle, Figure 4 Only two are shown, but there are actually two wheels 141 on each of the B and C tracks; the at least four wheels 141 are used to move on the two inner tracks in the two sets of tracks respectively; the inner track is the track on the side close to the other track in the two sets of tracks. That is to say, in this implementation, the tunnel inner wall image acquisition device 1 can be located in the middle of the tunnel, and can even be located at the center of the tunnel cross section, so as to evenly capture the image of the tunnel inner wall.

[0061] For example, continue to refer to Figure 4 , where AB is one set of tracks and CD is another set of tracks. Under normal circumstances, up and down trains will use AB or CD respectively. The wheels 141 of the tunnel inner wall image acquisition device 1 are respectively on the inner track BC.

[0062] In some embodiments, the difference between the width of the at least four wheels 141 and the width of the inner track is greater than a preset width threshold. The present application does not limit the specific value of the preset width threshold. Figure 4 , the sum of L1 and L2 may be greater than a preset width threshold, for example. Since the BC spacing of the two sets of tracks may change at the turning of the tunnel, through this implementation method, that is, a method of leaving a proper margin for the wheels 141 of the device, the tunnel inner wall image acquisition device 1 can be smoothly driven on the track through the wheels 141 of the motion module 14, and will not be unable to drive due to the inability of the width of the wheels 141 to adapt to the track width and the distance between BC, thereby improving the availability of the tunnel inner wall image acquisition device 1.

[0063] Optional, continue to refer to Figure 4The tunnel inner wall image acquisition device 1 may further include a support module 15. The support module 15 is used to adjust the height of the shooting module 12 from the ground where the tunnel is located by telescoping. This implementation method can flexibly control the height of the shooting module 12 from the ground according to needs, thereby achieving better shooting of the tunnel inner wall, and improving the flexibility and usability of the tunnel inner wall image acquisition device 1.

[0064] The present application does not limit the specific height and material of the support module 15, which can be any retractable support object in the prior art, such as a support rod. The height of the support module 15 can be pre-set according to the radius of the tunnel section, for example, the height of the support module 15 can be pre-adjusted so that the camera module 12 is located at the center of the tunnel section.

[0065] Alternatively, the length of the support module 15 can also be adjusted in real time under the control of the control module 13, thereby controlling the height of the shooting module 12 from the ground where the tunnel is located. Exemplarily, the control module 13 can obtain the vertical distance from the shooting module 12 to the inner wall of the tunnel in real time, and then determine the height of the support module 15 based on this, so as to determine the height of the shooting module 12 from the ground. For example, the control module 13 can control the vertical distance from the shooting module 12 to the inner wall of the tunnel to be R by controlling the height of the support module 15, so that the shooting module 12 is located at the center of the tunnel section. It should be understood that Figure 4 The angle adjustment module 11, the shooting module 12, and the control module 13 shown are not in a relationship of inclusion and being included, but are only mutually blocked due to the display angle. Figure 4 The schematic diagram is a diagram showing that the angle adjustment module 11 , the shooting module 12 , and the control module 13 are arranged in sequence from the front (movement direction of the tunnel inner wall image acquisition device 1 ) to the back.

[0066] Optionally, in some embodiments, when the shooting module 12 is located at the center of the cross section of the tunnel including the shooting module 12, when the tunnel inner wall image acquisition device 1 moves in a straight tunnel, the movement speed of the movement module 14 can satisfy formula (1):

[0067]

[0068] Wherein, v is the movement speed, ω is the rotation angular velocity of the angle adjustment module 11, R is the radius of the tunnel, FOV v is the field of view angle corresponding to the short side of the image captured by the shooting module, and α is the overlap rate of two adjacent images captured by the shooting module 12 in the forward direction of the tunnel inner wall image acquisition device 1.

[0069] This application does not limit the specific value of α, and those skilled in the art can set it according to their needs. That is, after determining α, the operating speed of the device can be determined according to the above formula (1). For example, if α is determined to be 0.5, then With this implementation, we can v When α is controlled, the control requirement of α is achieved by controlling v, which can better meet the image acquisition requirements in a straight tunnel and improve the availability of the tunnel inner wall image acquisition device 1.

[0070] Optionally, some tunnels have a curved portion. When the tunnel inner wall image acquisition device 1 moves in the curved tunnel, the movement speed of the movement module 14 may satisfy formula (2), for example:

[0071]

[0072] in, is the radius of curvature of the curved tunnel.

[0073] Through this implementation, it can be achieved that when the tunnel inner wall image acquisition device 1 moves in a curved tunnel, the image acquisition device 1 can obtain the image of the inner wall of the tunnel when measuring. And, given the FOV v When α is controlled, v can be controlled to meet the image acquisition needs of inspection personnel in curved tunnels and improve the availability of the device.

[0074] Optionally, when the tunnel inner wall image acquisition device 1 moves in a straight tunnel or a curved tunnel, the time interval between two adjacent images captured by the shooting module 12 may satisfy formula (3), for example:

[0075]

[0076] Among them, t interval is the time interval between two adjacent images captured by the camera module 12, FOV h is the field of view of the shooting module 12 in the rotation direction of the angle adjustment module 11 , and β is the overlap ratio of two adjacent images shot by the shooting module 12 in the rotation direction of the reflector 111 .

[0077] This application does not limit the value of β, and those skilled in the art can set it according to their needs. For example, if β is set to 0.5 according to the needs, then With this implementation, it is possible to h In the case of interval The control of β can be achieved, thereby meeting the inspection personnel's needs for β, improving the availability of the device, and the availability of the acquired images of the inner wall of the tunnel.

[0078] Optionally, the motion module 14 may move according to the above formulas (1), (2), and (3) under the control of the control module 13, or the motion module 14 may include a control chip, and the motion module 14 moves according to the above formulas under the control of the control chip.

[0079] In some embodiments, the tunnel inner wall image acquisition device 1 may further include an illumination module 16. In this case, the angle adjustment module 11 may also be used to adjust the irradiation direction of the light emitted by the illumination module 16 to illuminate the inner wall of the tunnel currently photographed by the illumination and shooting module 12.

[0080] For example, Figure 5 A schematic diagram of the structure of a lighting module provided in this application, such as Figure 5 As shown, the lighting module 16 can be placed side by side with the lens of the shooting module 12. When the angle adjustment module 11 includes a light-emitting mirror, the light emitted by the lighting module 16 can be Figure 6 The reflector 111 shown reflects light to the inner wall of the tunnel currently photographed by the photographing module 12 to illuminate it, thereby improving the quality of the image of the inner wall of the tunnel photographed, and further improving the usability of the tunnel inner wall image acquisition device 1.

[0081] Before the shooting module 12 of the tunnel inner wall image acquisition device 1 shoots, it is usually necessary to focus the shooting module 12. In some embodiments, the focusing distance of the shooting module 12 may satisfy, for example, formula (4) and / or formula (5):

[0082]

[0083] Wherein, ρ is the focus distance, r is the distance from the ground to the center of the cross section of the tunnel, and θ is the rotation angle of the angle adjustment module 11 relative to the direction perpendicular to the ground of the tunnel;

[0084]

[0085] At this time, the field of view angle of the camera module 12 in the direction of the device moving forward can satisfy the formula (6)

[0086]

[0087] Among them, FOV v1 is the field of view angle of the camera module 12 in the forward direction of the device.

[0088] Through this implementation method, the navigation system can ensure that the tunnel inner wall image acquisition device 1 can achieve accurate focusing when entering the tunnel for shooting, ensure the clarity of the captured tunnel inner wall image, and improve the usability of the tunnel inner wall image acquisition device 1.

[0089] Figure 6 The schematic diagram of the structure of the third tunnel inner wall image acquisition device provided in this application is as follows: Figure 6 As shown, in some embodiments, the tunnel inner wall image acquisition device 1 that is actually landed can be, for example, Figure 6 It should be understood that this is only an example, and the present application does not limit whether the tunnel inner wall image acquisition device 1 has other implementation methods.

[0090] It should be noted that the modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0091] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0092] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the methods of various embodiments of the present application.

[0093] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tunnel inner wall image acquisition device, characterized in that: The device comprises: an angle adjustment module, a shooting module, a control module, and a motion module; The shooting module is connected to the control module for communication, and is rotationally connected to the angle adjustment module; the control module is connected to the angle adjustment module for communication; The motion module is used to carry the shooting module and the control module to move along the tunnel; The control module is used to control the shooting module to shoot the image of the inner wall of the tunnel, and to control the angle adjustment module to adjust the shooting angle of the shooting module by continuous rotation.

2. The device according to claim 1, characterized in that: The angle adjustment module includes a reflector; The control module is used to control the reflector to continuously rotate around the main optical axis of the shooting module so that the shooting range of the shooting module covers the inner wall of the tunnel.

3. The device according to claim 2, characterized in that The tunnel comprises two sets of tracks, and the motion module comprises: at least four wheels; The at least four wheels are used to move on two rows of inner tracks in the two groups of tracks respectively; the inner tracks are tracks on one side of the two groups of tracks close to the other group of tracks.

4. The device according to claim 3, characterized in that A difference between the widths of the at least four wheels and the width of the inner track is greater than a preset width threshold.

5. The device according to any one of claims 1 to 4, characterized in that: The device further comprises: a support module; The support module is used to adjust the height of the shooting module from the ground where the tunnel is located by telescoping.

6. The device according to claim 5, characterized in that The shooting module is located at the center of the cross section of the tunnel including the shooting module. When the device moves in the straight tunnel, the movement speed of the movement module satisfies formula (1): Wherein, v is the movement speed, ω is the rotation angular velocity of the angle adjustment module, R is the radius of the tunnel, and FOV v is the field of view angle corresponding to the short side of the image captured by the shooting module, and α is the overlap rate of two adjacent images captured by the shooting module in the forward direction of the device.

7. The device according to claim 6, characterized in that When the device moves in a curved tunnel, the movement speed of the movement module satisfies formula (2): Among them, the is the curvature radius of the curved tunnel.

8. The device according to claim 7, characterized in that When the device moves in a straight tunnel or a curved tunnel, the time interval between two adjacent images captured by the shooting module satisfies formula (3): Among them, t interval is the time interval between two adjacent images taken by the shooting module, and β is the overlapping ratio of two adjacent images taken by the shooting module in the rotation direction of the reflector.

9. The device according to claim 8, characterized in that The device also includes a lighting module; The angle adjustment module is further used to adjust the irradiation direction of the light emitted by the lighting module so as to illuminate the inner wall of the tunnel currently being photographed by the shooting module.

10. The device according to claim 9, characterized in that The focusing distance of the shooting device satisfies formula (4), and / or formula (5): Wherein, ρ is the focus distance, r is the distance from the ground to the center of the cross section of the tunnel, and θ is the rotation angle of the angle adjustment module relative to the direction perpendicular to the ground of the tunnel; The field of view angle of the camera module in the forward direction of the device satisfies formula (6): Wherein, the FOV v1 is the field of view angle of the camera module in the forward direction of the device.

Images