Tunnel inspection image acquisition device and tunnel inspection method

Abstract

The invention discloses a tunnel inspection image acquisition device and a tunnel inspection method, and relates to the technical field of tunnel flaw detection.The tunnel inspection image acquisition device comprises a vehicle body, a first driving mechanism is arranged on the inner side of the vehicle body, and a second driving mechanism is arranged at the end and the outer side of the first driving mechanism jointly; a first traveling mechanism is arranged in the vehicle body and on the front side of the bottom of the vehicle body, a rotary image acquisition mechanism is arranged on the front side of the vehicle body, a blocking mechanism is arranged on the outer side of the rotary image acquisition mechanism, and a second traveling mechanism is arranged at the rear end of the bottom of the vehicle body. By reducing the number of the CCD cameras and the auxiliary light sources, the production and operation cost of equipment is effectively reduced, meanwhile, periodic advancing pause and image collection operation can be completed, manpower is saved, meanwhile, the advancing precision is higher, then the situation of missing image collection or excessive image collection can be avoided, and adverse effects on subsequent image processing operation are prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel flaw detection, and in particular to a tunnel inspection image acquisition device and a tunnel inspection method. Background Art

[0002] With the rapid development of China's railways and urban rail transit, problems such as cracking, leakage and cable leakage in tunnels occur frequently. Since the above problems will seriously affect the driving safety of railways and rail transit, tunnel inspection work is particularly important.

[0003] The invention patent with authorization announcement number CN210720194U discloses a tunnel inspection image acquisition device and a tunnel inspection system, the image acquisition device includes: multiple CCD cameras, multiple auxiliary light sources, and a fixed bracket, the CCD cameras and the auxiliary light sources are fixed on the fixed bracket, wherein the fixed positions of the multiple CCD cameras are located on the same circular ring, and in the working state, the center of the circular ring is located at the center position of the tunnel to ensure that the distance between the multiple CCD cameras and the inner lining of the tunnel is consistent, and the overall shooting angle of the multiple CCD cameras covers the range of the inner lining of the tunnel.

[0004] However, after actual application by technicians in this field, it was found that the above device still has some shortcomings. The most obvious one is that multiple CCD cameras and auxiliary light sources are needed in the image acquisition process, and the equipment production and operation costs are relatively high. In addition, in the actual image acquisition process, in order to ensure the image quality, the double-track flaw detection vehicle needs to stop and take pictures every time it travels a certain distance, and the double-track flaw detection vehicle needs to be operated manually, which is too manpower-consuming and cannot guarantee the travel accuracy. The error in travel accuracy will lead to image omission or over-collection, which will have an adverse effect on subsequent image processing operations.

[0005] Therefore, it is necessary to invent a tunnel inspection image acquisition device and a tunnel inspection method to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a tunnel inspection image acquisition device and a tunnel inspection method, which effectively reduce the equipment production and operation costs by reducing the number of CCD cameras and auxiliary light sources, and can complete periodic suspension of movement and image acquisition operations at the same time, saving manpower while achieving higher movement accuracy, thereby avoiding image omission or over-sampling, and preventing adverse effects on subsequent image processing operations, so as to solve the problem that multiple CCD cameras and auxiliary light sources are needed in the image acquisition process proposed in the above background technology, and the equipment production and equipment operation costs are high. In addition, in the actual image acquisition process, in order to ensure image quality, the double-track flaw detection vehicle needs to stop for shooting every time it travels a certain distance, and the double-track flaw detection vehicle needs to be operated manually, which is too manpower-consuming and cannot ensure movement accuracy. The error in movement accuracy will lead to image omission or over-sampling, thereby causing adverse effects on subsequent image processing operations.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: a tunnel inspection image acquisition device, comprising a vehicle body, a first driving mechanism is arranged inside the vehicle body, a second driving mechanism is arranged at the end and outside of the first driving mechanism, a first traveling mechanism is arranged inside the vehicle body and at the front side of the bottom of the vehicle body, a rotating image acquisition mechanism is arranged at the front of the vehicle body, a blocking mechanism is arranged outside the rotating image acquisition mechanism, and a second traveling mechanism is arranged at the rear end of the bottom of the vehicle body; The first driving mechanism drives the second driving mechanism to move forward, the second driving mechanism drives the first traveling mechanism to cooperate with the second traveling mechanism to travel a preset distance and stop, the second driving mechanism drives the rotary image acquisition mechanism to rotate, and the blocking mechanism performs multiple blocking during the rotation of the rotary image acquisition mechanism to complete multi-angle image acquisition.

[0008] Preferably, the vehicle body comprises a bottom plate, a column, a top plate and an inverted U-shaped frame; There are four upright posts, which are respectively fixed at the four corners of the top of the bottom plate, the top plate is fixed at the top ends of the four upright posts, and the inverted U-shaped frame is fixed at the top of the top plate.

[0009] Preferably, the first driving mechanism comprises a reciprocating screw, a first driving motor, an outer sleeve, a first return spring and an inner sleeve; The reciprocating screw passes through the rear end of the inverted U-shaped frame and extends to the inner side of the inverted U-shaped frame and is rotatably connected to the inverted U-shaped frame through a bearing. The first drive motor is fixedly arranged at the rear end of the inverted U-shaped frame and is transmission-connected to the reciprocating screw. The outer sleeve, the first return spring and the inner sleeve are sequentially sleeved on the outer side of the reciprocating screw from back to front. The outer sleeve is transmission-connected to the reciprocating screw. The first return spring is fixedly connected between the outer sleeve and the inner sleeve. The inner sleeve is slidably connected to the reciprocating screw and is slidably arranged on the inner side of the outer sleeve.

[0010] Preferably, the second driving mechanism comprises a T-shaped end plate, a rack, an outer sleeve plate, a one-way screw, a T-shaped guide rail and a limit block; The T-shaped end plate is fixedly arranged at the front end of the inner sleeve, two racks are provided, and the two racks are respectively fixedly arranged at the two ends of the front side of the T-shaped end plate, the outer sleeve plate is fixedly sleeved at the front end of the outer sleeve, the one-way screw is fixedly arranged at the top of the front side of the outer sleeve plate, the T-shaped guide rail is fixedly arranged at the top of the top plate, the T-shaped end plate and the outer sleeve plate are both slidably sleeved on the outside of the T-shaped guide rail, and the limit block is fixedly arranged at the front end of the top of the T-shaped guide rail.

[0011] Preferably, the first travel mechanism comprises a first mounting plate, a first rotating shaft, a first travel wheel, a driven sprocket, a second mounting plate, a second rotating shaft, a driving sprocket, a chain and a first gear; The first mounting plate is fixedly arranged at the front end of the bottom of the base plate, the first rotating shaft passes through the first mounting plate and is rotatably connected to the first mounting plate through a bearing, the first traveling wheel is fixedly sleeved at the outer end of the first rotating shaft, the driven sprocket is fixedly sleeved at the middle part of the outer side of the first rotating shaft, the second mounting plate is fixedly arranged at the front end of the top plate, the second rotating shaft passes through the second mounting plate and is rotatably connected to the second mounting plate through a bearing, the driving sprocket is fixedly sleeved at the middle part of the outer side of the second rotating shaft, the chain transmission sleeve is arranged on the outer sides of the driven sprocket and the driving sprocket, and the first gear is connected to the end of the second rotating shaft through an overrunning clutch.

[0012] Preferably, the rotary image acquisition mechanism comprises a rotating disk, a connecting shaft, a bracket, a CCD camera and two auxiliary light sources; The rotating disk is rotatably nested in the front end of the inverted U-shaped frame through a bearing, a threaded hole is opened on the inner side of the rotating disk, the connecting shaft is fixedly arranged at the front edge of the rotating disk, the bracket is rotatably sleeved at the outer front end of the connecting shaft through a bearing, a torsion spring is sleeved on the outer side of the connecting shaft, the torsion spring is fixedly connected between the rotating disk and the bracket, the CCD camera and two auxiliary light sources are fixedly arranged at the end of the bracket, and a blocking block is fixedly arranged on the right side of the front end of the bottom plate, and the blocking block fits with the bottom of the adjacent auxiliary light source and blocks it.

[0013] Preferably, the blocking mechanism comprises a plurality of groups of blocking components evenly distributed on the outside of the rotating disk, and any group of the blocking components comprises a blocking pin, an inclined guide surface and a second return spring; The blocking pin slides through the inner wall of the inverted U-shaped frame and extends to the front of the inverted U-shaped frame. The inclined guide surface is opened at the front end of the outer side of the blocking pin. The second return spring is sleeved on the outer side of the blocking pin and fixedly connected between the blocking pin and the inner wall of the inverted U-shaped frame.

[0014] Preferably, the second traveling mechanism comprises a third mounting plate, a third rotating shaft, a second traveling wheel, a second gear and a second driving motor; The third mounting plate is fixedly arranged at the rear end of the bottom of the base plate, the third rotating shaft passes through the third mounting plate and is rotatably connected to the third mounting plate through a bearing, the second traveling wheel is fixedly sleeved at the end of the third rotating shaft, two second gears are provided and mesh with each other, one of the second gears is fixedly sleeved at the middle part of the outer side of the third rotating shaft, and the other second gear is transmission-connected to the second driving motor, and the second driving motor is fixedly arranged at the rear end of the bottom of the base plate.

[0015] The present invention also discloses a tunnel inspection method of a tunnel inspection image acquisition device, which is implemented using the above-mentioned tunnel inspection image acquisition device. The method specifically comprises the following steps: S1, placing the first traveling wheel and the second traveling wheel on the track, starting the first driving motor, after the first driving motor is started, the reciprocating screw is driven to rotate, and the reciprocating screw drives the outer sleeve to move forward when rotating, and when the outer sleeve moves forward, the inner sleeve is driven forward by the first return spring, and the one-way screw is driven forward by the outer sleeve plate, and when the inner sleeve moves forward, the rack is driven forward by the T-shaped end plate; S2, when the outer sleeve moves forward to a first threshold, the rack meshes with the adjacent first gear, and as the rack continues to move forward, the first gear drives the driving sprocket to rotate through the second rotating shaft, and the driving sprocket drives the first rotating shaft to rotate through the chain and the driven sprocket, and the first rotating shaft rotates and drives the two first traveling wheels to rotate synchronously, so that the vehicle body drives the rotating image acquisition mechanism to move on the track; S3, when the outer sleeve moves forward to the second threshold, the front of the T-shaped end plate fits with the back of the limit block, and the limit block blocks the T-shaped end plate, so that the T-shaped end plate cannot continue to drive the rack forward, and the vehicle body moves. Subsequently, as the outer sleeve continues to move forward, the inner sleeve that cannot move forward compresses the first return spring, and the outer sleeve continues to drive the one-way screw forward. S4, when the outer sleeve moves forward to a third threshold, the end of the one-way screw enters the threaded hole on the inner side of the rotating disk. As the one-way screw continues to move forward, the rotating disk starts to rotate, and the rotating disk drives the connecting shaft to rotate synchronously. At this time, the blocking pin adjacent to the bracket blocks the bracket, thereby temporarily stopping the bracket. The CCD camera shoots the area in the current direction to complete the image acquisition at the current angle. S5. As the rotating disk continues to rotate, the force exerted by the blocking pin adjacent to the bracket on the torsion spring outside the connecting shaft gradually increases, and then the bracket pushes the blocking pin backward through the inclined guide surface. During the backward movement of the blocking pin, the second return spring is stretched. When the bracket completely pushes the blocking pin away, the torsion spring drives the bracket to contact the next inclined guide surface. At this time, the CCD camera takes a picture of the area in the current direction again to complete the image acquisition at the current angle. S6, when the outer sleeve moves forward to the fourth threshold, the CCD camera completes multi-angle image acquisition, and the outer sleeve moves to the front end of the reciprocating thread outside the reciprocating screw. Subsequently, as the reciprocating screw continues to rotate, the outer sleeve moves backward and resets. In the subsequent process of the outer sleeve, the one-way screw is driven to move backward continuously through the outer sleeve plate, thereby resetting the rotary image acquisition mechanism; S7, when the outer sleeve moves backwards to the fifth threshold, the compressed first return spring is restored, and as the outer sleeve continues to move backwards, the outer sleeve drives the inner sleeve backwards through the first return spring, and the inner sleeve drives the rack backwards through the T-shaped end plate. At this time, due to the limitation of the overrunning clutch, the first gear rotates under the drive of the rack, but cannot drive the second rotating shaft to rotate synchronously; S8, when the backward movement distance of the outer sleeve reaches the sixth threshold, the outer sleeve arrives at the initial position, that is, the rearmost end of the reciprocating thread outside the reciprocating screw, and then as the reciprocating screw continues to rotate, the outer sleeve moves forward again.

[0016] Technical effects and advantages of the present invention:

[0017] The present invention is provided with a first driving mechanism, a second driving mechanism, a first traveling mechanism, a rotating image acquisition mechanism and a blocking mechanism, so that the first driving mechanism drives the second driving mechanism to move forward, the second driving mechanism drives the first traveling mechanism to cooperate with the second traveling mechanism to travel a preset distance and stop, and then the second driving mechanism drives the rotating image acquisition mechanism to rotate, and the blocking mechanism performs multiple blocking during the rotation of the rotating image acquisition mechanism, so that the CCD camera in the rotating image acquisition mechanism can pause multiple times and complete multi-angle image acquisition in a static state. Compared with existing similar devices, the present invention effectively reduces the production and operation costs of the equipment by reducing the number of CCD cameras and auxiliary light sources, and can complete periodic pauses in movement and image acquisition operations at the same time, saving manpower while achieving higher movement accuracy, thereby avoiding image omission or over-sampling, and preventing adverse effects on subsequent image processing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic structural diagram of the first driving mechanism and the second driving mechanism of the present invention; Figure 3 It is a schematic structural diagram of the first traveling mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of the rotary image acquisition mechanism and the blocking mechanism of the present invention; Figure 5 It is a schematic diagram of the structure of the second traveling mechanism of the present invention.

[0019] In the figure: 1, vehicle body; 11, bottom plate; 12, column; 13, top plate; 14, inverted U-shaped frame; 2, first driving mechanism; 21, reciprocating screw; 22, first driving motor; 23, outer sleeve; 24, first return spring; 25, inner sleeve; 3, second driving mechanism; 31, T-shaped end plate; 32, rack; 33, outer plate; 34, one-way screw; 35, T-shaped guide rail; 36, limit block; 4, first travel mechanism; 41, first mounting plate; 42, first rotating shaft; 43, first travel wheel; 44, driven Sprocket; 45, second mounting plate; 46, second rotating shaft; 47, driving sprocket; 48, chain; 49, first gear; 5, rotating image acquisition mechanism; 51, rotating disk; 52, connecting shaft; 53, bracket; 54, CCD camera; 55, auxiliary light source; 6, blocking mechanism; 61, blocking pin; 62, inclined guide surface; 63, second return spring; 7, second travel mechanism; 71, third mounting plate; 72, third rotating shaft; 73, second travel wheel; 74, second gear; 75, second drive motor. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The present invention provides Figure 1-Figure 5 A tunnel inspection image acquisition device shown in the figure comprises a vehicle body 1, a first driving mechanism 2 is arranged inside the vehicle body 1, a second driving mechanism 3 is arranged at the end and outside of the first driving mechanism 2, a first traveling mechanism 4 is arranged inside the vehicle body 1 and at the front side of the bottom of the vehicle body 1, a rotating image acquisition mechanism 5 is arranged at the front of the vehicle body 1, a blocking mechanism 6 is arranged outside the rotating image acquisition mechanism 5, and a second traveling mechanism 7 is arranged at the rear end of the bottom of the vehicle body 1; The first driving mechanism 2 drives the second driving mechanism 3 to move forward, the second driving mechanism 3 drives the first traveling mechanism 4 to cooperate with the second traveling mechanism 7 to travel a preset distance and stop, the second driving mechanism 3 drives the rotary image acquisition mechanism 5 to rotate, and the blocking mechanism 6 performs multiple blocking during the rotation of the rotary image acquisition mechanism 5 to complete multi-angle image acquisition.

[0022] like Figure 1 As shown, the vehicle body 1 includes a bottom plate 11, columns 12, a top plate 13 and an inverted U-shaped frame 14, wherein four columns 12 are provided, and the four columns 12 are respectively fixedly provided at the four corners of the top of the bottom plate 11, the top plate 13 is fixedly provided at the top ends of the four columns 12, and the inverted U-shaped frame 14 is fixedly provided at the top of the top plate 13.

[0023] like Figure 2 As shown, the first driving mechanism 2 includes a reciprocating screw 21, a first driving motor 22, an outer sleeve 23, a first return spring 24 and an inner sleeve 25, wherein the reciprocating screw 21 passes through the rear end of the inverted U-shaped frame 14 and extends to the inner side of the inverted U-shaped frame 14 and is rotatably connected to the inverted U-shaped frame 14 through a bearing, the first driving motor 22 is fixedly arranged at the rear end of the inverted U-shaped frame 14 and is transmission-connected to the reciprocating screw 21, the outer sleeve 23, the first return spring 24 and the inner sleeve 25 are sequentially sleeved and arranged on the outer side of the reciprocating screw 21 from back to front, the outer sleeve 23 is transmission-connected to the reciprocating screw 21, the first return spring 24 is fixedly connected between the outer sleeve 23 and the inner sleeve 25, the inner sleeve 25 is slidably connected to the reciprocating screw 21 and is slidably arranged on the inner side of the outer sleeve 23.

[0024] like Figure 2 As shown, the second driving mechanism 3 includes a T-shaped end plate 31, a rack 32, an outer sleeve 33, a one-way screw 34, a T-shaped guide rail 35 and a limit block 36, wherein the T-shaped end plate 31 is fixedly arranged at the front end of the inner sleeve 25, two racks 32 are provided, and the two racks 32 are respectively fixedly arranged at the two ends of the front side of the T-shaped end plate 31, the outer sleeve 33 is fixedly sleeved at the outer front end of the outer sleeve 23, the one-way screw 34 is fixedly arranged at the top of the front side of the outer sleeve 23, the T-shaped guide rail 35 is fixedly arranged at the top of the top plate 13, the T-shaped end plate 31 and the outer sleeve 33 are both slidably sleeved on the outside of the T-shaped guide rail 35, and the limit block 36 is fixedly arranged at the top front end of the T-shaped guide rail 35.

[0025] By setting the above-mentioned first driving mechanism 2 and second driving mechanism 3, the first driving motor 22 can drive the reciprocating screw 21 to rotate after starting, and the reciprocating screw 21 drives the outer sleeve 23 to move forward when rotating. When the outer sleeve 23 moves forward, the inner sleeve 25 is driven forward by the first return spring 24, and the one-way screw 34 is driven forward by the outer sleeve plate 33. When the inner sleeve 25 moves forward, the rack 32 is driven forward by the T-shaped end plate 31. When the front side of the T-shaped end plate 31 is in contact with the back side of the limit block 36, the limit block 36 blocks the T-shaped end plate 31, and the T-shaped end plate 31 cannot continue to drive the rack 32 forward. The vehicle body 1 has completed its travel. Subsequently, as the outer sleeve 23 continues to move forward, the inner sleeve 25, which is also unable to move forward, compresses the first return spring 24, and at the same time, the outer sleeve plate 33 continues to drive the one-way screw 34 forward.

[0026] like Figure 3 As shown, the first travel mechanism 4 includes a first mounting plate 41, a first rotating shaft 42, a first traveling wheel 43, a driven sprocket 44, a second mounting plate 45, a second rotating shaft 46, a driving sprocket 47, a chain 48 and a first gear 49, wherein the first mounting plate 41 is fixedly arranged at the bottom front end of the base plate 11, the first rotating shaft 42 passes through the first mounting plate 41 and is rotatably connected to the first mounting plate 41 through a bearing, the first traveling wheel 43 is fixedly sleeved at the outer end of the first rotating shaft 42, the driven sprocket 44 is fixedly sleeved at the middle of the outer side of the first rotating shaft 42, the second mounting plate 45 is fixedly arranged at the top front end of the top plate 13, the second rotating shaft 46 passes through the second mounting plate 45 and is rotatably connected to the second mounting plate 45 through a bearing, the driving sprocket 47 is fixedly sleeved at the middle of the outer side of the second rotating shaft 46, the chain 48 is transmission sleeved at the outer sides of the driven sprocket 44 and the driving sprocket 47, and the first gear 49 is connected to the end of the second rotating shaft 46 through an overrunning clutch.

[0027] By setting the above structure, after the rack 32 is meshed with the adjacent first gear 49, as the rack 32 continues to move forward, the first gear 49 drives the driving sprocket 47 to rotate through the second rotating shaft 46, and the driving sprocket 47 drives the first rotating shaft 42 to rotate through the chain 48 and the driven sprocket 44. When the first rotating shaft 42 rotates, it drives the two first traveling wheels 43 to rotate synchronously, so that the vehicle body 1 drives the rotating image acquisition mechanism 5 to travel a preset distance on the track. When the rack 32 is subsequently moved backward and reset, due to the limitation of the overrunning clutch, the first gear 49 rotates under the drive of the rack 32, but cannot drive the second rotating shaft 46 to rotate synchronously.

[0028] like Figure 4As shown, the rotating image acquisition mechanism 5 includes a rotating disk 51, a connecting shaft 52, a bracket 53, a CCD camera 54 and two auxiliary light sources 55, wherein the rotating disk 51 is rotatably nested at the front end of the inverted U-shaped frame 14 through a bearing, a threaded hole is opened on the inner side of the rotating disk 51, the connecting shaft 52 is fixedly arranged at the front edge of the rotating disk 51, the bracket 53 is rotatably sleeved at the outer front end of the connecting shaft 52 through a bearing, a torsion spring is sleeved on the outer side of the connecting shaft 52, and the torsion spring is fixedly connected between the rotating disk 51 and the bracket 53, the CCD camera 54 and the two auxiliary light sources 55 are fixedly arranged at the end of the bracket 53, and a blocking block is fixedly arranged on the right side of the front end of the bottom plate 11, and the blocking block is in contact with the bottom of the adjacent auxiliary light source 55 and blocks it.

[0029] like Figure 4 As shown, the blocking mechanism 6 includes a plurality of blocking components evenly distributed on the outside of the rotating disk 51, and any group of the blocking components includes a blocking pin 61, an inclined guide surface 62 and a second return spring 63, wherein the blocking pin 61 slides through the inner wall of the inverted U-shaped frame 14 and extends to the front side of the inverted U-shaped frame 14, the inclined guide surface 62 is opened at the front end of the outer side of the blocking pin 61, and the second return spring 63 is sleeved on the outer side of the blocking pin 61 and fixedly connected between the blocking pin 61 and the inner wall of the inverted U-shaped frame 14.

[0030] By setting the above-mentioned rotating image acquisition mechanism 5 and blocking mechanism 6, after the end of the one-way screw 34 enters the threaded hole inside the rotating disk 51, as the one-way screw 34 continues to move forward, the rotating disk 51 starts to rotate, and the rotating disk 51 drives the connecting shaft 52 to rotate synchronously when rotating. At this time, the blocking pin 61 adjacent to the bracket 53 blocks the bracket 53, thereby temporarily stopping the bracket 53, and the CCD camera 54 shoots the area currently facing to complete the image acquisition at the current angle. As the rotating disk 51 continues to rotate, the blocking pin 61 adjacent to the bracket 53 The force applied by the adjacent blocking pin 61 to the torsion spring on the outer side of the connecting shaft 52 gradually increases, and then the bracket 53 pushes the blocking pin 61 backward through the inclined guide surface 62. During the backward movement of the blocking pin 61, the second reset spring 63 is stretched. When the bracket 53 completely pushes the blocking pin 61 away, the torsion spring drives the bracket 53 to contact the next inclined guide surface 62. At this time, the CCD camera 54 shoots the area in the current direction again to complete the image acquisition at the current angle. After repeating the above operation many times, the CCD camera 54 can complete multi-angle image acquisition.

[0031] like Figure 5As shown, the second traveling mechanism 7 includes a third mounting plate 71, a third rotating shaft 72, a second traveling wheel 73, a second gear 74 and a second driving motor 75, wherein the third mounting plate 71 is fixedly arranged at the rear end of the bottom of the base plate 11, the third rotating shaft 72 passes through the third mounting plate 71 and is rotatably connected to the third mounting plate 71 through a bearing, the second traveling wheel 73 is fixedly sleeved at the end of the third rotating shaft 72, two second gears 74 are provided and mesh with each other, one of the second gears 74 is fixedly sleeved at the middle part of the outer side of the third rotating shaft 72, and the other second gear 74 is transmission-connected to the second driving motor 75, and the second driving motor 75 is fixedly arranged at the rear end of the bottom of the base plate 11.

[0032] By setting the above structure, the second traveling wheel 73 can cooperate with the first traveling wheel 43 to support the vehicle body 1. In addition, after the subsequent detection is completed, the second driving motor 75 is started, and the second driving motor 75 drives the third rotating shaft 72 to rotate through the second gear 74. When the third rotating shaft 72 rotates, it drives the second traveling wheel 73 to rotate, so that the device returns to the initial position along the track, so as to facilitate the operator to recover the device.

[0033] The present invention also discloses a tunnel inspection method of a tunnel inspection image acquisition device, which is implemented using the above-mentioned tunnel inspection image acquisition device. The method specifically comprises the following steps: S1. Place the first traveling wheel 43 and the second traveling wheel 73 on the track, start the first driving motor 22, and after the first driving motor 22 is started, the reciprocating screw 21 is driven to rotate. When the reciprocating screw 21 rotates, the outer sleeve 23 is driven to move forward. When the outer sleeve 23 moves forward, the inner sleeve 25 is driven forward through the first return spring 24, and the one-way screw 34 is driven forward through the outer sleeve plate 33. When the inner sleeve 25 moves forward, the rack 32 is driven forward through the T-shaped end plate 31; S2, when the outer sleeve 23 moves forward to a first threshold, the rack 32 meshes with the adjacent first gear 49, and as the rack 32 continues to move forward, the first gear 49 drives the driving sprocket 47 to rotate through the second rotating shaft 46, and the driving sprocket 47 drives the first rotating shaft 42 to rotate through the chain 48 and the driven sprocket 44, and when the first rotating shaft 42 rotates, it drives the two first traveling wheels 43 to rotate synchronously, so that the vehicle body 1 drives the rotating image acquisition mechanism 5 to move on the track; S3, when the outer sleeve 23 moves forward to a second threshold, the front of the T-shaped end plate 31 is in contact with the back of the limit block 36, and the limit block 36 blocks the T-shaped end plate 31, so that the T-shaped end plate 31 cannot continue to drive the rack 32 forward, and the vehicle body 1 has completed its travel. Subsequently, as the outer sleeve 23 continues to move forward, the inner sleeve 25, which is also unable to move forward, compresses the first return spring 24, and the outer sleeve 33 continues to drive the one-way screw 34 forward. S4, when the outer sleeve 23 moves forward to a third threshold, the end of the one-way screw 34 enters the threaded hole inside the rotating disk 51. As the one-way screw 34 continues to move forward, the rotating disk 51 starts to rotate. The rotating disk 51 drives the connecting shaft 52 to rotate synchronously. At this time, the blocking pin 61 adjacent to the bracket 53 blocks the bracket 53, thereby temporarily stopping the bracket 53. The CCD camera 54 shoots the area currently facing to complete the image acquisition at the current angle. S5. As the rotating disk 51 rotates continuously, the force exerted by the blocking pin 61 adjacent to the bracket 53 on the torsion spring outside the connecting shaft 52 gradually increases, and then the bracket 53 pushes the blocking pin 61 backward through the inclined guide surface 62. During the backward movement of the blocking pin 61, the second return spring 63 is stretched. When the bracket 53 completely pushes the blocking pin 61 away, the torsion spring drives the bracket 53 to contact the next inclined guide surface 62. At this time, the CCD camera 54 takes a picture of the area facing the current direction again to complete the image acquisition at the current angle. S6, when the outer sleeve 23 moves forward to a fourth threshold, the CCD camera 54 completes multi-angle image acquisition, and at the same time, the outer sleeve 23 moves to the front end of the reciprocating thread outside the reciprocating screw 21, and then as the reciprocating screw 21 continues to rotate, the outer sleeve 23 moves backward and resets. In the subsequent process, the outer sleeve 23 drives the one-way screw 34 to continue to move backward through the outer sleeve plate 33, thereby resetting the rotary image acquisition mechanism 5; S7, when the outer sleeve 23 moves backwards by a distance reaching a fifth threshold, the compressed first return spring 24 is restored, and subsequently as the outer sleeve 23 continues to move backwards, the outer sleeve 23 drives the inner sleeve 25 backwards through the first return spring 24, and the inner sleeve 25 drives the rack 32 backwards through the T-shaped end plate 31. At this time, due to the limitation of the overrunning clutch, the first gear 49 rotates under the drive of the rack 32, but cannot drive the second rotating shaft 46 to rotate synchronously; S8, when the backward movement distance of the outer sleeve 23 reaches the sixth threshold, the outer sleeve 23 arrives at the initial position, that is, the rearmost end of the reciprocating thread outside the reciprocating screw 21, and then as the reciprocating screw 21 continues to rotate, the outer sleeve 23 moves forward again.

[0034] It should also be noted that the first threshold, the second threshold, the third threshold and the fourth threshold increase in sequence, and the fifth threshold and the sixth threshold increase in sequence. At the same time, the first threshold, the second threshold, the third threshold, the fourth threshold, the fifth threshold and the sixth threshold are recorded for the convenience of accurately describing the actual working conditions of the scheme; When the solution of the present application is actually produced, according to the actual specifications of the T-shaped end plate 31, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, the fifth threshold value and the sixth threshold value are all specific values.

[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A tunnel inspection image acquisition device, characterized in that: The vehicle comprises a vehicle body (1), wherein a first driving mechanism (2) is arranged on the inner side of the vehicle body (1), a second driving mechanism (3) is arranged on the end and the outer side of the first driving mechanism (2), a first traveling mechanism (4) is arranged on the inner side of the vehicle body (1) and the front side of the bottom of the vehicle body (1), a rotating image acquisition mechanism (5) is arranged on the front side of the vehicle body (1), a blocking mechanism (6) is arranged on the outer side of the rotating image acquisition mechanism (5), and a second traveling mechanism (7) is arranged on the rear end of the bottom of the vehicle body (1); The first driving mechanism (2) drives the second driving mechanism (3) to move forward, the second driving mechanism (3) drives the first traveling mechanism (4) to cooperate with the second traveling mechanism (7) to travel a preset distance and then stop, the second driving mechanism (3) drives the rotary image acquisition mechanism (5) to rotate, and the blocking mechanism (6) performs multiple blocking operations during the rotation of the rotary image acquisition mechanism (5) to complete multi-angle image acquisition.

2. A tunnel inspection image acquisition device according to claim 1, characterized in that: The vehicle body (1) comprises a bottom plate (11), a column (12), a top plate (13) and an inverted U-shaped frame (14); Four upright posts (12) are provided, and the four upright posts (12) are respectively fixedly provided at the four corners of the top of the bottom plate (11), the top plate (13) is fixedly provided at the top ends of the four upright posts (12), and the inverted U-shaped frame (14) is fixedly provided at the top of the top plate (13).

3. A tunnel inspection image acquisition device according to claim 2, characterized in that: The first driving mechanism (2) comprises a reciprocating screw (21), a first driving motor (22), an outer sleeve (23), a first return spring (24) and an inner sleeve (25); The reciprocating screw (21) passes through the rear end of the inverted U-shaped frame (14) and extends to the inner side of the inverted U-shaped frame (14) and is rotatably connected to the inverted U-shaped frame (14) via a bearing. The first driving motor (22) is fixedly arranged at the rear end of the inverted U-shaped frame (14) and is transmission-connected to the reciprocating screw (21). The outer sleeve (23), the first return spring (24) and the inner sleeve (25) are sequentially sleeved and arranged on the outer side of the reciprocating screw (21) from back to front. The outer sleeve (23) is transmission-connected to the reciprocating screw (21). The first return spring (24) is fixedly connected between the outer sleeve (23) and the inner sleeve (25). The inner sleeve (25) is slidably connected to the reciprocating screw (21) and is slidably arranged on the inner side of the outer sleeve (23).

4. A tunnel inspection image acquisition device according to claim 3, characterized in that: The second driving mechanism (3) comprises a T-shaped end plate (31), a rack (32), an outer sleeve plate (33), a one-way screw (34), a T-shaped guide rail (35) and a limit block (36); The T-shaped end plate (31) is fixedly arranged at the front end of the inner sleeve (25); two racks (32) are provided, and the two racks (32) are respectively fixedly arranged at the two ends of the front face of the T-shaped end plate (31); the outer sleeve plate (33) is fixedly sleeved at the front end of the outer sleeve (23); the one-way screw (34) is fixedly arranged at the top of the front face of the outer sleeve plate (33); the T-shaped guide rail (35) is fixedly arranged at the top of the top plate (13); the T-shaped end plate (31) and the outer sleeve plate (33) are both slidably sleeved at the outside of the T-shaped guide rail (35); and the limit block (36) is fixedly arranged at the front end of the top of the T-shaped guide rail (35).

5. The tunnel inspection image acquisition device according to claim 4, characterized in that: The first traveling mechanism (4) comprises a first mounting plate (41), a first rotating shaft (42), a first traveling wheel (43), a driven sprocket (44), a second mounting plate (45), a second rotating shaft (46), a driving sprocket (47), a chain (48) and a first gear (49); The first mounting plate (41) is fixedly arranged at the front end of the bottom of the base plate (11); the first rotating shaft (42) passes through the first mounting plate (41) and is rotatably connected to the first mounting plate (41) via a bearing; the first traveling wheel (43) is fixedly sleeved at the outer end of the first rotating shaft (42); the driven sprocket (44) is fixedly sleeved at the middle of the outer side of the first rotating shaft (42); the second mounting plate (45) is fixedly arranged at the front end of the top of the top plate (13); the second rotating shaft (46) passes through the second mounting plate (45) and is rotatably connected to the second mounting plate (45) via a bearing; the driving sprocket (47) is fixedly sleeved at the middle of the outer side of the second rotating shaft (46); the chain (48) transmission sleeve is arranged on the outer sides of the driven sprocket (44) and the driving sprocket (47); and the first gear (49) is connected to the end of the second rotating shaft (46) via an overrunning clutch.

6. A tunnel inspection image acquisition device according to claim 5, characterized in that: The rotating image acquisition mechanism (5) comprises a rotating disk (51), a connecting shaft (52), a bracket (53), a CCD camera (54) and two auxiliary light sources (55); The rotating disk (51) is rotatably nested at the front end of the inverted U-shaped frame (14) via a bearing, a threaded hole is provided on the inner side of the rotating disk (51), the connecting shaft (52) is fixedly provided at the front edge of the rotating disk (51), the bracket (53) is rotatably sleeved at the outer front end of the connecting shaft (52) via a bearing, a torsion spring is sleeved on the outer side of the connecting shaft (52), the torsion spring is fixedly connected between the rotating disk (51) and the bracket (53), the CCD camera (54) and the two auxiliary light sources (55) are fixedly provided at the end of the bracket (53), and a blocking block is fixedly provided at the right side of the front end of the bottom plate (11), the blocking block is in contact with the bottom of the adjacent auxiliary light source (55) and blocks it.

7. The tunnel inspection image acquisition device according to claim 6, characterized in that: The blocking mechanism (6) comprises a plurality of groups of blocking components evenly distributed on the outside of the rotating disk (51), and any group of the blocking components comprises a blocking pin (61), an inclined guide surface (62) and a second return spring (63); The blocking pin (61) slides through the inner wall of the inverted U-shaped frame (14) and extends to the front face of the inverted U-shaped frame (14); the inclined guide surface (62) is provided at the front end of the outer side of the blocking pin (61); and the second return spring (63) is sleeved on the outer side of the blocking pin (61) and fixedly connected between the blocking pin (61) and the inner wall of the inverted U-shaped frame (14).

8. The tunnel inspection image acquisition device according to claim 7, characterized in that: The second traveling mechanism (7) comprises a third mounting plate (71), a third rotating shaft (72), a second traveling wheel (73), a second gear (74) and a second driving motor (75); The third mounting plate (71) is fixedly arranged at the rear end of the bottom of the base plate (11); the third rotating shaft (72) passes through the third mounting plate (71) and is rotationally connected to the third mounting plate (71) via a bearing; the second traveling wheel (73) is fixedly sleeved at the end of the third rotating shaft (72); two second gears (74) are provided and mesh with each other, one of the second gears (74) is fixedly sleeved at the middle of the outer side of the third rotating shaft (72); the other second gear (74) is transmission-connected to a second drive motor (75); and the second drive motor (75) is fixedly arranged at the rear end of the bottom of the base plate (11).

9. A tunnel inspection method using a tunnel inspection image acquisition device, characterized in that: The method is implemented using a tunnel inspection image acquisition device as claimed in claim 8, and specifically comprises the following steps: S1, placing the first traveling wheel (43) and the second traveling wheel (73) on the track, starting the first driving motor (22), and driving the reciprocating screw (21) to rotate after the first driving motor (22) is started. When the reciprocating screw (21) rotates, it drives the outer sleeve (23) to move forward. When the outer sleeve (23) moves forward, it drives the inner sleeve (25) to move forward through the first return spring (24), and drives the one-way screw (34) to move forward through the outer sleeve plate (33). When the inner sleeve (25) moves forward, it drives the rack (32) to move forward through the T-shaped end plate (31); S2, when the outer sleeve (23) moves forward a distance that reaches a first threshold, the rack (32) meshes with the adjacent first gear (49), and as the rack (32) continues to move forward, the first gear (49) drives the driving sprocket (47) to rotate via the second rotating shaft (46), and the driving sprocket (47) drives the first rotating shaft (42) to rotate via the chain (48) and the driven sprocket (44), and when the first rotating shaft (42) rotates, the two first traveling wheels (43) are driven to rotate synchronously, thereby causing the vehicle body (1) to drive the rotating image acquisition mechanism (5) to travel on the track; S3, when the forward movement distance of the outer sleeve (23) reaches the second threshold value, the front face of the T-shaped end plate (31) is in contact with the back face of the limit block (36), and at this time, the limit block (36) blocks the T-shaped end plate (31), and the T-shaped end plate (31) cannot continue to drive the rack (32) forward, and the vehicle body (1) has completed its movement. Subsequently, as the outer sleeve (23) continues to move forward, the inner sleeve (25) which is also unable to move forward compresses the first return spring (24), and at the same time, the outer sleeve (33) continues to drive the one-way screw (34) forward; S4, when the forward movement distance of the outer sleeve (23) reaches a third threshold value, the end of the one-way screw (34) enters the threaded hole inside the rotating disk (51), and as the one-way screw (34) continues to move forward, the rotating disk (51) starts to rotate, and the rotating disk (51) drives the connecting shaft (52) to rotate synchronously. At this time, the blocking pin (61) adjacent to the bracket (53) blocks the bracket (53), thereby temporarily stopping the bracket (53), and the CCD camera (54) shoots the area of ​​the current orientation to complete the image acquisition at the current angle; S5. As the rotating disk (51) continues to rotate, the force exerted by the blocking pin (61) adjacent to the bracket (53) on the torsion spring on the outer side of the connecting shaft (52) gradually increases, and then the bracket (53) pushes the blocking pin (61) backward through the inclined guide surface (62). During the backward movement of the blocking pin (61), the second return spring (63) is stretched. When the bracket (53) completely pushes the blocking pin (61), the torsion spring drives the bracket (53) to contact the next inclined guide surface (62). At this time, the CCD camera (54) again shoots the area in the current direction to complete the image acquisition at the current angle; S6, when the forward movement distance of the outer sleeve (23) reaches a fourth threshold value, the CCD camera (54) completes multi-angle image acquisition, and at the same time, the outer sleeve (23) moves to the front end of the reciprocating thread outside the reciprocating screw (21), and then as the reciprocating screw (21) continues to rotate, the outer sleeve (23) moves backward and resets, and in the subsequent process, the outer sleeve (23) drives the one-way screw (34) to continue to move backward through the outer sleeve plate (33), thereby resetting the rotary image acquisition mechanism (5); S7, when the backward movement distance of the outer sleeve (23) reaches a fifth threshold value, the compressed first return spring (24) is restored, and subsequently as the outer sleeve (23) continues to move backward, the outer sleeve (23) drives the inner sleeve (25) to move backward through the first return spring (24), and the inner sleeve (25) drives the rack (32) to move backward through the T-shaped end plate (31). At this time, due to the limitation of the overrunning clutch, the first gear (49) rotates under the drive of the rack (32), but cannot drive the second rotating shaft (46) to rotate synchronously; S8, when the backward movement distance of the outer sleeve (23) reaches the sixth threshold value, the outer sleeve (23) arrives at the initial position, that is, the rearmost end of the reciprocating thread on the outer side of the reciprocating screw (21), and subsequently, as the reciprocating screw (21) continues to rotate, the outer sleeve (23) moves forward again.

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