Vehicle-mounted road crack detection equipment capable of being operated at night and road crack detection method

Abstract

The invention is suitable for the technical field of environmental sanitation equipment, and provides vehicle-mounted road crack detection equipment capable of being operated at night and a road crack detection method. An optical detection module, an ultrasonic detection module, a bottom probe driving track, a side probe driving track, a night light supplementing module, a road surface soot blowing module and a monitoring host are mounted at different positions of the equipment mounting vehicle, and the optical detection module comprises a line scanning camera; the line scanning camera can carry out optical image acquisition and preliminary identification on the road surface crack, the ultrasonic detection module carries out detailed detection on the interior of the road crack through an ultrasonic reflection principle, and the detection efficiency is improved through a mode of combining the optical detection module and the ultrasonic detection module. The line scanning camera quickly finds out the position where the road crack possibly occurs, then the probe detection unit is close to the position of the road crack, the internal condition of the road crack is specifically detected, and the detection efficiency is improved.

Description

Technical Field

[0001] The present invention is applicable to the technical field of road detection, and provides a vehicle-mounted road crack detection device and a road crack detection method which can be operated at night. Background Art

[0002] In the development of social economy, highway construction has provided great help. The huge highway network supports the logistics lifeline of modern social economy. The quality of road traffic directly affects the smoothness of traffic. The quality of road traffic mainly depends on the flatness of its surface. In addition to the quality assurance of construction in the early stage of construction, the bumps and cracks of the road surface also need to be repaired in a timely and comprehensive manner in the later stage to ensure the smoothness of road traffic. Before repairing the cracks in the road, it is necessary to find the cracks in the road in time. The common method at present is that maintenance personnel use naked eyes and other methods to detect along the road to find road cracks, but this detection method is extremely inefficient. At the same time, it can only be found when the cracks expand to a certain range. At this time, it is too late to repair. At the same time, the analysis of the situation inside the cracks mostly relies on maintenance personnel to detect the cracks in the road through manual detection by handheld ultrasonic crack detectors and other equipment, which is extremely inefficient. At the same time, the above method is only suitable for daytime due to the need for light. There are only dim street lights at night, and some places even have no street lights. It is impossible to perform detection operations manually, but it is very dangerous on the road during the day and is not suitable for detection operations. Summary of the invention

[0003] To this end, the present invention provides a vehicle-mounted road crack detection device and a road crack detection method that can be operated at night. The equipment required for detecting road cracks is installed on the rear of the car, and the detection efficiency is improved by combining an optical detection module with an ultrasonic detection module. The line scanning camera of the optical detection module performs optical image recognition on the road to quickly find the location where the road cracks may appear, and then the probe detection unit of the ultrasonic detection module approaches the road crack location and uses the ultrasonic reflection principle to specifically detect the internal situation of the road crack, thereby improving the detection efficiency.

[0004] In order to achieve the above object, the present invention provides the following technical solution: a vehicle-mounted road crack detection device that can be operated at night, comprising:

[0005] Equipment installation vehicle, used to carry various modules and move on the road;

[0006] The optical detection module includes a camera displacement driving track arranged at the upper part of the rear end of the equipment installation vehicle, the camera displacement driving track is driven by a camera rotating device, the camera displacement driving track is used to drive the camera rotating device to translate left and right, and the rotating part of the camera rotating device is fixedly provided with a line scanning camera;

[0007] The ultrasonic detection module includes an ultrasonic generator and at least one probe detection unit, wherein the probe detection unit includes an automatic probe telescopic rod and an ultrasonic sensing probe, wherein the ultrasonic sensing probe is fixedly connected to the telescopic end of the automatic probe telescopic rod, and the ultrasonic sensing probe is electrically connected to the ultrasonic generator through a wiring harness;

[0008] The bottom probe driving track is fixedly arranged at the lower part of the rear end of the equipment installation vehicle, and the bottom probe driving track is provided with a bottom displacement seat capable of left and right translation, and the bottom displacement seat is fixedly provided with the aforementioned probe detection unit;

[0009] A nighttime fill light module is fixedly mounted on the lower side of the rear end of the equipment installation vehicle and includes at least one infrared fill light;

[0010] The monitoring host is arranged in the equipment installation vehicle and is electrically connected to the aforementioned optical detection module, ultrasonic detection module, bottom probe driving track and nighttime fill light module.

[0011] Furthermore, it also includes two side probe driving rails, which are fixedly arranged on the left and right sides of the rear end of the equipment installation vehicle respectively. The side probe driving rail is provided with a side displacement seat that can be translated up and down, and the side displacement seat is fixedly provided with a probe detection unit.

[0012] Furthermore, the rotating part of the camera rotating device is fixedly provided with a probe detection unit.

[0013] Furthermore, it also includes a road surface soot blowing module, which is electrically connected to the monitoring host. The road surface soot blowing module includes a soot blowing lifting device and a high-pressure air cavity. The soot blowing lifting device is used to drive the high-pressure air cavity to rise and fall, and the high-pressure air cavity is provided with a plurality of blowing nozzles facing downward.

[0014] Furthermore, the infrared fill light is arranged to face obliquely rearward, and the road surface soot blowing module is arranged in front of the night fill light module.

[0015] Furthermore, the probe detection unit also includes a spring reel, which is arranged between the ultrasonic sensing probe and the ultrasonic generator and is used to automatically receive the wire harness between the ultrasonic sensing probe and the ultrasonic generator.

[0016] A road crack detection method using the vehicle-mounted road crack detection device capable of operating at night is also provided, comprising the following steps:

[0017] S1. Move the line scan camera to the middle of the road to be inspected through the camera displacement driving track, and then rotate the line scan camera to an angle facing the road through the camera rotating device, and at the same time, lower the high-pressure air cavity to the blowing nozzle close to the ground through the soot blowing lifting device;

[0018] S2. Start the equipment installation vehicle, control the equipment installation vehicle to move along the road direction, the high-pressure air chamber starts to supply air to the blowing nozzle and blows air to the road surface through the blowing nozzle, and at the same time, turn on the wired scanning camera, transmit the road surface conditions to the monitoring host through the wired scanning camera, and identify the road surface conditions through the software. Once the road cracks are identified, stop the equipment installation vehicle and start the following S3 step;

[0019] S3. The high-pressure air chamber stops supplying air, and the bottom probe drives the track to drive the ultrasonic sensing probe to move above the position where the road crack appears. Then, the ultrasonic sensing probe is moved close to the road crack through the automatic telescopic rod of the probe, and then the ultrasonic sensing probe is used in conjunction with the ultrasonic generator to perform ultrasonic detection on the road crack, and the detection results are transmitted to the monitoring host;

[0020] After step S4.S3 is completed, the ultrasonic sensing probe returns to its initial position, and then step S2 is repeated until the next road crack is identified.

[0021] In a further scheme, step S5 is also included:

[0022] S5, tunnel detection step, when the equipment installation vehicle passes through the road tunnel, it can perform crack detection on the left and right side walls and the top wall of the road tunnel as required:

[0023] When crack detection is performed on the side wall of a road tunnel, the line scan camera is rotated to an angle facing the side wall of the road tunnel through the camera rotation device, and then the surface condition of the side wall of the road tunnel is transmitted to the monitoring host through the line scan camera. The surface condition of the side wall of the tunnel is identified through the software. Once cracks in the side wall of the tunnel are identified, the equipment installation vehicle is stopped. At this time, the side probe driving track drives the ultrasonic sensing probe to move to the height position where cracks on the tunnel surface appear, and then the ultrasonic sensing probe is moved close to the cracks on the tunnel surface through the automatic telescopic rod of the probe. Finally, the ultrasonic sensing probe is used in conjunction with the ultrasonic generator to perform ultrasonic detection on the road cracks, and the detection results are transmitted to the monitoring host;

[0024] When crack detection is performed on the top wall of a road tunnel, the line scan camera is rotated to an angle facing the top wall of the road tunnel through the camera rotation device, and then the surface conditions of the side walls of the road tunnel are transmitted to the monitoring host through the line scan camera. The surface conditions of the top wall of the tunnel are identified through the software. Once cracks in the top wall of the tunnel are identified, the equipment installation vehicle is stopped. At this time, the camera rotation device rotates the ultrasonic sensing probe set therein to face the cracks in the top wall of the tunnel, and then the ultrasonic sensing probe is moved close to the cracks in the top wall of the tunnel through the automatic telescopic rod of the probe. Finally, the ultrasonic sensing probe is used in conjunction with the ultrasonic generator to perform ultrasonic detection of the road cracks, and the detection results are transmitted to the monitoring host.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention adopts a combination of a line scan camera and an ultrasonic detection module. With a conventional car as a carrier, the line scan camera can quickly perform optical image screening on the road. The road image captured by the line scan camera is analyzed by the software of the monitoring host to determine the position with crack risk. Then, the bottom probe drives the track to drive the probe detection unit to the crack risk position, and the position is inspected by the ultrasonic reflection principle. The internal situation of the crack at the position is confirmed in detail and the final result is fed back to the monitoring host. The combination of the two detection methods greatly improves the detection efficiency of road cracks.

[0027] 2. Use infrared fill light to fill in light at night, so that the optical detection module can still capture images in low light conditions. At the same time, compared with traditional cameras with integrated infrared fill light modules, this separate infrared fill light can be set at the lower end of the car chassis, closer to the road surface that needs to be illuminated, and has a better fill light effect;

[0028] 3. Through the cooperation of the camera rotation device and the camera displacement drive track, the line scan camera can be translated left and right and the shooting angle can be rotated 360°. Compared with the fixed setting, this method can not only adjust the shooting path more flexibly, but also realize the surface crack detection of the inner wall of the road tunnel;

[0029] 4. Set up a road dust blowing module. Before the online scanning camera captures the image of the road, blow air to the road surface through the air nozzle to blow away the debris on the road surface that affects the detection, thereby improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of a vehicle-mounted road crack detection device that can be operated at night as mentioned in Example 1;

[0031] Figure 2 for Figure 1A local enlarged schematic diagram of the middle A;

[0032] Figure 3 is a schematic structural diagram of the optical detection module mentioned in Example 1;

[0033] Figure 4 This is a schematic diagram of the structure of a vehicle-mounted road crack detection device that can be operated at night as mentioned in Example 2;

[0034] Figure 5 This is a schematic diagram of the structure of the optical detection module mentioned in Example 2.

[0035] In the figure:

[0036] 100. Equipment installation vehicle;

[0037] 200, optical detection module, 210, camera displacement driving track, 220, camera rotation device, 230, line scanning camera;

[0038] 300, bottom probe driving track;

[0039] 400. Ultrasonic generator;

[0040] 500, probe detection unit, 510, probe automatic telescopic rod, 520, ultrasonic induction probe;

[0041] 600, road surface soot blowing module, 610, soot blowing lifting device, 620, high pressure air cavity, 630, air blowing nozzle;

[0042] 700, infrared fill light;

[0043] 800, side probe drive track. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0045] Example 1, refer to the attached Figure 1The present invention provides a vehicle-mounted road crack detection device that can be operated at night, including a device installation vehicle 100 for carrying various modules and moving on the road. The device installation vehicle 100 is generally modified from a common small car (such as a commercial vehicle, a pickup truck, an SUV, etc.) as an installation and mobile platform for the vehicle-mounted road crack detection device. An optical detection module 200, an ultrasonic detection module, a bottom probe driving track 300, a nighttime fill-in light module, a road surface soot blowing module 600, and a monitoring host are installed at different positions of the device installation vehicle 100. The monitoring host is arranged in the device installation vehicle 100, and is electrically connected to the aforementioned optical detection module 200, ultrasonic detection module, bottom probe driving track 300, and nighttime fill-in light module, and is used to control various components, and can also receive and analyze detection information transmitted back by the optical detection module 200 and the ultrasonic detection module;

[0046] Among them, refer to the attached Figure 3As shown, the optical detection module 200 includes a camera displacement drive track 210 arranged at the upper part of the rear end of the equipment installation vehicle 100. The camera displacement drive track 210 generally adopts a screw mechanism driven by a linear motor or a servo motor. The camera displacement drive track 210 is driven by a camera rotating device 220. The camera rotating device 220 is provided with a rotating seat, which is generally driven by a servo motor to achieve precise angle adjustment. The camera displacement drive track 210 is used to drive the camera rotating device 220 to translate left and right. The rotating part of the camera rotating device 220 is fixedly provided with a line scanning camera 230. The line scanning camera 230 is a prior art. It can capture the image of the road surface and transmit it back to the monitoring host, and can complete the preliminary identification of road cracks in conjunction with the supporting analysis software installed in the monitoring host. The night fill light module is used in conjunction with the line scanning camera 230 at night or in insufficient light. It is fixedly arranged on the lower side of the rear end of the equipment installation vehicle 100, and includes several infrared fill lights 700. The infrared fill lights 700 are used to detect cracks in the road surface. 00 fills in light at night, so that the optical detection module 200 can still capture images in insufficient light conditions. At the same time, compared with the traditional camera with integrated infrared fill-in light module, this separately set infrared fill-in light 700 can be set at the lower end of the chassis of the car, closer to the road surface that needs to be illuminated, and has a better fill-in light effect. At the same time, when setting, the infrared fill-in light 700 is set facing obliquely backward, so that the infrared fill-in light 700 will not block the line of sight of the line scanning camera 230. The road surface soot blowing module 600 is to eliminate the interference of road debris on the imaging of the line scanning camera 230. The road surface soot blowing module 600 includes a soot blowing lifting device 610 and a high-pressure air cavity 620. The soot blowing lifting device 610 is used to drive the high-pressure air cavity 620 to rise and fall. The high-pressure air cavity 620 is provided with a plurality of blowing nozzles 630 facing downward. In terms of position, the road surface soot blowing module 600 is set at the front side of the night fill-in light module, so that air is blown to the road through the blowing nozzle 630, so that the surface debris of the road can be blown away before the line scanning camera 230 shoots;

[0047] The ultrasonic detection module includes an ultrasonic generator 400 and at least one probe detection unit 500, as shown in the attached Figure 2As shown, the probe detection unit 500 includes a spring wire reel, an automatic probe telescopic rod 510, and an ultrasonic sensor probe 520. The ultrasonic sensor probe 520 is fixedly connected to the telescopic end of the automatic probe telescopic rod 510. The ultrasonic sensor probe 520 is electrically connected to the ultrasonic generator 400 through a wire harness. The ultrasonic generator 400 is a prior art and can release and receive ultrasonic signals in cooperation with the ultrasonic sensor probe 520. The spring wire reel is a prior art and is arranged between the ultrasonic sensor probe 520 and the ultrasonic generator 400 to automatically store the wire harness between the ultrasonic sensor probe 520 and the ultrasonic generator 400. In this structure, the wiring harness between the ultrasonic sensing probe 520 and the ultrasonic generator 400 will not be loosened or disordered due to the movement of the ultrasonic sensing probe 520. A bottom probe driving track 300 is fixedly provided at the lower part of the tail end of the equipment installation vehicle 100. The bottom probe driving track 300 is used together with the ultrasonic detection module. The bottom probe driving track 300 is provided with a bottom displacement seat that can be translated left and right. The bottom displacement seat also adopts a servo motor with a transmission mechanism or a linear motor to achieve a precise displacement of the bottom displacement seat. The bottom displacement seat is fixed with a probe detection unit 500 mentioned above.

[0048] As for the method of using the above-mentioned vehicle-mounted road crack detection device that can be operated at night, this embodiment also provides a road crack detection method, including the following steps:

[0049] S1. The line scan camera 230 is moved to the middle position of the road to be inspected by the camera displacement driving track 210, and then the line scan camera 230 is rotated to an angle facing the road by the camera rotating device 220, and at the same time, the high-pressure air cavity 620 is lowered to the blowing nozzle 630 close to the ground by the soot blowing lifting device 610;

[0050] S2. Start the equipment installation vehicle 100, control the equipment installation vehicle 100 to move along the road direction, the high-pressure air chamber 620 starts to supply air to the blowing nozzle 630 and blows air to the road surface through the blowing nozzle 630, and at the same time, the wired scanning camera 230 is turned on, and the road surface conditions are transmitted to the monitoring host through the wired scanning camera 230, and the road surface conditions are identified through the software. Once the road cracks are identified, the equipment installation vehicle 100 is stopped and the following S3 step is started;

[0051] S3. The high-pressure air chamber 620 stops supplying air, and the bottom probe driving track 300 drives the ultrasonic sensing probe 520 to move above the position where the road crack appears, and then the ultrasonic sensing probe 520 is moved close to the road crack by the probe automatic telescopic rod 510, and then the ultrasonic sensing probe 520 cooperates with the ultrasonic generator 400 to perform ultrasonic detection on the road crack, and transmits the detection result to the monitoring host;

[0052] After step S4.S3 is completed, the ultrasonic sensing probe 520 returns to the initial position, and then step S2 is repeated until the next road crack is identified.

[0053] Embodiment 2 is different from Embodiment 1, as shown in the attached Figure 4 As shown, in the vehicle-mounted road crack detection device that can be operated at night provided in this embodiment, two side probe driving rails 800 are also included, which are fixedly arranged on the left and right sides of the rear end of the equipment installation vehicle 100, and the side probe driving rails 800 are provided with a side displacement seat that can be translated up and down, and the side displacement seat is fixedly provided with a probe detection unit 500. By using the two side probe driving rails 800 and the probe detection unit 500, the surface ultrasonic detection of the walls on both sides of the tunnel can be realized. At the same time, as shown in the attached Figure 5 As shown, a probe detection unit 500 is fixedly installed on the rotating part of the camera rotating device 220. The probe detection unit 500 is arranged on the rotating part of the camera rotating device 220 and shares a set of moving devices with the line scanning camera 230 to save costs. The probe detection unit 500 is mainly used for ultrasonic flaw detection on the top wall of the tunnel.

[0054] At the same time, compared with Example 1, the road crack detection method in this embodiment adds step S5: tunnel detection step. When the equipment installation vehicle 100 passes through the road tunnel, crack detection can be performed on the left and right side walls and the top wall of the road tunnel as required:

[0055] When crack detection is performed on the side wall of a road tunnel, the line scan camera 230 is rotated to an angle facing the side wall of the road tunnel through the camera rotating device 220, and then the surface condition of the side wall of the road tunnel is transmitted to the monitoring host through the line scan camera 230, and the surface condition of the side wall of the tunnel is identified through the software. Once the occurrence of cracks in the side wall of the tunnel is identified, the equipment installation vehicle 100 is stopped, and at this time, the side probe driving track 800 drives the ultrasonic sensing probe 520 to move to the height position where the cracks on the tunnel surface appear, and then the ultrasonic sensing probe 520 is moved close to the cracks on the tunnel surface through the automatic probe telescopic rod 510, and finally the ultrasonic sensing probe 520 cooperates with the ultrasonic generator 400 to perform ultrasonic detection on the road cracks, and the detection results are transmitted to the monitoring host;

[0056] When crack detection is performed on the top wall of a road tunnel, the line scan camera 230 is rotated to an angle facing the top wall of the road tunnel through the camera rotating device 220, and then the surface conditions of the side walls of the road tunnel are transmitted to the monitoring host through the line scan camera 230, and the surface conditions of the top wall of the tunnel are identified through software. Once cracks in the top wall of the tunnel are identified, the equipment installation vehicle 100 is stopped. At this time, the camera rotating device 220 rotates the ultrasonic sensing probe 520 set therein to face the cracks in the top wall of the tunnel, and then the ultrasonic sensing probe 520 is moved close to the cracks in the top wall of the tunnel through the automatic telescopic rod 510 of the probe, and finally the ultrasonic sensing probe 520 is used in conjunction with the ultrasonic generator 400 to perform ultrasonic detection on the road cracks, and the detection results are transmitted to the monitoring host.

[0057] In this embodiment, the vehicle-mounted road crack detection equipment can not only be used for crack detection on normal roads, but also can be used for crack detection on the inner wall of road tunnels. Compared with the solution of Example 1, the solution of this embodiment has a wider range of applications, but the cost is also increased. It can be selected according to actual needs.

[0058] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0059] The above are only preferred embodiments of the present invention. Any person skilled in the art may modify the present invention by using the above technical solutions or modify it into an equivalent technical solution. Therefore, any simple modification or equivalent replacement made according to the technical solution of the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A vehicle-mounted road crack detection device that can be operated at night, characterized in that: include: An equipment installation vehicle (100) is used to carry each module and move on the road; The optical detection module (200) comprises a camera displacement driving track (210) arranged at the upper part of the rear end of the equipment installation vehicle (100), wherein the camera displacement driving track (210) drives a camera rotating device (220), wherein the camera displacement driving track (210) is used to drive the camera rotating device (220) to translate left and right, and a line scanning camera (230) is fixedly arranged on the rotating part of the camera rotating device (220); An ultrasonic detection module comprises an ultrasonic generator (400) and at least one probe detection unit (500), wherein the probe detection unit (500) comprises an automatic probe telescopic rod (510) and an ultrasonic sensing probe (520), wherein the ultrasonic sensing probe (520) is fixedly connected to the telescopic end of the automatic probe telescopic rod (510), and the ultrasonic sensing probe (520) is electrically connected to the ultrasonic generator (400) via a wiring harness; A bottom probe driving track (300) is fixedly arranged at the lower part of the rear end of the equipment installation vehicle (100), the bottom probe driving track (300) being provided with a bottom displacement seat capable of left-right translation, the bottom displacement seat being fixedly provided with the aforementioned probe detection unit (500); A nighttime fill light module, fixedly arranged on the lower side of the rear end of the equipment installation vehicle (100), comprising at least one infrared fill light (700); The monitoring host is arranged in the equipment installation vehicle (100) and is electrically connected to the aforementioned optical detection module (200), the ultrasonic detection module, the bottom probe driving track (300) and the nighttime supplementary lighting module.

2. The vehicle-mounted road crack detection device capable of operating at night according to claim 1, characterized in that: It also comprises two side probe driving rails (800) which are respectively fixedly arranged on the left and right sides of the rear end of the equipment installation vehicle (100); the side probe driving rails (800) are provided with a side displacement seat capable of vertical translation; and the side displacement seat is fixedly provided with a probe detection unit (500).

3. The vehicle-mounted road crack detection device capable of operating at night according to claim 2, characterized in that: The rotating part of the camera rotating device (220) is fixedly provided with a probe detection unit (500).

4. A vehicle-mounted road crack detection device capable of operating at night according to any one of claims 1 or 3, characterized in that: The invention also includes a road surface soot blowing module (600), wherein the road surface soot blowing module (600) is electrically connected to a monitoring host, and the road surface soot blowing module (600) includes a soot blowing lifting device (610) and a high-pressure air cavity (620), wherein the soot blowing lifting device (610) is used to drive the high-pressure air cavity (620) to rise and fall, and the high-pressure air cavity (620) is provided with a plurality of air blowing nozzles (630) facing downward.

5. The vehicle-mounted road crack detection device capable of operating at night according to claim 4, characterized in that: The infrared fill light (700) is arranged facing obliquely rearward, and the road surface soot blowing module (600) is arranged at the front side of the night fill light module.

6. The vehicle-mounted road crack detection device capable of operating at night according to claim 5, characterized in that: The probe detection unit (500) further comprises a spring wire reel, which is arranged between the ultrasonic sensing probe (520) and the ultrasonic generator (400) and is used to automatically store a wire harness between the ultrasonic sensing probe (520) and the ultrasonic generator (400).

7. A road crack detection method using the vehicle-mounted road crack detection device capable of nighttime operation according to claim 6, characterized in that: The steps include: S1. The line scan camera (230) is moved to the middle position of the road to be inspected by the camera displacement driving track (210), and then the line scan camera (230) is rotated to an angle facing the road by the camera rotating device (220), and at the same time, the high-pressure air chamber (620) is lowered to the blowing nozzle (630) close to the ground by the soot blowing lifting device (610); S2. Start the equipment installation vehicle (100), control the equipment installation vehicle (100) to move along the road direction, the high-pressure air chamber (620) starts to supply air to the blowing nozzle (630) and blows air to the road surface through the blowing nozzle (630), and at the same time, start the wired scanning camera (230), transmit the road surface conditions to the monitoring host through the wired scanning camera (230), identify the road surface conditions through the software, and once the road cracks are identified, stop the equipment installation vehicle (100) and start the following S3 step; S3. The high-pressure air chamber (620) stops supplying air, and the bottom probe driving track (300) drives the ultrasonic sensing probe (520) to move above the position where the road crack appears, and then the ultrasonic sensing probe (520) is moved close to the road crack by the probe automatic telescopic rod (510), and then the ultrasonic sensing probe (520) cooperates with the ultrasonic generator (400) to perform ultrasonic detection on the road crack, and transmits the detection result to the monitoring host; After step S4.S3 is completed, the ultrasonic sensor probe (520) returns to the initial position, and then step S2 is repeated until the next road crack is identified.

8. A road crack detection method according to claim 7, characterized in that: Also includes S5 step: S5, tunnel detection step, when the equipment installation vehicle (100) passes through the road tunnel, crack detection can be performed on the left and right side walls and the top wall of the road tunnel according to requirements: When crack detection is performed on the side wall of a road tunnel, the line scanning camera (230) is rotated to an angle facing the side wall of the road tunnel by means of a camera rotating device (220), and then the surface condition of the side wall of the road tunnel is transmitted to a monitoring host by means of the line scanning camera (230), and the surface condition of the side wall of the tunnel is identified by means of software. Once cracks on the side wall of the tunnel are identified, the equipment installation vehicle (100) is stopped, and at this time, the side probe driving track (800) drives the ultrasonic sensing probe (520) to move to a height position where cracks on the tunnel surface appear, and then the ultrasonic sensing probe (520) is moved close to the cracks on the tunnel surface by means of the probe automatic telescopic rod (510), and finally the road cracks are ultrasonically detected by means of the ultrasonic sensing probe (520) in cooperation with the ultrasonic generator (400), and the detection results are transmitted to the monitoring host; When crack detection is performed on the top wall of a road tunnel, the line scanning camera (230) is rotated to an angle facing the top wall of the road tunnel by means of a camera rotating device (220), and then the surface condition of the side wall of the road tunnel is transmitted to a monitoring host by means of the line scanning camera (230), and the surface condition of the top wall of the tunnel is identified by means of software. Once cracks on the top wall of the tunnel are identified, the equipment installation vehicle (100) is stopped, and at this time, the camera rotating device (220) rotates the ultrasonic sensing probe (520) provided therein to face the cracks on the top wall of the tunnel, and then the ultrasonic sensing probe (520) is moved close to the cracks on the top wall of the tunnel by means of an automatic probe telescopic rod (510), and finally the ultrasonic sensing probe (520) is used in conjunction with an ultrasonic generator (400) to perform ultrasonic detection on the cracks on the road, and the detection results are transmitted to the monitoring host.

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