Arm-span-adjustable tunnel disease detection equipment and method

Abstract

The invention relates to the technical field of tunnel detection equipment, particularly discloses arm-span-adjustable tunnel disease detection equipment and method, and is used for solving the problem of relatively large shooting limitation in the prior art. Comprising a first body and a second body, the center position of the second body and the center position of the first body are connected through a connecting column, flying parts used for providing flying power are arranged on the outer sides of the first body and the second body, an overturning seat is rotationally arranged on the connecting column, and a self-cleaning type camera shooting part is arranged on the overturning seat. And the overturning seat is connected with a steering adjusting component for driving the overturning seat to rotate. The device is designed according to existing needs, the shooting width can be adjusted according to the shooting needs, flight power is provided based on the unmanned aerial vehicle during shooting, the limitation of vehicle carrying is eliminated, in addition, a protective layer can be constructed on the outer side of shooting in the shooting process, real-time cleaning is carried out, and the shooting quality is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel detection equipment, and in particular to an arm span adjustable tunnel disease detection equipment and method. Background Art

[0002] Tunnels are important infrastructure for highway and rail transportation. Cracks, deformations and other apparent defects in tunnel linings are major safety hazards in tunnel operations, making rapid detection and treatment of defects a major technical requirement for safe tunnel operations. At present, tunnel detection is still mainly based on manual on-site operations, which are inefficient and have great safety hazards, making it difficult to meet detection needs. The existing patent announcement number CN116609341B discloses a tunnel appearance acquisition device, which drives the sensor, array camera, fill light, etc. to rotate through a motor at a constant speed; after the sensor enters the sensor, i.e., the slot-type photoelectric switch sensing range, it provides a trigger signal to the acquisition control module, triggers the fill light to fill light, and the camera takes pictures; the camera sends back data to the acquisition control module for storage, thereby completing the tunnel detection work. However, this detection has great limitations. First, it needs to be fixed on the vehicle, and the vehicle has great limitations when walking in the tunnel. It can only be detected on a specific solid line. In addition, when shooting inside a tunnel with a poor environment, the dust coverage will affect the shooting accuracy and the detection effect.

[0003] Based on this, a tunnel disease detection device and method with adjustable arm span are now provided, which can eliminate the disadvantages of existing devices. Summary of the invention

[0004] The purpose of the present invention is to provide a tunnel disease detection device and method with adjustable arm span, which solves the problem of large shooting limitations in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The arm span adjustable tunnel disease detection equipment comprises a first body and a second body, wherein the second body is connected to the first body at the center through a connecting column, a flying component for providing flight power is arranged on the outer sides of the first body and the second body, a flip seat is rotatably arranged on the connecting column, a self-cleaning camera component is arranged on the flip seat, and the flip seat is connected to a steering adjustment component for driving the rotation thereof.

[0007] On the basis of the above technical solution, the present invention also provides the following optional technical solution:

[0008] In an optional scheme: the self-cleaning camera component includes two shooting arms arranged at the upper end of the flip seat, a sliding mechanism is provided between the shooting arms and the flip seat to enable the shooting arms to slide smoothly, the flip seat is provided with an opening drive member that drives the two shooting arms to slide staggered, a first fixed seat is fixedly provided at the upper end of each shooting arm, a camera strip seat is fixedly provided on the side of the first fixed seat, a plurality of cameras are fixedly provided on the camera strip seat at equal intervals, a corresponding fill light is fixedly provided on the camera strip seat on one side of each camera, a transparent tube is sleeved on the outer side of the camera strip seat, and an automatic cleaning component for cleaning its surface is provided on the transparent tube.

[0009] In an optional scheme: the automatic cleaning component includes a second fixed seat arranged at the upper end of the shooting arm, the second fixed seat is connected and fixed to the shooting arm by a bolt, a cleaning motor is installed on the second fixed seat, the output end of the cleaning motor is connected and fixed to the rotating disk, the rotating disk is fixedly connected to the end of the transparent tube, the first fixed seat is provided with a rotating groove matching the transparent tube, the upper end of the shooting arm is also fixed with a scraper side plate that is in pressure contact with the outer wall of the transparent tube, and the shooting arm is also provided with a water spraying member for spraying water on the surface of the transparent tube.

[0010] In an optional scheme: the water spray component includes an extrusion piston cylinder arranged on the outside of the shooting arm, a piston block is slidably provided in the piston chamber of the extrusion piston cylinder, the drainage end of the piston chamber is connected with the liquid spray fixed pipe through a one-way water supply pipe, the one-way water supply pipe is provided with a drainage one-way valve, the liquid spray fixed pipe is fixedly set on the scraper side plate, the liquid spray fixed pipe is provided with a plurality of liquid spray heads spraying water toward the transparent cylinder, the water inlet end of the extrusion piston cylinder is connected with the storage box through a water suction pipe, the water suction pipe is provided with a water suction one-way valve, the storage box is embedded in the shooting arm, a water filling port is provided at the upper end of the storage box, a transparent scale bar is provided on the outside of the storage box, and the scraper side plate is connected to a transmission unit for driving it to reciprocate up and down.

[0011] In an optional scheme: the transmission unit includes a piston rod connected to the piston block, the upper end of the piston rod is connected to the floating cross plate, a plurality of auxiliary sliding rods are slidably provided on the floating cross plate, the floating cross plate is connected to the shooting arm through a reset spring, a rotating disk is provided at the shaft end of the rotating disk, and a plurality of driving pressure wheels are rotatably provided on the outer side of the rotating disk to generate downward thrust for the floating cross plate.

[0012] In an optional scheme: the opening drive component includes a central gear rotatably arranged at the center position of the flip seat, a transmission gap is arranged between the two shooting arm brackets, the central gear is located in the middle position of the transmission gap, the central gear is meshed with the transmission tooth surface on the outside of the shooting arm bracket, a transmission cavity is arranged inside the flip seat where the central gear is located, a driven worm gear coaxially fixed with the central gear is arranged in the transmission cavity, the driven worm gear is meshed with the driving worm gear, the driving worm gear is arranged at the output end of the staggered motor, and the staggered motor is fixed in the transmission cavity.

[0013] In an optional solution: the sliding mechanism includes a T-shaped protrusion arranged at the lower end of the shooting arm, and the upper end of the flip seat is provided with a T-shaped sliding groove matching the T-shaped protrusion.

[0014] In an optional solution: the steering adjustment component includes a driven gear arranged at the end of the flip seat, the driven gear is meshed with a driving gear, the driving gear is arranged at the output end of the flip motor, and the flip motor is installed on the second body.

[0015] In an optional solution: a front camera is provided on the first body, and a rear camera is provided on the second body.

[0016] In an optional solution: the flying component includes an arm arranged outside the first body and the second body, a brushless motor is fixedly provided at the end of the arm, a fan blade is provided at the output end of the brushless motor, and a protective component is provided on the outside of the fan blade.

[0017] In an optional scheme: the flying component includes an arm arranged on the outside of the first body and the second body, a brushless motor is fixedly provided at the end of the arm, a fan blade is provided at the output end of the brushless motor, a protective component is provided on the outside of the fan blade, the protective component includes a positioning inner ring arranged on the outside of the fan blade, the positioning inner ring is connected to the arm through a plurality of positioning vertical rods, a rotating outer ring is provided on the outside of the positioning inner ring, a protective grid is provided on the upper end of the rotating outer ring, and the protective grid is a hemispherical structure, so that when the equipment flies upward and hits the top of the tunnel, the protective grid can protect the fan blade, and a plurality of buffer protrusions are distributed in an array on the outside of the rotating outer ring.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] The present invention is designed according to existing needs. The shooting width can be adjusted according to shooting needs. The flying power is provided by the drone during shooting, eliminating the limitations of vehicle mounting. At the same time, the shooting angle can be adjusted according to needs, including shooting above, side walls and below the tunnel. In addition, during the shooting process, a protective layer can be constructed on the outside of the shooting, and real-time cleaning can be performed to ensure the quality of the shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of one side of the present invention.

[0021] Figure 2 It is a schematic diagram of the lower structure of the present invention.

[0022] Figure 3 This is a schematic diagram of the structure of the arm after rotation and expansion.

[0023] Figure 4 It is a schematic diagram of the structure of the flight component of the present invention.

[0024] Figure 5 It is a schematic diagram of the shooting arm structure of the present invention.

[0025] Figure 6 It is a schematic diagram of the transparent tube and the camera strip seat structure of the present invention.

[0026] Figure 7 This is a schematic diagram of the optimized structure of the shooting arm stand of the present invention.

[0027] Figure 8 It is a schematic diagram of the transmission unit structure of the present invention.

[0028] Fig. 9 It is a schematic diagram of the structure of the opening drive member of the present invention.

[0029] Reference numerals: first body 101, front camera 102, connecting column 103, rear camera 104, second body 105;

[0030] Flip motor 200, flip seat 201, driving gear 202, driven gear 203;

[0031] Stop rack 300;

[0032] Shooting arm 400, central gear 401, T-shaped protrusion 402, transmission gap 403, T-shaped slide groove 404, transmission tooth surface 406, transparent tube 407, first fixed seat 408, second fixed seat 409, cleaning motor 410, rotating disk 411, camera bar seat 412, camera 413, fill light 414, bolt 415, scraper side plate 416, spray head 417, spray fixed pipe 418, piston block 419, extrusion piston cylinder 420, storage box 421, drive disk 422, drive pressure wheel 423, floating horizontal plate 424, auxiliary slide rod 426, return spring 427, piston rod 428, one-way water supply pipe 429;

[0033] Driving worm gear 430, staggered motor 431, driven worm gear 432;

[0034] Positioning vertical rod 500, machine arm 501, brushless motor 502, buffer protrusion 503, rotating outer ring 504, fan blade 505, positioning inner ring 506, and protective grid 507. DETAILED DESCRIPTION

[0035] 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.

[0036] like Figure 1-Figure 9 As shown, an embodiment of the present invention provides an adjustable arm span tunnel disease detection device, including a first body 101 and a second body 105, wherein the second body 105 and the first body 101 are connected at the center through a connecting column 103, and a flying component for providing flight power is arranged on the outer side of the first body 101 and the second body 105, and a flip seat 201 is rotatably arranged on the connecting column 103, and a self-cleaning camera component is arranged on the flip seat 201, and tunnel surface information is obtained through the self-cleaning camera component, and the self-cleaning camera component can avoid dust interference, and the camera angle can also be adjusted according to needs, and the flip seat 201 is connected to a steering adjustment component for driving the flip seat 201 to rotate, and the steering adjustment component can adjust the camera angle;

[0037] A pair of parking racks 300 are provided at the lower ends of the first body 101 and the second body 105 to facilitate the parking of the equipment;

[0038] The self-cleaning camera component includes two shooting arms 400 arranged at the upper end of the flip seat 201, and a sliding mechanism is provided between the shooting arms 400 and the flip seat 201 to enable the shooting arms 400 to slide smoothly. The flip seat 201 is provided with an opening driving member for driving the two shooting arms 400 to slide staggered. A first fixing seat 408 is fixedly provided at the upper end of each shooting arm 400, and a camera bar seat 412 is fixedly provided on the side of the first fixing seat 408. The camera bar seat 412 is fixed with equal intervals. A plurality of cameras 413 are fixedly provided, and a corresponding fill light 414 is fixedly provided on a camera bar holder 412 on one side of each camera 413. The fill light 414 is used to fill in the light for shooting, thereby ensuring the shooting quality. A transparent tube 407 is sleeved on the outer side of the camera bar holder 412, thereby forming a protective cover to prevent rain or dust from affecting the shooting. An automatic cleaning component for cleaning the surface of the transparent tube 407 is provided, and the automatic cleaning component can remove impurities attached to the surface of the transparent tube 407, thereby ensuring the shooting quality;

[0039] The automatic cleaning component includes a second fixing seat 409 arranged at the upper end of the shooting arm 400, the second fixing seat 409 is connected and fixed to the shooting arm 400 by a bolt 415, a cleaning motor 410 is installed on the second fixing seat 409, the output end of the cleaning motor 410 is connected and fixed to a rotating disk 411, the rotating disk 411 is fixedly connected to the end of the transparent tube 407, the first fixing seat 408 is provided with a rotating groove matching the transparent tube 407, the upper end of the shooting arm 400 is also fixed with a scraper side plate 416 pressed against the outer wall of the transparent tube 407, the scraper end of the scraper side plate 416 is provided with a scraper colloid to avoid scratching the surface of the transparent tube 407, the cleaning motor 410 drives the rotating disk 411 and the transparent tube 407 to rotate, and when the transparent tube 407 rotates, the scraper side plate 416 can remove dust on the surface of the transparent tube 407;

[0040] In order to optimize the cleaning effect, the shooting arm 400 is also provided with a water spraying member for spraying water on the surface of the transparent tube 407, and the water spraying member matches the scraper, thereby improving the cleaning effect;

[0041] The water spraying member includes an extruding piston cylinder 420 arranged on the outside of the shooting arm 400, a piston block 419 is slidably provided in the piston cavity of the extruding piston cylinder 420, the drainage end of the piston cavity is connected to the liquid spraying fixed pipe 418 through a one-way water supply pipe 429, and a drainage one-way valve is provided on the one-way water supply pipe 429. The liquid spraying fixed pipe 418 is fixedly arranged on the scraper side plate 416, and a plurality of liquid spraying heads 417 are provided on the liquid spraying fixed pipe 418 for spraying water toward the transparent cylinder 407. The water inlet end of the extruding piston cylinder 420 is connected to the liquid spraying fixed pipe 418 through a water suction pipe. The storage box 421 is connected to the storage box 421, and a water suction check valve is arranged on the water suction pipe. The storage box 421 is embedded in the shooting arm 400. A water inlet is arranged on the upper end of the storage box 421. A transparent scale bar is arranged on the outer side of the storage box 421. The scraper side plate 416 is connected to a transmission unit for driving the scraper side plate 416 to reciprocate up and down. The transmission unit drives the scraper side plate 416 to reciprocate up and down, so that the washing liquid in the storage box 421 will be sent to the liquid spraying fixed pipe 418, and then sprayed to the transparent cylinder 407 along the liquid spraying head 417, thereby completing the liquid spraying operation;

[0042] The transmission unit includes a piston rod 428 connected to the piston block 419, the upper end of the piston rod 428 is connected to the floating cross plate 424, and a plurality of auxiliary sliding rods 426 are slidably provided on the floating cross plate 424. The floating cross plate 424 is connected to the shooting arm 400 through a return spring 427. A rotating disk 411 is provided at the shaft end of the rotating disk 411, and a plurality of driving pressure wheels 423 that generate downward thrust to the floating cross plate 424 are rotatably provided on the outer side of the rotating disk 411. When the cleaning motor 410 drives the rotating disk 411 and the transparent cylinder 407 to rotate, the driving disk 422 will also rotate accordingly, and the driving pressure wheel 423 on the outer side of the driving disk 422 can intermittently generate thrust to the floating cross plate 424, so that the floating cross plate 424 will slide downward along the auxiliary sliding rod 426, and the piston rod 428 at the end of the auxiliary sliding rod 426 will drive the piston block 419 to move downward. Under the action of the return spring 427, the piston block 419 will move upward again, thereby obtaining the power for spraying liquid;

[0043] The opening drive member includes a central gear 401 rotatably arranged at the center position of the flip seat 201, a transmission gap 403 is arranged between the two shooting arm frames 400, the central gear 401 is located in the middle position of the transmission gap 403, the central gear 401 is meshed with the transmission tooth surface 406 on the outer side of the shooting arm frame 400, a transmission cavity is arranged inside the flip seat 201 where the central gear 401 is located, a driven worm gear 432 coaxially fixed with the central gear 401 is arranged in the transmission cavity, the driven worm gear 432 is meshed with the driving worm gear 430, the driving worm gear 430 is arranged at the output end of the staggered motor 431, the staggered motor 431 is fixed in the transmission cavity, under the drive of the staggered motor 431, the driving worm gear 430 is matched with the driven worm gear 432, thereby driving the central gear 401 to rotate, the central gear 401 is matched with the transmission tooth surface 406, thereby driving the shooting arm frame 400 to move along the sliding mechanism, so as to adjust the shooting width, here a worm gear transmission is adopted, which has a self-locking effect;

[0044] The sliding mechanism includes a T-shaped protrusion 402 disposed at the lower end of the shooting arm 400, and a T-shaped slide groove 404 matching the T-shaped protrusion 402 is disposed at the upper end of the flip seat 201. The T-shaped slide groove 404 and the T-shaped protrusion 402 cooperate to guide and prevent slipping;

[0045] The steering adjustment component includes a driven gear 203 disposed at the end of the flip seat 201, the driven gear 203 meshes with the driving gear 202, the driving gear 202 is disposed at the output end of the flip motor 200, and the flip motor 200 is mounted on the second body 105. Under the drive of the flip motor 200, the driving gear 202 cooperates with the driven gear 203, thereby driving the flip seat 201 to rotate on the connecting column 103, so that the angle of the self-cleaning camera component can be adjusted;

[0046] The first body 101 is provided with a front camera 102, and the second body 105 is provided with a rear camera 104, through which the front camera 102 and the rear camera 104 can obtain the image information before and after the flight of the device;

[0047] The flying component includes an arm 501 disposed outside the first body 101 and the second body 105, a brushless motor 502 is fixedly disposed at the end of the arm 501, a fan blade 505 is disposed at the output end of the brushless motor 502, and a protective component is disposed outside the fan blade 505, which can protect the fan blade 505, so that the device can fly more safely in the tunnel;

[0048] The protection component includes an inner positioning ring 506 arranged on the outside of the fan blade 505, and the inner positioning ring 506 is connected to the arm 501 through a plurality of positioning vertical rods 500. A rotating outer ring 504 is rotatably provided on the outside of the inner positioning ring 506, and a protection grid 507 is mounted on the upper end of the rotating outer ring 504. The protection grid 507 is a hemispherical structure, so that when the device flies upward and hits the top of the tunnel, the protection grid 507 can protect the fan blade 505. A plurality of buffer protrusions 503 are distributed in an array on the outside of the rotating outer ring 504. When the device flies quickly and rubs against the side wall of the tunnel, the buffer protrusions 503 can act as a buffer, and the rotating outer ring 504 will rotate around the inner positioning ring 506, thereby removing the force and reducing the influence of friction on the flight stability.

[0049] Working principle: In actual use, the flying component provides flying power so that the device moves along the inner wall of the tunnel. The width of the camera can be adjusted as needed. Under the drive of the staggered motor 431, the driving worm gear 430 matches the driven worm gear 432, thereby driving the central gear 401 to rotate. The central gear 401 matches the transmission tooth surface 406, thereby driving the shooting arm 400 to move along the sliding mechanism to adjust the shooting width. During the shooting process, when the transparent tube 407 rotates, the scraper side plate 416 can remove dust on the surface of the transparent tube 407. The water spraying of the water spraying component can ensure the cleaning effect. The cleaning position is staggered with the shooting position, so that the shooting quality can be guaranteed.

[0050] The specific detection method is:

[0051] First: obtain the tunnel surface image information through the camera component, convert the obtained image information into a grayscale image through grayscale processing through the preprocess_image function, and use Gaussian filtering to denoise and histogram equalization to enhance the contrast;

[0052] Secondly: use the extract_features function to extract the HOG (Histogram of Oriented Gradients) features of the image, calculate the HOG features of the image, and return the feature vector and HOG image, where orientations represents the number of gradient directions, pixels_per_cell represents the number of pixels per cell, and cells_per_block represents the number of cells per block;

[0053] Rescale the intensity range of the HOG image to [0,10];

[0054] Again: preprocess multiple images and extract features, and store corresponding labels;

[0055] It will traverse all image paths, call preprocess_image and extract_features functions, and store the extracted features in the features list;

[0056] at last:

[0057] train_test_split(features,labels,test_size=0.2,random_state=42): Divide the dataset into training set and test set, where the test set accounts for 20%.

[0058] SVC(kernel='linear',C=1.0): Uses a support vector machine with a linear kernel as the classifier.

[0059] clf.fit(X_train,y_train): Train the SVM classifier using the training set.

[0060] clf.predict(X_test): Use the trained detection model to predict the test set.

[0061] accuracy_score(y_test,y_pred): Calculates the accuracy of the prediction.

[0062] The machine model is constructed in the above manner, and then the photos acquired by the equipment are used to complete the tunnel disease detection.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tunnel disease detection device with adjustable arm span, comprising a first body (101) and a second body (105), wherein the second body (105) and the first body (101) are connected at their center positions via a connecting column (103), characterized in that: The outsides of the first body (101) and the second body (105) are provided with flying components for providing flying power, a flip seat (201) is rotatably provided on the connecting column (103), a self-cleaning camera component is provided on the flip seat (201), and the flip seat (201) is connected to a steering adjustment component for driving the flip seat to rotate.

2. The arm span adjustable tunnel disease detection device according to claim 1 is characterized in that: The self-cleaning camera component comprises two shooting arms (400) arranged at the upper end of a flip seat (201); a sliding mechanism is arranged between the shooting arms (400) and the flip seat (201) so as to enable the shooting arms (400) to slide smoothly; an opening driving member is arranged on the flip seat (201) for driving the two shooting arms (400) to slide in a staggered manner; a first fixing seat (408) is fixedly arranged at the upper end of each shooting arm (400); a camera bar seat (412) is fixedly arranged on the side of the first fixing seat (408); a plurality of cameras (413) are fixedly arranged on the camera bar seat (412) at equal intervals; a corresponding fill light (414) is fixedly arranged on the camera bar seat (412) on one side of each camera (413); a transparent tube (407) is sleeved on the outer side of the camera bar seat (412); and an automatic cleaning component for cleaning the surface of the transparent tube (407) is arranged on the transparent tube (407).

3. The arm span adjustable tunnel disease detection device according to claim 2 is characterized in that: The automatic cleaning component comprises a second fixing seat (409) arranged at the upper end of the shooting arm (400), the second fixing seat (409) being connected and fixed to the shooting arm (400) via a bolt (415), a cleaning motor (410) being installed on the second fixing seat (409), the output end of the cleaning motor (410) being connected and fixed to a rotating disk (411), the rotating disk (411) being fixedly connected to the end of the transparent tube (407), the first fixing seat (408) being provided with a rotating groove matching the transparent tube (407), a scraper side plate (416) being in pressure contact with the outer wall of the transparent tube (407) being fixedly provided at the upper end of the shooting arm (400), and a water spraying member for spraying water on the surface of the transparent tube (407) being provided on the shooting arm (400).

4. The arm span adjustable tunnel disease detection device according to claim 3 is characterized in that: The water spraying member comprises an extrusion piston cylinder (420) arranged outside the shooting arm (400), a piston block (419) is slidably arranged in the piston cavity of the extrusion piston cylinder (420), a drainage end of the piston cavity is connected to the liquid spraying fixed pipe (418) through a one-way water supply pipe (429), a drainage one-way valve is arranged on the one-way water supply pipe (429), the liquid spraying fixed pipe (418) is fixedly arranged on the scraper side plate (416), and a There are a plurality of liquid spray heads (417) for spraying water toward the transparent cylinder (407); the water inlet end of the extrusion piston cylinder (420) is connected to the storage box (421) through a water suction pipe; the water suction pipe is provided with a water suction check valve; the storage box (421) is embedded in the shooting arm (400); the upper end of the storage box (421) is provided with a water inlet; the outer side of the storage box (421) is provided with a transparent scale bar; the scraper side plate (416) is connected to a transmission unit for driving it to reciprocate up and down.

5. The arm span adjustable tunnel disease detection device according to claim 4 is characterized in that: The transmission unit comprises a piston rod (428) connected to a piston block (419), the upper end of the piston rod (428) being connected to a floating horizontal plate (424), a plurality of auxiliary sliding rods (426) being slidably provided on the floating horizontal plate (424), the floating horizontal plate (424) being connected to the shooting arm (400) via a return spring (427), a rotating disk (411) being provided at the shaft end of the rotating disk (411), a plurality of driving pressure wheels (423) being rotatably provided on the outer side of the rotating disk (411) for generating downward thrust on the floating horizontal plate (424).

6. The arm span adjustable tunnel disease detection device according to claim 2, characterized in that: The opening drive member comprises a central gear (401) rotatably arranged at the center position of the flip seat (201); a transmission gap (403) is arranged between the two shooting arm frames (400); the central gear (401) is located at the middle position of the transmission gap (403); the central gear (401) and the transmission tooth surface (406) on the outside of the shooting arm frames (400) are meshed with each other; a transmission cavity is arranged inside the flip seat (201) where the central gear (401) is located; a driven worm gear (432) coaxially fixed with the central gear (401) is arranged in the transmission cavity; the driven worm gear (432) is meshed with a driving worm gear (430); the driving worm gear (430) is arranged at the output end of a staggered motor (431); and the staggered motor (431) is fixed in the transmission cavity.

7. The arm span adjustable tunnel disease detection device according to claim 2, characterized in that: The sliding mechanism comprises a T-shaped protrusion (402) arranged at the lower end of the shooting arm (400), and the upper end of the flip seat (201) is provided with a T-shaped sliding groove (404) matching the T-shaped protrusion (402).

8. The arm span adjustable tunnel disease detection device according to claim 1, characterized in that: The steering adjustment component comprises a driven gear (203) arranged at the end of the flip seat (201), the driven gear (203) meshing with a driving gear (202), the driving gear (202) being arranged at the output end of the flip motor (200), and the flip motor (200) being mounted on the second body (105).

9. The arm span adjustable tunnel disease detection device according to claim 1, characterized in that: The flying component comprises an arm (501) arranged outside the first body (101) and the second body (105); a brushless motor (502) is fixedly arranged at the end of the arm (501); a fan blade (505) is arranged at the output end of the brushless motor (502); a protective component is arranged outside the fan blade (505); the protective component comprises a positioning inner ring (506) arranged outside the fan blade (505); the positioning inner ring (506) is connected to the arm (501) through a plurality of positioning vertical rods (500); a rotating outer ring (504) is rotatably arranged outside the positioning inner ring (506); a protective grid (507) is mounted on the upper end of the rotating outer ring (504); the protective grid (507) is a hemispherical structure, so that when the device flies upward and hits the top of the tunnel, the protective grid (507) can protect the fan blade (505); and a plurality of buffer protrusions (503) are distributed in an array outside the rotating outer ring (504).

10. A detection method for the arm span adjustable tunnel disease detection device according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Provide flight power through the flight components to move the device along the inner wall of the tunnel and adjust the camera width as needed; Step 2: During the shooting process, the cleaning motor (410) drives the rotating disk (411) and the transparent tube (407) to rotate. When the transparent tube (407) rotates, the scraper side plate (416) can remove dust on the surface of the transparent tube (407). In combination with the water spraying of the water spraying part, the cleaning effect can be ensured. The cleaning position is staggered with the shooting position, so that the shooting quality can be ensured. Step 3: Input the captured photos into the trained detection model, and then output the corresponding prediction results to complete the detection of the tunnel.

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