A steel structure crack detection device based on binocular vision system

Abstract

The present invention relates to the technical field of binocular vision detection, and specifically to a steel structure crack detection device based on a binocular vision system, comprising two eyeball cameras mounted on an unmanned aerial vehicle (UAV), and a blinking mechanism arranged between the two eyeball cameras, wherein the blinking mechanism comprises an eye frame, a swing plate, a wheel controller, a liquid tank mechanism, a cross bracket, a focal length knob, a synchronization axis and a zoom accelerator. When the UAV is equipped with a binocular camera device to perform steel bridge crack detection, the spherical lenses of the two eyeball cameras automatically complete a blink cleaning at intervals, and the blinking is achieved by swinging the two eye frames in turn to avoid a temporary obstruction of vision caused by blinking at the same time. The bionic blink cleaning and detection shooting in the present invention do not affect each other.

Description

Technical Field

[0001] The present invention relates to the technical field of binocular vision detection, and in particular to a steel structure crack detection device based on a binocular vision system. Background Art

[0002] In view of the current situation of low efficiency, high cost and low accuracy in bridge crack measurement at home and abroad, it is necessary to improve and develop binocular vision measurement technology for bridge cracks.

[0003] Binocular vision bridge crack measurement technology uses a drone equipped with a binocular camera. Drones are lightweight, compact, flexible, and offer comprehensive camera angles and high maneuverability. The binocular camera, mounted on the drone, captures multi-directional images of the bridge's underside and surroundings. The binocular camera, consisting of two eyeball cameras, is inspired by bionic design and can accurately detect cracks in steel bridges.

[0004] If the binocular lens can be cleaned of dust and foreign matter by mimicking blinking, the binocular camera can capture and detect cracks in steel bridges more clearly. Meanwhile, if the binocular lens is dry, a design that automatically moistens the eye during blinking can protect the blinking mechanism and binocular lens. If both eyes blink simultaneously, there will be a brief loss of visual image. Therefore, a method of alternating blinking can be used, allowing the lens cleaning and image detection to proceed simultaneously.

[0005] In addition, a quick blink can be completed when the camera zooms. From a bionics perspective, animals usually blink unconsciously when the object they focus on changes, in order to readjust their line of sight or adapt to the new visual environment. The focus of the eyes is adjusted and changed. When the binocular camera detects a steel bridge, if a crack is found, the binocular camera will amplify the shot at the crack, the camera focus is adjusted and changed, and a temporary blink is completed quickly to clean the lens. After blinking, the camera can take a clear picture to ensure that the captured crack image information is correct.

[0006] Based on the above technical research and development theory, the present invention provides a steel structure crack detection device based on a binocular vision system. Summary of the Invention

[0007] The purpose of the present invention is to provide a steel structure crack detection device based on a binocular vision system to solve the problems raised in the above background technology.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a steel structure crack detection device based on a binocular vision system, comprising two eyeball cameras mounted on a drone, and a blinking mechanism disposed between the two eyeball cameras, wherein the blinking mechanism comprises:

[0009] An eye frame is provided at the spherical lens of each eye camera, and the two eye frames are used to clean the spherical lenses of the two eye cameras respectively by blinking and wiping in turn;

[0010] A pan swing device connected to one end of each eye frame, wherein the pan swing device is distributed between the two eye frames;

[0011] A wheel controller, which establishes a transmission between the two swing disc devices;

[0012] a liquid tank mechanism for supplying lubricating cleaning liquid to the two pan swinging devices, and a horizontal bracket for fixing and supporting the liquid tank mechanism, wherein the horizontal bracket is fixed between the two eyeball cameras;

[0013] A focus knob disk correspondingly mounted on each eye camera, and a synchronization shaft vertically fixed between the two focus knob disks;

[0014] A zoom accelerator is installed between the two eyeball cameras. One end of the zoom accelerator is connected to the wheel controller for transmission, and the zoom accelerator is also in contact with the focus knob for transmission.

[0015] The eye frame comprises:

[0016] an arc-shaped rubber strip in contact with the spherical lens of the eyeball camera, and a spring pressure frame assembly supporting the arc-shaped rubber strip;

[0017] The tear duct is fixed on the spring pressure frame assembly, and an arc section is provided on the tear duct. A row of small holes is opened on the arc section. When the arc rubber strip wipes the spherical lens of the eyeball camera dryly, the row of small holes in the tear duct sprays lubricating cleaning liquid toward the spherical lens of the eyeball camera.

[0018] The plate-stirring device comprises:

[0019] A single plate tool that drives the spring pressure frame group to swing back and forth, and a single frame that supports the single plate tool, wherein one end of the single frame is fixed to the horizontal bracket;

[0020] A switch is provided for establishing communication between the liquid tank mechanism and the tear duct, and the single disk pushes and controls the switch.

[0021] The single disk tool includes a disk shaft movably sleeved in a through hole opened on the single frame, a single disk fixed at one end of the disk shaft, an arc travel plate arranged at the edge of one end of the single disk, a retracted spring piece fixed on the single disk, a switch rod with one end in sliding contact with the arc travel plate, and an arc-shaped resistance column in sliding contact with the other end of the switch rod, the switch rod slides through the column hole opened in the L-shaped plate set on the single disk, the arc travel plate pushes the hemisphere set at the end of the switch rod by setting a pad, one end of the retracted spring piece rests on the convex plate vertically set on the arc travel plate, the arc travel plate is fixedly connected to the spring pressure frame group, and the arc travel plate slides through the arc plate hole opened on the convex block set on the single disk.

[0022] The switch device includes a neck tube with one end fixedly connected to the liquid tank mechanism, a movable barrel connected to the other end of the neck tube, a door post for blocking the neck tube channel, and a return pressure spring plate with one end resting on the door post, the other end of the return pressure spring plate is fixed on the neck tube, one end of the door post is fixedly connected to the arc-shaped resistance column, and the other end is slidably inserted into the square tube provided on the neck tube, the movable barrel is movably sleeved in the cylinder provided on the neck tube, and the movable barrel is fixedly connected to the tear duct.

[0023] The wheel controller includes a control frame fixed on the cross bracket, a camshaft movably sleeved in a through hole opened on the cross bracket, a cam fixed at one end of the camshaft, a positive L-shaped frame contacted by one side of the cam, an inverted L-shaped frame contacted by the other side of the cam, and spring return assemblies provided on both the positive L-shaped frame and the inverted L-shaped frame. One spring return assembly is connected between the positive L-shaped frame and the control frame and pushes the positive L-shaped frame to lean against the cam, and another spring return assembly is connected between the inverted L-shaped frame and the control frame and pushes the inverted L-shaped frame to lean against the cam. Two pillars are provided on the control frame to slide through the square holes opened on the positive L-shaped frame and the inverted L-frame respectively. One end of a disc shaft is meshed with a row of teeth provided on the inverted L-shaped frame for transmission by providing a shaft gear, and the other end of a disc shaft is meshed with a row of teeth provided on the positive L-shaped frame for transmission by providing a shaft gear.

[0024] The wheel controller also includes a T-shaped plate and a C-shaped spring piece fixed on the steering frame. One end of the T-shaped plate is slidably inserted into the plate hole opened on the steering frame, and the other end of the T-shaped plate is inserted into the V-shaped groove opened on the side wall of the camshaft by setting a pointed end. The C-shaped spring piece presses the T-shaped plate.

[0025] The zoom accelerator includes an inner frame fixed between the two eyeball cameras, a lead-out shaft movably sleeved in a through hole provided on the inner frame, a mainspring with a fixed sleeve at one end of the lead-out shaft, a circular cover shell with a fixed sleeve outside the mainspring, a speed-changing assembly supported by the inner frame, and a crossbar arranged on the speed-changing assembly. A plurality of arc grooves are evenly arranged around the edge of a focus knob disk, and the ends of the crossbar are clamped in the arc grooves of the focus knob disk. The circular cover shell is movably sleeved on the lead-out shaft by providing a bottom ring plate. The circular cover shell is provided with an outer gear ring to mesh with the bevel gear provided at the end of the camshaft for transmission.

[0026] The speed change integration includes an upper fixed cylinder, a worm, a lower fixed cylinder and a head cylinder supported and positioned by an inner frame, and a large disc gear fixed on the head cylinder. One end of the worm is meshed with the annular bevel gear on the upper fixed cylinder through a fixed bevel gear, and the other end of the worm is meshed with the annular bevel gear on the lower fixed cylinder through a fixed bevel gear. The spiral teeth on the worm are meshed with the cylinder gear fixed on the lead-out shaft.

[0027] The speed change integration also includes an adjusting plate, an upstream shaft gear supported by one end of the adjusting plate, a downstream shaft gear supported by the other end of the adjusting plate, a square pile column sliding through a square hole opened in the middle of the adjusting plate, a bow-shaped spring piece connected between the square pile column and the adjusting plate, and a return spring piece fixed on the inner frame. The return spring piece clamps the cross bar by pressing the cross bar, and the square pile column and the cross bar are vertically fixedly connected. The upstream shaft gear and the downstream shaft gear are respectively movably sleeved in different through holes opened in the adjusting plate, and one end of the upstream shaft gear slides into the gear hole opened on the upper fixed cylinder, and the other end of the upstream shaft gear contacts and meshes with the large disk gear through axial movement. One end of the downstream shaft gear slides into the gear hole opened on the head position cylinder, and the other end of the downstream shaft gear is pulled out from the gear hole opened on the lower fixed cylinder through axial movement.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. When a drone equipped with binocular cameras is performing crack detection on a steel bridge, the spherical lenses of the two eyeball cameras automatically complete a blink cleaning at regular intervals. Blinking is achieved by swinging the two eye frames in turn to avoid temporary obstruction of vision caused by blinking at the same time. The bionic blink cleaning and detection shooting in the present invention do not affect each other.

[0030] 2. When the eyepiece frame is swung to clean the spherical lens of the eyeball camera, if the spherical lens is dry, it will automatically trigger the spraying of lubricating cleaning liquid. The lubricating cleaning liquid is sprayed on the spherical lens, and the eyepiece frame can continue to swing smoothly to wipe the spherical lens of the eyeball camera. The bionic eye moisturizes to protect the spherical lens and the eyepiece frame.

[0031] 3. The present invention also imitates the blinking action when the line of sight changes. The focus adjustment of the eyeball camera will be accompanied by the temporary swing of the eye frame and blinking. In this way, the spherical lens of the eyeball camera is quickly cleaned, and the cleaned eyeball camera can take clearer pictures. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the present invention.

[0033] Figure 2 Position intention for the blink mechanism.

[0034] Figure 3 Schematic diagram of the eye frame position.

[0035] Figure 4 Schematic diagram of the eye camera position.

[0036] Figure 5 Schematic diagram of the focus knob position.

[0037] Figure 6 Schematic diagram of the position of the liquid tank mechanism.

[0038] Figure 7 Schematic diagram of the eye frame structure.

[0039] Figure 8 This is a schematic diagram of the plate swing device structure.

[0040] Figure 9 This is a schematic diagram of the single disk structure.

[0041] Figure 10 Schematic diagram of the switch structure.

[0042] Figure 11 This is a schematic diagram of the wheel control structure.

[0043] Figure 12 Schematic diagram of the zoom accelerator structure.

[0044] Figure 13 Schematic diagram of the speed change integrated structure.

[0045] In the figure: eye camera 1, blink mechanism 2, eye frame 3, swing plate 4, wheel controller 5, liquid tank mechanism 6, horizontal bracket 7, focus knob 8, synchronization shaft 9, zoom accelerator 10, arc rubber strip 11, spring pressure frame group 12, tear duct 13, single plate 14, single frame 15, switch 16, arc back plate 17, compression spring 18, direction rod 19, blink frame 20, arc travel plate 21, switch rod 22, arc resistance column 23, plate shaft 24, single plate 25, back hook spring 26, back pressure spring 27, door column 28, Neck tube 29, movable barrel 30, control frame 31, C-shaped spring clip 32, T-shaped plate 33, camshaft 34, cam 35, inverted L-shaped frame 36, positive L-shaped frame 37, spring return assembly 38, clockwork 39, round cover shell 40, lead-out shaft 41, inner frame 42, cross bar 43, speed change assembly 44, upper fixed cylinder 45, worm 46, return spring clip 47, lower fixed cylinder 48, upstream shaft gear 49, bow-shaped spring clip 50, square pile column 51, adjustment plate 52, large plate gear 53, downstream shaft gear 54, head position cylinder 55. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the technical solutions in the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] See also Figures 1 to 13 The present invention provides a technical solution: a steel structure crack detection device based on a binocular vision system, comprising two eyeball cameras 1 mounted on a drone, and a blinking mechanism 2 arranged between the two eyeball cameras 1, wherein the blinking mechanism 2 comprises:

[0048] An eye frame 3 is provided at the spherical lens of each eye camera 1. The two eye frames 3 clean the spherical lenses of the two eye cameras 1 respectively by blinking and wiping in turn;

[0049] A pan swing device 4 is connected to one end of each eye frame 3, and the pan swing device 4 is distributed between the two eye frames 3;

[0050] The wheel controller 5 establishes a transmission between the two swinging disc devices 4;

[0051] A liquid tank mechanism 6 supplies lubricating and cleaning liquid to the two oscillating discs 4, and a horizontal bracket 7 fixedly supports the liquid tank mechanism 6. The horizontal bracket 7 is fixed between the two eye cameras 1. The liquid tank mechanism 6 is conventional in the art. The liquid tank stores lubricating and cleaning liquid and is equipped with an internal pressure device. The mouth of the liquid tank is connected to the two oscillating discs 4 respectively. A switch valve is installed on the oscillating disc 4. Once the valve is opened, the lubricating and cleaning liquid in the liquid tank is automatically injected into the oscillating disc 4 and then supplied to the eye frame 3.

[0052] Each eyeball camera 1 is provided with a corresponding focus knob 8, and a synchronization shaft 9 is fixed vertically between the two focus knobs 8. The focus knob on the eyeball camera in the prior art is rotated to control the focus adjustment of the eyeball camera. The focus knob 8 in the present invention is a passive knob. A binocular vision system is set on the drone. When the eyeball camera 1 captures a crack in the steel bridge, the binocular vision system controls the focus adjustment of the eyeball camera 1, and the focus knob 8 on the eyeball camera 1 rotates accordingly.

[0053] The zoom accelerator 10 is installed between the two eye cameras 1. One end of the zoom accelerator 10 is connected to the wheel controller 5 for transmission. The zoom accelerator 10 is also in contact with the focus knob 8 for transmission.

[0054] refer to Figure 7 Understand, the eye frame 3 includes:

[0055] The curved rubber strip 11 contacts the spherical lens of the eye camera 1, and the spring pressure frame assembly 12 supports the curved rubber strip 11. The spring pressure frame assembly 12 is a conventional structure that applies elastic force to the curved rubber strip 11, and the curved rubber strip 11 is attached to the spherical lens of the eye camera 1. The spring pressure frame assembly 12 includes a curved back plate 17 fixedly connected to the curved rubber strip 11, two direction rods 19 fixed to the curved back plate 17, a compression spring 18 sleeved on the direction rods 19, and a blinking frame 20 through which the direction rods 19 slide;

[0056] The tear duct 13 is fixed on the spring pressure frame assembly 12, and an arc section is provided on the tear duct 13, and a row of small holes are opened on the arc section. When the arc rubber strip 11 wipes the spherical lens of the eyeball camera 1 dryly, the row of small holes in the tear duct 13 sprays lubricating cleaning liquid toward the spherical lens of the eyeball camera 1.

[0057] refer to Figure 8 It is understood that the plate-stirring device 4 includes:

[0058] A single plate 14 drives the spring pressure frame group 12 to swing back and forth, and a single frame 15 supports the single plate 14, one end of the single frame 15 is fixed to the horizontal bracket 7;

[0059] A switch 16 is provided to establish communication between the liquid tank mechanism 6 and the tear duct 13 , and the single disk 14 pushes and controls the switch 16 .

[0060] refer to Figure 9 It is understood that the single disk tool 14 includes a disk shaft 24 movably sleeved in a through hole opened on the single frame 15, a single disk 25 with one end of the disk shaft 24 fixed, an arc swimming plate 21 arranged at the edge of one end of the single disk 25, a retracted spring piece 26 fixed on the single disk 25, a switch rod 22 with one end in sliding contact with the arc swimming plate 21, and an arc-shaped resistance column 23 in sliding contact with the other end of the switch rod 22. The switch rod 22 slides through the column hole opened on the L-shaped plate set on the single disk 25. The arc swimming plate 21 pushes the hemisphere set at the end of the switch rod 22 by setting a pad. One end of the retracted spring piece 26 rests on a convex plate vertically set on the arc swimming plate 21. The arc swimming plate 21 is fixedly connected to the spring pressure frame group 12, and the arc swimming plate 21 slides through the arc plate hole opened on the convex block set on the single disk 25.

[0061] refer to Figure 10 It is understood that the switch device 16 includes a neck tube 29 with one end fixedly connected to the liquid tank mechanism 6, a movable barrel 30 connected to the other end of the neck tube 29, a door column 28 for blocking the passage of the neck tube 29, and a back-pressure spring piece 27 with one end resting on the door column 28, the other end of the back-pressure spring piece 27 is fixed on the neck tube 29, one end of the door column 28 is fixedly connected to the arc-shaped resistance column 23, and the other end is slidably inserted into the square tube provided on the neck tube 29, the movable barrel 30 is movably sleeved in the cylinder provided on the neck tube 29, and the movable barrel 30 is fixedly connected to the tear duct 13.

[0062] refer to Figure 11It is understood that the wheel controller 5 includes a steering frame 31 fixed to the cross bracket 7, a cam shaft 34 movably sleeved in a through hole on the cross bracket 7, a cam 35 fixed at one end of the cam shaft 34, a positive L-shaped frame 37 contacted by one side of the cam 35, an inverted L-shaped frame 36 contacted by the other side of the cam 35, and spring return assemblies 38 provided on both the positive L-shaped frame 37 and the inverted L-shaped frame 36. A spring return assembly 38 is connected between the positive L-shaped frame 37 and the steering frame 31, and pushes the positive L-shaped frame 37 to the right of the wheel controller 5. On the cam 35, another spring return assembly 38 is connected between the inverted L-shaped frame 36 and the control frame 31, and pushes the inverted L-shaped frame 36 against the cam 35. Two pillars are provided on the control frame 31 to slide through the square holes opened on the positive L-shaped frame 37 and the inverted L-shaped frame 36 respectively. One end of the disk shaft 24 is engaged with a row of teeth provided on the inverted L-shaped frame 36 by providing a shaft gear for transmission, and the other end of the disk shaft 24 is engaged with a row of teeth provided on the positive L-shaped frame 37 for transmission.

[0063] The wheel controller 5 also includes a T-shaped plate 33 and a C-shaped spring piece 32 fixed to the steering frame 31. One end of the T-shaped plate 33 is slidably inserted into the plate hole opened on the steering frame 31, and the other end of the T-shaped plate 33 is inserted into the V-shaped groove opened on the side wall of the camshaft 34 by setting a pointed end. The C-shaped spring piece 32 presses the T-shaped plate 33.

[0064] The zoom accelerator 10 includes an inner frame 42 fixed between the two eye cameras 1, a lead-out shaft 41 movably sleeved in a through hole provided on the inner frame 42, a spring 39 fixedly sleeved at one end of the lead-out shaft 41, a circular cover shell 40 fixedly sleeved on the outside of the spring 39, a speed shifting integrated 44 supported on the inner frame 42, and a cross bar 43 arranged on the speed shifting integrated 44. A plurality of arc grooves are evenly arranged on the edge of the focus knob disk 8, and the end of the cross bar 43 is stuck in the arc groove of the focus knob disk 8. The circular cover shell 40 is movably sleeved on the lead-out shaft 41 by providing a bottom ring plate, and the circular cover shell 40 is provided with an outer gear ring to engage with the bevel gear provided at the end of the camshaft 34 for transmission.

[0065] The speed change integration 44 includes an upper fixed cylinder 45, a worm 46, a lower fixed cylinder 48 and a head cylinder 55 supported and positioned by the inner frame 42, and a large disc gear 53 fixed on the head cylinder 55. One end of the worm 46 is meshed with the annular bevel gear on the upper fixed cylinder 45 through a fixed bevel gear, and the other end of the worm 46 is meshed with the annular bevel gear on the lower fixed cylinder 48 through a fixed bevel gear. The spiral teeth on the worm 46 are meshed with the cylinder gear fixed on the lead-out shaft 41. Figure 13 It is understood that the upper fixed cylinder 45 , the worm 46 , the lower fixed cylinder 48 and the head cylinder 55 are movably sleeved in different through holes opened on the inner frame 42 .

[0066] The speed shifting assembly 44 also includes an adjusting plate 52, an upstream shaft gear 49 supported by one end of the adjusting plate 52, a downstream shaft gear 54 supported by the other end of the adjusting plate 52, a square pile column 51 sliding through a square hole opened in the middle of the adjusting plate 52, a bow-shaped spring piece 50 connected between the square pile column 51 and the adjusting plate 52, and a return spring piece 47 fixed to the inner frame 42. The return spring piece 47 presses the cross bar 43 to engage the cross bar 43 with the focus knob 8, and the square pile column 51 and the cross bar 43 are vertically connected. The upstream shaft gear 49 and the downstream shaft gear 54 are respectively movably connected in different through holes opened on the adjustment plate 52. One end of the upstream shaft gear 49 is slidably inserted into the gear hole opened on the upper fixed cylinder 45, and the other end of the upstream shaft gear 49 is axially moved to contact and engage with the large disc gear 53. One end of the downstream shaft gear 54 is slidably inserted into the gear hole opened on the head cylinder 55, and the other end of the downstream shaft gear 54 is pulled out from the gear hole opened on the lower fixed cylinder 48 through axial movement.

[0067] Figure 13 The right end of the head cylinder 55 is externally connected to the driving mechanism in the prior art. The drone carries the eyeball camera 1 to shoot the crack stage of the steel bridge. The head cylinder 55 rotates continuously to drive the downstream shaft gear 54, and then drives the worm 46 through the lower fixed cylinder 48. At this time, the upstream shaft gear 49 and the large plate gear 53 are separated and not transmitted. The rotating worm 46 drives the lead-out shaft 41. The rotation of the lead-out shaft 41 causes the spring 39 to contract and store power, providing rotation pressure for the round cover shell 40. At this time, the camshaft 34 is blocked by the T-plate 33. The rotation pressure is large enough to break the blockage, and the camshaft 34 is blocked by the round cover shell 40. Driven to rotate, the tip of the T-shaped plate 33 is pushed out of the V-shaped groove, and the cam shaft 34 will then complete a circle of rotation, and then be clamped by the T-shaped plate 33 again. In this way, the cam 35 completes a single circle of rotation at intervals. During the single circle rotation process, the cam 35 successively pushes the inverted L-shaped frame 36 and the positive L-shaped frame 37. The inverted L-shaped frame 36 and the positive L-shaped frame 37 automatically reset after being pushed. The inverted L-shaped frame 36 completes a reciprocating motion corresponding to the reciprocating swing of one eye frame 3, and then the positive L-shaped frame 37 completes a reciprocating motion corresponding to the reciprocating swing of the other eye frame 3.

[0068] The subsequent transmission of the inverted L-shaped frame 36 is specifically to first drive the corresponding disc shaft 24, which drives the single disc 25 to complete a reciprocating swing, and then drives the spring pressure frame group 12 through the arc travel plate 21, and then the arc-shaped rubber strip 11 completes a reciprocating swing to wipe the spherical lens on the eye camera 1. Figure 6 and Figure 7 During the upward swinging wiping process of the arc-shaped rubber strip 11, if the spherical lens of the eyeball camera 1 is dry, the arc-shaped rubber strip 11 will be difficult to move. Figure 10The arc-shaped swimming plate 21 in the middle rotates clockwise and is restrained, while the single disk 25 remains in a clockwise rotation state. Then the arc-shaped swimming plate 21 will rotate one step slower. The arc-shaped swimming plate 21 has a short distance reverse movement relative to the single disk 25. The arc-shaped swimming plate 21 will push the switch rod 22, thereby causing the arc-shaped blocking column 23 to move horizontally. Figure 10 The arc-shaped blocking column 23 in the middle moves to the right to drive the door post 28, and the door post 28 is pulled out from the channel of the neck tube 29. The channel of the neck tube 29 is unblocked, and the liquid tank mechanism 6 quickly injects lubricating cleaning liquid into the neck tube 29, and then the lubricating cleaning liquid is injected into the tear duct 13. The tear duct 13 sprays the lubricating cleaning liquid toward the spherical lens of the eyeball camera 1. That is, the arc-shaped rubber strip 11 rises and swings to wipe the process, detects the dryness of the spherical lens of the eyeball camera 1, and decides whether to spray the lubricating cleaning liquid. Then, in the return stage of the arc-shaped rubber strip 11's downward swing, the arc-shaped rubber strip 11 can smoothly wipe the spherical lens with the lubricating cleaning liquid attached.

[0069] When the eye camera 1 is zoomed, the two eye frames 3 will quickly complete a blinking swing in turn, because the mainspring 39 of the driving source will quickly accumulate power in a short time, thereby making the cam shaft 34 complete a circle of rotation, and the speed of the lead-out shaft 41 will increase rapidly in a short time. Because the eye camera 1 is zooming under the binocular vision system, a plurality of card points are arranged on the focus knob disk 8, each card point corresponding to the node after the zoom of the eye camera 1 is completed. In this way, when zooming, the focus knob disk 8 rotates, the cross bar 43 is pushed out of the arc groove, the zoom is completed, and the cross bar 43 is re-engaged with the focus knob disk 8. When the cross bar 43 is pushed out, the cross bar 43 drives the square pile column 51, and then drives the adjustment plate 52 to move synchronously through the bow-shaped spring piece 50. The buffer design of the bow-shaped spring piece 50 is used to avoid the non-engagement problem when the upstream shaft gear 49 and the large disk gear 53 are docked, and also to avoid the non-engagement problem between the fixed cylinder 48 and the downstream shaft gear 54 in the reset stage, and continue to return to the adjustment plate 52 for translation. Figure 13 The adjusting plate 52 in the middle moves to the right, and the process drives the upstream shaft gear 49 and the downstream shaft gear 54, and then the upstream shaft gear 49 and the large disc gear 53 are in contact and meshed, while the downstream shaft gear 54 and the lower fixed cylinder 48 are separated. Then the transmission path between the head cylinder 55 and the lead-out shaft 41 changes, and the head cylinder 55 drives the large disc gear 53 to rotate, and then the upstream shaft gear 49 rotates rapidly to drive the upper fixed cylinder 45, and then the lead-out shaft 41 is driven by the worm 46, and the speed of the lead-out shaft 41 increases rapidly in a short time.

[0070] After the focus knob 8 is reconnected with the crossbar 43, the transmission state between the head position tube 55 and the lead-out shaft 41 is automatically restored to Figure 13 In the state shown in , the return spring 47 rebounds to reset the crossbar 43, and the end of the crossbar 43 after reset is re-engaged in the arc groove of the focus knob disk 8, that is, the adjustment plate 52 moves left during reset.

[0071] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A steel structure crack detection device based on a binocular vision system, comprising two eyeball cameras mounted on a drone and a blinking mechanism disposed between the two eyeball cameras, characterized in that: The blinking mechanism comprises: An eye frame is provided at the spherical lens of each eye camera, and the two eye frames are used to clean the spherical lenses of the two eye cameras respectively by blinking and wiping in turn; A pan swing device connected to one end of each eye frame, wherein the pan swing device is distributed between the two eye frames; A wheel controller, which establishes a transmission between the two swing disc devices; a liquid tank mechanism for supplying lubricating cleaning liquid to the two pan swinging devices, and a horizontal bracket for fixing and supporting the liquid tank mechanism, wherein the horizontal bracket is fixed between the two eyeball cameras; A focus knob disk correspondingly mounted on each eye camera, and a synchronization shaft vertically fixed between the two focus knob disks; A zoom accelerator installed between the two eye cameras, one end of the zoom accelerator being in transmission connection with the wheel controller, and the zoom accelerator also being in contact with the focus knob for transmission; The eye frame includes an arc-shaped rubber strip in contact with the spherical lens of the eyeball camera, and a spring pressure frame group supporting the arc-shaped rubber strip; The tear duct is fixed on the spring pressure frame assembly, and an arc section is provided on the tear duct, and a row of small holes are opened on the arc section. When the arc rubber strip wipes the spherical lens of the eyeball camera dryly, the row of small holes in the tear duct sprays lubricating cleaning liquid toward the spherical lens of the eyeball camera; The pan swing device includes a single pan that drives the spring pressure frame group to swing back and forth, and a single frame that supports the single pan, and one end of the single frame is fixed to the horizontal bracket; A switch device for establishing communication between the liquid tank mechanism and the tear duct, wherein the single disk device pushes and controls the switch device; The single disk device includes a disk shaft movably sleeved in a through hole provided on the single frame, a single disk fixed at one end of the disk shaft, an arc travel plate arranged at an edge position of one end of the single disk, a retracted spring piece fixed on the single disk, a switch rod with one end in sliding contact with the arc travel plate, and an arc-shaped resistance column with the other end in sliding contact with the switch rod, the switch rod slides through a column hole provided on an L-shaped plate provided on the single disk, a pad is provided on the arc travel plate to push a hemisphere provided on the end of the switch rod, one end of the retracted spring piece rests on a convex plate provided vertically on the arc travel plate, the arc travel plate is fixedly connected to the spring pressure frame assembly, and the arc travel plate slides through the arc plate hole provided on the convex block provided on the single disk; The switch device includes a neck tube with one end fixedly connected to the liquid tank mechanism, a movable barrel connected to the other end of the neck tube, a door post for blocking the neck tube channel, and a return pressure spring plate with one end resting on the door post, the other end of the return pressure spring plate is fixed to the neck tube, one end of the door post is fixedly connected to the arc-shaped resistance column, and the other end is slidably inserted into the square tube provided on the neck tube, the movable barrel is movably sleeved in the cylinder provided on the neck tube, and the movable barrel is fixedly connected to the tear duct, and the wheel controller includes a control frame fixed on the cross bracket, a cam shaft movably sleeved in a through hole opened on the cross bracket, a cam fixed at one end of the cam shaft, a positive L-shaped frame contacted by one side of the cam, an inverted L-shaped frame contacted by the other side of the cam, and a spring reset assembly provided on both the positive L-shaped frame and the inverted L-shaped frame.

2. The steel structure crack detection device based on a binocular vision system according to claim 1, characterized in that: A spring return assembly is connected between the positive L-shaped frame and the control frame, and pushes the positive L-shaped frame to lean against the cam. Another spring return assembly is connected between the inverted L-shaped frame and the control frame, and pushes the inverted L-shaped frame to lean against the cam. Two pillars are provided on the control frame to slide through the square holes opened on the positive L-shaped frame and the inverted L-shaped frame respectively. One end of the disc shaft is engaged with a row of teeth provided on the inverted L-shaped frame through a shaft gear, and the other end of the disc shaft is engaged with a row of teeth provided on the positive L-shaped frame through a shaft gear.

3. The steel structure crack detection device based on a binocular vision system according to claim 1, characterized in that: The wheel controller also includes a T-shaped plate and a C-shaped spring piece fixed on the steering frame. One end of the T-shaped plate is slidably inserted into the plate hole opened on the steering frame, and the other end of the T-shaped plate is inserted into the V-shaped groove opened on the side wall of the camshaft by setting a pointed end. The C-shaped spring piece presses the T-shaped plate.

4. The steel structure crack detection device based on a binocular vision system according to claim 1, characterized in that: The zoom accelerator includes an inner frame fixed between the two eyeball cameras, a lead-out shaft movably sleeved in a through hole provided on the inner frame, a mainspring with a fixed sleeve at one end of the lead-out shaft, a circular cover shell with a fixed sleeve outside the mainspring, a speed-changing assembly supported by the inner frame, and a crossbar arranged on the speed-changing assembly. A plurality of arc grooves are evenly arranged around the edge of a focus knob disk, and the ends of the crossbar are clamped in the arc grooves of the focus knob disk. The circular cover shell is movably sleeved on the lead-out shaft by providing a bottom ring plate. The circular cover shell is provided with an outer gear ring to mesh with the bevel gear provided at the end of the camshaft for transmission.

5. The steel structure crack detection device based on a binocular vision system according to claim 4, characterized in that: The speed change integration includes an upper fixed cylinder, a worm, a lower fixed cylinder and a head cylinder supported and positioned by an inner frame, and a large disc gear fixed on the head cylinder. One end of the worm is meshed with the annular bevel gear on the upper fixed cylinder through a fixed bevel gear, and the other end of the worm is meshed with the annular bevel gear on the lower fixed cylinder through a fixed bevel gear. The spiral teeth on the worm are meshed with the cylinder gear fixed on the lead-out shaft.

6. The steel structure crack detection device based on a binocular vision system according to claim 5, characterized in that: The speed change integration also includes an adjusting plate, an upstream shaft gear supported by one end of the adjusting plate, a downstream shaft gear supported by the other end of the adjusting plate, a square pile column sliding through a square hole opened in the middle of the adjusting plate, a bow-shaped spring piece connected between the square pile column and the adjusting plate, and a return spring piece fixed on the inner frame. The return spring piece clamps the cross bar by pressing the cross bar, and the square pile column and the cross bar are vertically fixedly connected. The upstream shaft gear and the downstream shaft gear are respectively movably sleeved in different through holes opened in the adjusting plate, and one end of the upstream shaft gear slides into the gear hole opened on the upper fixed cylinder, and the other end of the upstream shaft gear contacts and meshes with the large disk gear through axial movement. One end of the downstream shaft gear slides into the gear hole opened on the head position cylinder, and the other end of the downstream shaft gear is pulled out from the gear hole opened on the lower fixed cylinder through axial movement.

Images