Tunnel crack detection equipment

Abstract

The invention relates to tunnel crack detection equipment. The equipment comprises a walking mechanism; the flaw detection mechanism is arranged on one side of the top of the walking mechanism, one side of the flaw detection mechanism is rotationally connected with the walking mechanism through a rotating mechanism, and flaw detection equipment capable of being rotationally switched is arranged on the other side of the flaw detection mechanism; and the visual acquisition mechanism is arranged on the other side of the top of the walking mechanism and is used for shooting images of the inner wall of the tunnel. Flexible movement on a tunnel rail is achieved through the walking mechanism, in the moving process, the visual collection mechanism shoots the inner wall of a tunnel in real time, automatically recognizes cracks and records the positions, then the walking mechanism is precisely driven to the position under the cracks, and compared with traditional manual inspection or fixed rail detection, the detection efficiency and positioning precision are greatly improved; a tunnel complex structure area is effectively covered, through switching of multiple flaw detection devices in the flaw detection mechanism, the advantages of different detection technologies are comprehensively utilized, the limitation of a single detection means is avoided, and comprehensive and accurate crack data are obtained.

Description

Technical Field

[0001] This application relates to the field of tunnel crack detection technology, and in particular to a tunnel crack detection device. Background Technology

[0002] With the rapid increase in tunnel mileage in my country in recent years, the number of electromechanical equipment in highway tunnels has gradually increased, and their service life has also grown, bringing a huge workload to daily tunnel inspection and maintenance. At the same time, structural and lining defects in tunnels have become increasingly prominent, with cracks being particularly severe. Tunnel cracks not only lead to surface damage such as water seepage and steel corrosion, but can also cause a decrease in structural load-bearing capacity and even threaten traffic safety. Currently, tunnel lining crack detection has the following shortcomings: 1) Traditional tunnel inspection mainly relies on manual visual inspection, which is greatly affected by subjective factors and is also greatly affected by external factors. It is time-consuming and labor-intensive in the inspection of long-distance, large-section tunnels and cannot meet the needs of rapid inspection.

[0003] 2) Existing testing equipment mostly employs a single testing method, failing to comprehensively utilize the advantages of different testing technologies and making it difficult to obtain comprehensive and accurate crack data. This results in a lack of systematicity and reliability in the testing results, failing to provide strong support for tunnel defect assessment and maintenance decisions. Summary of the Invention

[0004] Therefore, it is necessary to provide a tunnel crack detection device to overcome the shortcomings of low tunnel detection efficiency and accuracy and limited detection methods in the existing technology.

[0005] A tunnel crack detection device, comprising: Walking mechanism; A flaw detection mechanism is located on the other side of the top of the traveling mechanism. One side of the flaw detection mechanism is rotatably connected to the traveling mechanism via a rotating mechanism, and the other side is equipped with a rotatable and switchable flaw detection device; and A visual acquisition mechanism is installed on one side of the top of the walking mechanism and is used to capture images of the tunnel interior wall.

[0006] As a preferred embodiment of the tunnel crack detection device of the present invention, the walking mechanism includes a vehicle platform, a bracket fixedly connected to the top of the vehicle platform, a mounting plate provided on the top of the bracket, and a moving mechanism rotatably connected to the bottom of the vehicle platform.

[0007] As a preferred embodiment of the tunnel crack detection device of the present invention, the rotating mechanism includes a rotating roller, the end of which is rotatably connected to a mounting plate via a bracket, and a driving mechanism is connected to one end of the rotating roller. As a preferred embodiment of the tunnel crack detection device of the present invention, a pair of spaced-apart arc rods are provided on the side of the rotating roller, and the ends of the arc rods are connected to the mounting plate, wherein a slider is slidably connected thereto.

[0008] As a preferred embodiment of the tunnel crack detection device of the present invention, the flaw detection mechanism includes a mounting frame, and a flap is provided in the mounting frame. The flap is rotatably connected to the mounting frame via a rotating shaft. The flaw detection device is fixed to both sides of the flap. A connecting component is provided at one end of the mounting frame. The connecting component and the rotating roller are connected to each other via a telescopic component.

[0009] As a preferred embodiment of the tunnel crack detection device of the present invention, the connecting assembly includes a support plate fixedly connected to the telescopic end of the telescopic assembly. The support plate has an installation opening at its end, and a movable plate is slidably disposed in the installation opening. A fixed plate is fixedly connected to one end of the movable plate, and a first spring is disposed between the fixed plate and the support plate. A movable frame is fixedly connected to the other end of the movable plate. The movable frame has a through hole, and a movable rod is slidably disposed in the through hole. A baffle is fixedly connected to one end of the movable rod, and a second spring is disposed between the baffle and the movable frame. The second spring is sleeved with the movable rod, and the other end of the movable rod is connected to the bottom of the mounting frame. An adjustment unit is also disposed between the mounting frame and the movable frame to cause the flip plate to flip when the movable frame approaches the mounting frame.

[0010] As a preferred embodiment of the tunnel crack detection device of the present invention, the adjustment unit includes a driven gear, which is coaxially connected to the rotating shaft. A side plate is fixedly connected to the bottom of the mounting frame. A transmission gear meshing with the driven gear is rotatably connected to the side plate through a horizontal shaft. A rack meshing with the transmission gear is fixedly connected to the top of the moving frame. A stop is also fixedly connected to the top of the mounting frame. When the top of the rack contacts the stop, the flip plate rotates exactly 180 degrees and remains parallel to the mounting frame.

[0011] As a preferred embodiment of the tunnel crack detection device of the present invention, the visual acquisition mechanism includes a camera for photographing the inner wall of the tunnel, and supplementary lighting components are disposed on both sides of the camera to provide illumination for the camera's photographing.

[0012] As a preferred embodiment of the tunnel crack detection device of the present invention, the supplementary lighting component includes a telescopic rod, one end of which is fixedly connected to the top of the mounting plate, and the other end of which is provided with a supplementary lighting unit and can extend outward.

[0013] As a preferred embodiment of the tunnel crack detection device of the present invention, the supplementary lighting unit includes a lifting rod, which has inclined slots spaced along its length and is connected to a telescopic rod through a fixing component that cooperates with the slots. Supplementary lights and counterweights are respectively provided at the ends of the lifting rod.

[0014] The beneficial effects of this invention are: This invention enables flexible movement on tunnel tracks via a walking mechanism. During movement, a visual acquisition mechanism captures real-time images of the tunnel interior, automatically identifies cracks, and records their locations. The walking mechanism is then precisely driven to directly beneath the cracks. Compared to traditional manual inspections or fixed-track testing, this significantly improves inspection efficiency and positioning accuracy, effectively covering complex tunnel structures. By switching between multiple flaw detection devices within the flaw detection mechanism, the advantages of different detection technologies are comprehensively utilized, avoiding the limitations of single detection methods and obtaining comprehensive and accurate crack data. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is one of the structural schematic diagrams of the tunnel crack detection device according to an embodiment of this application; Figure 2 This is a second schematic diagram of the tunnel crack detection device according to an embodiment of this application; Figure 3 This is the third schematic diagram of the tunnel crack detection device according to an embodiment of this application; Figure 4 This is a schematic diagram of the walking mechanism according to an embodiment of this application; Figure 5 This is one of the structural schematic diagrams of the connection component in an embodiment of this application; Figure 6 This is a second schematic diagram of the structure of the connection component according to an embodiment of this application; Figure 7 This is a schematic diagram of the supplementary lighting component according to an embodiment of this application; Figure 8 This is a half-sectional structural diagram of the supplementary lighting component according to an embodiment of this application; Figure 9 This is a schematic diagram of the telescopic rod and extension rod according to an embodiment of this application; Figure 10 This is a schematic diagram of the supplementary lighting unit according to an embodiment of this application; Explanation of reference numerals in the attached figures: 101. Mounting plate; 102. Bracket; 103. Moving shaft; 104. Rotating roller; 105. Telescopic cylinder; 106. Mounting frame; 107. Rotating shaft; 108. Flip plate; 109. Ultrasonic sensor; 110. Infrared thermal imager; 111. Support rod; 112. Ball bearing; 201. Platform; 202. Bracket; 203. Mounting block; 204. Mounting shaft; 205. Wheel; 206. Inner locking ring; 207. Outer locking ring; 301. Support plate; 302. Movable plate; 303. Fixed plate; 304. First spring; 305. Movable frame; 306. Movable rod; 307. Second spring; 308. Baffle plate; 401. Driven gear; 402. Side plate; 403. Horizontal shaft; 404. Transmission gear; 405. Rack; 406. Stop; 501. Camera; 502. Horizontal plate; 503. Mounting slot; 504. Movable plate; 505. Movable slot; 506. Telescopic rod; 507. Extension slot; 508. Extension rod; 509. First support plate; 510. Second support plate; 511. Stop block; 512. Locking bolt; 601. Lifting rod; 602. Counterweight; 603. Supplemental light; 604. Slot; 605. Vertical plate; 606. Rotating plate; 607. Locking rod; 701. Arc rod; 702. Slider; 801. Reducer; 802. Stepper motor. Detailed Implementation

[0017] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0018] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0020] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0022] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0023] According to one aspect of this application, embodiments of this application provide a tunnel crack detection device, which can be found in conjunction with the following description. Figures 1 to 10 The tunnel inspection equipment includes a walking mechanism, a flaw detection mechanism, and a visual acquisition mechanism. The visual acquisition mechanism is located on one side of the top of the walking mechanism and is used to capture images of the tunnel interior wall. The flaw detection mechanism is located on one side of the top of the walking mechanism, and one side of the flaw detection mechanism is rotatably connected to the walking mechanism via a rotating mechanism.

[0024] In this embodiment, the walking mechanism enables the entire device to move quickly and flexibly within the tunnel. The visual acquisition mechanism is located at the front end of the walking mechanism to capture real-time images of the tunnel wall, automatically identify cracks and record their locations. Subsequently, it precisely drives the flaw detection mechanism to directly below the crack. By switching between various flaw detection devices, the flaw detection mechanism comprehensively utilizes the advantages of different detection technologies, avoids the limitations of a single detection method, and obtains comprehensive and accurate crack data.

[0025] In one embodiment, see Figures 1 to 4 The traveling mechanism includes a platform 201, with brackets 202 fixedly connected to the top surface of the platform 201 at intervals. The top of the brackets 202 is mounted on a mounting plate 101 for mounting a flaw detection mechanism and a visual acquisition mechanism. Mounting blocks 203 are located at the four corners of the bottom of the platform 201, and the mounting blocks 203 are rotatably connected to a moving mechanism. The moving mechanism includes a mounting shaft 204, which is rotatably connected to the mounting blocks 203. The shaft has an external thread at its end, and wheels 205 are screwed into it via internal threads that match the external threads. Inner locking rings 206 and outer locking rings 207 are located on both sides of the wheels 205 for limiting their movement. The inner locking rings 206 and outer locking rings 207 are screwed into the mounting shaft 204.

[0026] The threaded connection design allows the spacing between the wheels 205 on both sides of the mounting shaft 204 to be adjusted to adapt to different track gauges and enhance applicability. After the wheels 205 are adjusted to the appropriate position, they are fixed in the current position by the inner locking ring 206 and the outer locking ring 207, connecting to the track in the tunnel. The mobile device on the track is then connected to the car platform 201, which allows the mounting plate 101 connected to the car platform 201 via the bracket 202 to move flexibly above the rail, making it more convenient to use.

[0027] In one embodiment, see Figures 1 to 3 The rotating mechanism includes a rotating roller 104. A bracket 102 is provided at the top of the mounting plate 101 corresponding to the end of the rotating roller 104. The bracket 102 is rotatably connected to the rotating roller 104 via a moving shaft 103 at the end of the rotating roller 104. One of the moving shafts 103 is connected to a drive mechanism. The drive mechanism includes a reducer 801 fixed to the top of the mounting plate 101. A stepper motor 802 is fixed to the outer wall of the reducer 801. The output end of the stepper motor 802 is connected to the input end of the reducer 801, and the output end of the reducer 801 is connected to the end of the moving shaft 103. When the rotating roller 104 needs to be rotated, the stepper motor 802 transmits the driving force to the reducer 801. The reducer 801 can increase the torque and transmit it to the moving shaft 103, so that the rotating roller 104 rotates stably.

[0028] In one embodiment, see Figure 5 and Figure 6The flaw detection mechanism includes a mounting frame 106, in which a flap 108 is provided. The flap 108 is rotatably connected to the mounting frame 106 via a rotating shaft 107. The flaw detection equipment is fixed to both sides of the flap 108. The flap 108 rotates to switch between different flaw detection equipment. A connecting component is provided at the bottom of the mounting frame 106. The connecting component and the rotating roller 104 are connected to each other via a telescopic component, which serves as a connection while also enabling the flap 108 to flip.

[0029] The mounting frame 106 is symmetrically equipped with a stop bar 111 on the top. The top of the stop bar 111 has a groove, and a ball bearing 112 is rotatably arranged in the groove. The ball bearing 112 abuts against the inner wall of the tunnel. The stop bar 111 and the ball bearing 112 can ensure that the flaw detection structure always maintains the same distance from the inner wall of the tunnel during use, so as to ensure the accuracy of the detection.

[0030] The telescopic assembly includes a telescopic cylinder 105, the fixed end of which is fixedly connected to the rotating roller 104, and the telescopic end of which is fixedly connected to the bottom of the flaw detection mechanism.

[0031] The connecting assembly includes a support plate 301. The bottom of the support plate 301 is fixedly connected to the telescopic end of the telescopic assembly. An installation opening is provided at one end of the support plate 301, and a movable plate 302 is slidably disposed within the installation opening. The movable plate 302 can reciprocate along the opening direction of the installation opening. A fixed plate 303 is fixedly connected to the bottom end of the movable plate 302. A first spring 304 is also disposed between the fixed plate 303 and the support plate 301. The end of the first spring 304 abuts against the fixed plate 303 and the support plate 301. A movable frame 305 is fixedly connected to the other end of the movable plate 302. Through holes are provided at the four corners of the movable frame 305. A movable rod 306 is slidably disposed in the through hole. The movable rod 306 can reciprocate along the opening direction of the through hole. One end of the movable rod 306 is fixedly connected to a baffle 308. A second spring 307 is disposed between the baffle 308 and the moving frame 305. The second spring 307 is sleeved with the movable rod 306, and its end abuts against the baffle 308 and the moving frame 305. The other end of the movable rod 306 is connected to the bottom of the mounting frame 106. An adjustment unit is also disposed between the mounting frame 106 and the moving frame 305 to cause the flip plate 108 to flip when the moving frame 305 approaches the mounting frame 106.

[0032] The flaw detection equipment includes an ultrasonic sensor 109 and an infrared thermal imager 110.

[0033] During flaw detection, the extension and retraction of the telescopic cylinder 105 causes the support plate 301 to move upward. The support plate 301, in turn, moves the mounting frame 106 upward via the moving plate 302, the moving frame 305, and the movable rod 306. This causes the mounting frame 106 on the flip plate 108 to move closer to the crack when the ultrasonic sensor 109 / infrared thermal imager 110 scans the crack, thus achieving the scanning operation. When it is necessary to switch equipment for scanning, the extension of the telescopic cylinder 105 can be used to further extend the ball bearing 112 at the end of the abutment rod 111 to contact the inner wall of the tunnel. At this time, the mounting frame 106 is installed. Since the mounting frame 106 can no longer move, the moving frame 305 will move outside the movable rod 306, causing the second spring 307 to be stretched and gradually approach the mounting frame 106. As the moving frame 305 approaches the mounting frame 106, it will trigger the flip plate 108 to automatically flip, so that when the infrared thermal imager 110 / ultrasonic sensor 109 on the other side of the flip plate 108 scans the crack, it will be aligned with the crack. This allows for a quick switching operation between the infrared thermal imager 110 and the ultrasonic sensor 109, thereby effectively improving detection efficiency and achieving better results.

[0034] The adjustment unit includes a driven gear 401, which is coaxially connected to the rotating shaft 107. A side plate 402 is fixedly connected to the bottom of the mounting frame 106. A transmission gear 404 that meshes with the driven gear 401 is rotatably connected to the side plate 402 via a horizontal shaft 403. A rack 405 that meshes with the transmission gear 404 is fixedly connected to the top of the moving frame 305. A stop 406 is also fixedly connected to the top of the mounting frame 106. When the top of the rack 405 contacts the stop 406, the flip plate 108 rotates exactly 180 degrees and remains parallel to the mounting frame 106.

[0035] When it is necessary to switch the flaw detection equipment, the ball bearing 112 contacts the inner wall of the tunnel. At this time, the telescopic mechanism continues to extend, the moving frame 305 moves towards the mounting frame 106, and the rack 405 moves along with it, driving the transmission gear 404 to rotate. The transmission gear 404 drives the driven gear 401 to rotate, which in turn causes the rotating shaft 107 to rotate. The flap 108 on the outside of the rotating shaft 107 can then flip together. When the top of the rack 405 contacts the stop 406, the flap 108 flips exactly 180 degrees and remains parallel to the mounting frame 106, realizing the automatic switching operation of the infrared thermal imager 110 and the ultrasonic sensor 109.

[0036] In one embodiment, see Figure 7 and Figure 8The visual acquisition mechanism includes a camera 501 for photographing the tunnel wall and supplementary lighting components on both sides of the camera 501 for providing illumination for the camera 501's photographing. When the mounting plate 101 moves, the camera 501 can photograph the tunnel wall and record the location of cracks, facilitating further crack detection. At the same time, the supplementary lighting components can provide supplementary lighting, making the images captured by the camera 501 clearer and improving the overall effect.

[0037] The supplementary lighting assembly includes a telescopic component, which includes a horizontal plate 502. One end of the horizontal plate 502 is fixedly connected to a mounting plate 101, and the other end has a mounting groove 503. A movable plate 504 is slidably connected to the mounting groove 503. A movable groove 505 is provided on one side of the movable plate 504, and a telescopic rod 506 is slidably connected to the movable groove 505. A stop block 101 is provided at the end of the telescopic rod that extends into the sliding groove 505. An extension groove 507 is provided at the other end of the telescopic rod 506, and an extension rod 508 is slidably connected to the extension groove 507. Locking holes are provided on the side walls of the horizontal plate 502, the movable plate 504, and the telescopic rod 506. Locking bolts 512 are threaded into the locking holes. The top of the 6 is fixed with a first support plate 509, and the top of the extension rod 508 is fixed with a second support plate 510. The movable plate 504, the first support plate 509, and the second support plate 510 are all equipped with supplementary lighting units. With the help of the supplementary lighting units in the movable plate 504, the first support plate 509, and the second support plate 510, supplementary lighting operations can be performed in the tunnel. At the same time, the movable plate 504 in the horizontal plate 502, the telescopic rod 506 in the movable plate 504, and the extension rod 508 in the telescopic rod 506 can all be flexibly extended and retracted and locked by locking bolts 512, which facilitates the flexible adjustment of the position of the supplementary lighting units and can effectively extend the shooting range while ensuring that the camera 501 captures clear images.

[0038] In one embodiment, see Figure 9 and Figure 10The supplementary lighting unit includes a lifting rod 601, a movable plate 504, a first support plate 509, and a second support plate 510, all of which have movable openings. The lifting rod 601 is slidably installed in the movable opening. A counterweight 602 is fixedly connected to the bottom end of the lifting rod 601, and a supplementary light 603 is fixedly connected to its top end. A vertical plate 605 is fixedly installed on the upper surface of the movable plate 504, the first support plate 509, and the second support plate 510. A rotating plate 606 is rotatably installed on the outer wall of the vertical plate 605. A locking rod 607 is fixedly installed between adjacent rotating plates 606. The outer wall of the lifting rod 601 has equally spaced slots 604, and the locking rod 607 is located in the slot 604. The slot 604 consists of a locking section for locking the locking rod 607 and an inclined section for the locking rod 607 to enter and exit the slot 604. By moving the lifting rod 601 up and down... By inserting the lever 607 into the slot 604, the height of the supplementary light 603 at the top of the lifting rod 601 can be flexibly adjusted to maintain a suitable supplementary lighting height. When adjusting the lifting rod 601, simply lift the counterweight 602 to move the lifting rod 601 upward. During the upward movement, the lever 607 will automatically move out of the slot 604 along the inclined section of the slot 604. When the lifting rod 601 moves to the appropriate position, release the counterweight 602. At this time, the lever 607 will remain in contact with the lifting rod 601 under the action of gravity. When the lifting rod 601 moves slightly downward, the lever 607 will re-enter the locking end of the slot 604 along the inclined end of the slot 604. This effectively realizes the quick adjustment operation of the lifting rod 601, which is simple and convenient to operate and has better performance.

[0039] In one embodiment, see Figure 2 A pair of spaced-apart arc rods 701 are provided on the side of the rotating roller 104 and the telescopic cylinder 105. The ends of the arc rods 701 are connected to the mounting plate 101 and are slidably connected to the sliders 702. The pair of arc rods 701 clamp the telescopic cylinder 105 between them. The sliders 702 are fixedly connected to the telescopic cylinder 105. When the telescopic cylinder 105 swings with the rotating roller 104, the sliders 702 on the outside of the telescopic cylinder 105 will slide on the outside of the arc rods 701, which can make the swinging process of the telescopic cylinder 105 more stable and the use effect better.

[0040] Working Principle: The mounting plate 101 can be placed above the railway track inside the tunnel using a traveling mechanism, allowing it to move above the track. Simultaneously, a mobile device on the track can be connected to the traveling mechanism, which in turn drives the traveling mechanism to move above the track. During this movement, a vision acquisition mechanism installed on the traveling mechanism captures images of the tunnel wall and automatically identifies cracks. When a crack is detected on the tunnel surface, its location is recorded, and the mounting plate 101 moves directly below the crack. The extension and retraction of the telescopic cylinder 105 causes the connecting assembly to move the mounting frame 106 closer to the tunnel wall. The drive assembly rotates the rotating roller 104, causing the telescopic cylinder 105 to swing the mounting frame 106 around the roller. Simultaneously, the mobile device moves the traveling mechanism back and forth, allowing the mounting frame 106 to scan along the tunnel cracks. During scanning, an infrared thermal imager 110 on the surface of the flip plate 108 scans the cracks. Utilizing the difference in heat conduction between the crack and the surrounding structure, the infrared thermal imager 110 captures the surface temperature field distribution. Cracks may be filled with air or water. The temperature difference generated by the infiltration process allows for the detection of surface and shallow internal defects in cracks. After the infrared thermal imager 110 has finished scanning the crack, the telescopic cylinder 105 can be extended further to allow the ball bearing 112 at the end of the abutment rod 111 to abut against the tunnel wall. Simultaneously, the connecting assembly can cause the flap 108 in the mounting frame 106 to flip, aligning the ultrasonic sensor 109 with the tunnel wall. Then, the mounting frame 106 is controlled to perform a reverse scan along the previously scanned crack. During the scanning process, the air-coupled ultrasonic technology of the ultrasonic sensor 109 is utilized. This technique involves emitting ultrasonic waves onto the tunnel surface and receiving the reflected echoes to analyze internal structural defects. It can penetrate the surface to detect deep cracks. During the scanning process, the ball bearing 112 at the end of the abutment rod 111 remains in contact with the tunnel wall, ensuring that the distance between the ultrasonic sensor 109 and the tunnel wall remains constant, effectively improving detection accuracy. With the cooperation of the infrared thermal imager 110 and the ultrasonic sensor 109, the measured crack data is more accurate, and this detection method greatly improves the efficiency of tunnel crack detection, resulting in better performance.

[0041] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A tunnel crack detection apparatus characterized by comprising: Include: Walking mechanism; Flaw detection mechanism, provided on one side of the top of the walking mechanism, one side of the flaw detection mechanism is rotatably connected with the walking mechanism through a rotating mechanism, and the other side is provided with a flaw detection device which can be rotatably switched; and Visual acquisition mechanism, provided on the other side of the top of the walking mechanism, for shooting the image of the inner wall of the tunnel.

2. The tunnel crack detection apparatus according to claim 1, wherein The walking mechanism comprises a car plate, a bracket is fixedly connected to the top of the car plate, an installation plate is arranged on the top of the bracket, and a moving mechanism is rotatably connected to the bottom of the car plate.

3. The tunnel crack detection apparatus according to claim 1, wherein The rotating mechanism comprises a rotating roller, the end of the rotating roller is rotatably connected with the installation plate through a support, and one side end of the rotating roller is connected with a driving mechanism.

4. The tunnel crack detection apparatus according to claim 3, wherein One side of the rotating roller is provided with a pair of circular arc rods arranged at intervals, the end of the circular arc rod is connected with the installation plate, and a sliding block is slidably connected in the circular arc rod.

5. The tunnel crack detection apparatus according to claim 1, wherein The flaw detection mechanism comprises an installation frame, a flap is arranged in the installation frame, the flap is rotatably connected with the installation frame through a rotating shaft, the flaw detection device is fixedly connected to the two sides of the flap, one end of the installation frame is provided with a connecting assembly, and the connecting assembly and the rotating roller are connected with each other through a telescopic assembly.

6. The tunnel crack detection apparatus according to claim 5, wherein The connecting assembly comprises a support plate fixedly connected to the telescopic end of the telescopic assembly, an installation opening is formed in the end of the support plate, a moving plate is slidably arranged in the installation opening, one end of the moving plate is fixedly connected with a fixed plate, a first spring is further arranged between the fixed plate and the support plate, the other end of the moving plate is fixedly connected with a moving frame, the moving frame is provided with a through hole, a movable rod is slidably arranged in the through hole, one end of the movable rod is fixedly connected with a baffle, a second spring is arranged between the baffle and the moving frame, the second spring is sleeved with the movable rod, the other end of the movable rod is connected with the bottom of the installation frame, and an adjusting unit is further arranged between the installation frame and the moving frame, so that the flap is turned over when the moving frame approaches the installation frame.

7. The tunnel crack detection apparatus according to claim 6, wherein The adjusting unit comprises a driven gear, the driven gear is coaxially connected with the rotating shaft, a side plate is fixedly connected to the bottom of the installation frame, a transmission gear meshing with the driven gear is rotatably connected with the side plate through a horizontal shaft, a rack meshing with the transmission gear is fixedly connected to the top of the moving frame, and a baffle is further fixedly connected to the top of the installation frame, so that the flap is turned over by one hundred and eighty degrees and keeps parallel with the installation frame when the top end of the rack contacts with the baffle.

8. The tunnel crack detection apparatus according to claim 1, wherein The visual acquisition mechanism comprises a camera for shooting the inner wall of the tunnel, and a light supplementing assembly arranged on both sides of the camera for providing light for the shooting of the camera.

9. The tunnel crack detection apparatus according to claim 1, wherein The light supplementing assembly comprises a telescopic assembly, one end of the telescopic assembly is fixedly connected with the top of the installation plate, the other end of the telescopic assembly is provided with a light supplementing unit, and the light supplementing unit can extend outward.

10. The tunnel crack detection apparatus according to claim 1, wherein The light supplementing unit comprises a lifting rod, inclined clamping grooves are arranged at intervals along the length direction of the lifting rod, the lifting rod is connected with the telescopic rod through a fixing assembly matched with the clamping grooves, and a light supplementing lamp and a counterweight are arranged at the ends of the lifting rod respectively.

Images