A highway tunnel crack detection device and detection method

Abstract

The application discloses a highway tunnel crack detection device and a detection method, and particularly relates to the technical field of crack detection, the detection device comprises a walking detection machine and a walking track, the inner walls on both sides in the same tunnel are provided with the walking track and the walking detection machine, two groups of walking detection machines are staggered, visual recognition cameras on the two groups of walking detection machines respectively perform visual recognition detection on the inner walls of the tunnels opposite the positions of the visual recognition cameras, and light supplement lamps on the two groups of walking detection machines respectively perform irradiation light supplement on the inner walls of the tunnels on one side of the positions of the light supplement lamps. When light supplement lamps are needed to perform light supplement, the light supplement lamps directly perform light supplement on one side of the positions of the light supplement lamps, the light emitted by the light supplement lamps does not need to cross the tunnel, and thus does not form irradiation on the vehicles passing through the tunnel, so that the light supplement lamps do not interfere with the normal driving vehicles, are not easy to form concentrated reflection, and do not affect image acquisition and recognition of the visual recognition cameras.

Description

Technical Field

[0001] This invention relates to the field of crack detection technology, and more specifically, to a crack detection device and method for highway tunnels. Background Technology

[0002] During long-term use, tunnels are affected by factors such as geological pressure, groundwater erosion, vehicle vibration, and material aging, which may cause cracks in their inner walls (lining). These cracks are not only early signs of structural damage, but may also lead to water seepage, steel corrosion, concrete spalling, and even threaten traffic safety. Therefore, timely detection of tunnel cracks and corresponding protective measures are of utmost importance for ensuring tunnel safety.

[0003] Conventional inspection methods mostly involve manual inspections. However, for long and complex tunnels, manual inspections are labor-intensive and dangerous. Therefore, existing technologies also use inspection equipment based on intelligent vision systems (such as high-definition visual recognition cameras, laser scanning, AI algorithms, etc.) to conduct regular inspections of the tunnel lining surface. In addition, to facilitate inspection, the above-mentioned equipment can be integrated into a mobile vehicle, which can carry the inspection equipment to inspect the inside of the tunnel by driving the vehicle through the tunnel.

[0004] Because tunnels are relatively dark, some areas are completely dark. Therefore, during actual inspections, supplementary lighting equipment is needed to illuminate the tunnel walls to enhance the image acquisition accuracy of the visual recognition camera and improve inspection precision. However, in highway tunnels, cars may pass by at any time. Since the supplementary lighting equipment and the visual recognition camera are on the same vehicle, the lighting equipment shines from the vehicle towards the tunnel sidewall, which can easily affect cars passing by. The vehicle needs to maintain a certain speed, and if the inspection area is missed, it needs to be re-inspected, which is quite troublesome. In particular, since the supplementary lighting equipment and the visual recognition camera are oriented in the same direction, when the tunnel walls are damp, water droplets or thin layers of water may form on the tunnel walls due to weather conditions. This can easily cause reflections and affect the image acquisition of the visual recognition camera, thus affecting the actual inspection results. Summary of the Invention

[0005] The present invention provides a highway tunnel crack detection device and detection method. The problem to be solved is that in the existing detection equipment, the supplementary lighting device and the visual recognition camera are located on the same carrier vehicle. When supplementary lighting is applied, the lighting device shines from the carrier vehicle onto the tunnel side wall, which can easily affect cars passing by the carrier vehicle. In addition, the supplementary lighting device and the visual recognition camera are basically oriented in the same direction, which can easily generate reflections and affect the image acquisition of the visual recognition camera, thereby affecting the actual detection effect.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a highway tunnel crack detection device, comprising a walking detection machine and a walking track, the walking track being installed on the side wall of the tunnel along the tunnel length direction, the walking detection machine being slidably mounted on the walking track, the walking track and the walking detection machine being provided on both inner walls of the same tunnel, the top of the walking detection machine being equipped with a supplementary light through a second adjustment drive component, and the bottom of the walking detection machine being equipped with two visual recognition cameras through a first adjustment drive component;

[0007] The second adjustment drive assembly includes an arc-shaped guide frame, which is mounted on the walking detection machine via a second pitch adjuster. A sliding seat is slidably mounted on the arc-shaped guide frame, and a supplementary light is fixedly mounted on the sliding seat.

[0008] Two sets of mobile inspection machines are set up in a staggered manner. The visual recognition cameras on the two sets of mobile inspection machines perform visual recognition inspections on the tunnel wall opposite their respective positions, and the supplementary lights on the two sets of mobile inspection machines provide supplementary lighting on the tunnel wall on one side of their respective positions.

[0009] Preferably, the first adjustment drive component includes a turntable, which is connected to the walking detection machine via a lifting controller. The turntable is installed at the bottom output end of the lifting controller. The two visual recognition cameras are a first camera and a second camera, respectively. The first camera is a visual recognition camera with a telephoto lens, and the second camera is a visual recognition camera with a wide-angle lens. The first camera and the second camera are respectively rotatably connected to the side of the turntable via a first pitch adjuster. The second pitch adjuster is installed on the walking detection machine via a motion controller.

[0010] Preferably, both sides of the walking inspection machine are equipped with moisture-proof blowing components. The moisture-proof blowing components include a fan assembly and an air blowing pipe. The fan assembly is fixedly installed on the walking inspection machine, and the air blowing pipe is fixedly installed at the end of the arc-shaped guide frame. The air blowing pipe and the fan assembly are connected by a flexible hose.

[0011] Preferably, the moisture-proof blowing assembly also includes a gas collection hood. Two gas collection hoods are fixedly installed on both sides of the walking inspection machine. The visual recognition camera is located in the area between the two gas collection hoods. The gas collection hood is provided with an opening in an inclined direction. The opening is away from the walking inspection machine and is inclined towards the center of the tunnel. The top of the gas collection hood is connected to the bottom of the fan assembly.

[0012] Preferably, the air collection hood includes two mutually perpendicular sidewalls, and the area outside the two sidewalls forms the opening in the aforementioned inclined direction. A hollow flow equalizer is installed inside the air collection hood. The hollow flow equalizer has a hollow structure, and an arc-shaped wind-receiving wall is provided at the position of the hollow flow equalizer corresponding to the opening of the air collection hood. Multiple sets of air holes are provided on the arc-shaped wind-receiving wall, and the hollow flow equalizer is connected to the fan assembly.

[0013] Preferably, the hollow flow equalizer also has two mutually perpendicular sidewalls, and the two sidewalls of the hollow flow equalizer are respectively arranged parallel to the two sidewalls of the gas collecting hood. The two sidewalls of the hollow flow equalizer are respectively connected to the two sidewalls of the gas collecting hood through elastic connectors. The top of the hollow flow equalizer is connected to the fan assembly through a flexible adapter pipe. A pressure sensor is also provided between the hollow flow equalizer and the gas collecting hood. The pressure sensor is used to detect the proximity pressure between the hollow flow equalizer and the gas collecting hood.

[0014] Preferably, the elastic connector includes a guide pin fixedly installed on the side wall of the hollow flow equalizer, a sliding engagement hole is provided on the side wall of the gas collecting hood at the position corresponding to the guide pin, the guide pin is slidably disposed in the sliding engagement hole, and an elastic pad is provided between the side wall of the gas collecting hood and the corresponding side wall of the hollow flow equalizer, the elastic pad being fixedly connected to the side wall of the gas collecting hood.

[0015] Preferably, the hollow flow equalizer is also provided with an inclined flow wall on one side wall corresponding to the visual recognition camera. The inclined flow wall is inclined towards the center of the tunnel and is also provided with multiple sets of air holes. The fan assembly consists of a cylindrical shell and fan blades rotatably disposed in the cylindrical shell. The cylindrical shell is also provided with a drive motor for driving the fan blades to rotate. The drive motor is a forward and reverse drive motor.

[0016] Preferably, an elastic partition is provided on the inner side of the arc-shaped wind-receiving wall. The two sides of the elastic partition are fixedly connected to the arc-shaped wind-receiving wall. A filter part is provided on the area of ​​the elastic partition that avoids the air holes on the arc-shaped wind-receiving wall. The filter part is used to filter dust and allow air to pass through. The part of the elastic partition other than the filter part blocks the air holes on the arc-shaped wind-receiving wall when it fits against them. An electric heating rod is also provided inside the hollow flow equalizer.

[0017] A method for detecting cracks in highway tunnels includes the following steps:

[0018] Step 1: Install walking rails on both inner walls of the tunnel, and install walking detection machines on the walking rails;

[0019] Step 2: Control one group of walking inspection machines to move a certain distance first, so that it is misaligned with the other group of walking inspection machines, and then simultaneously control both groups of walking inspection machines to move to the other end of the tunnel.

[0020] Step 3: Use two sets of second cameras to collect and identify large-scale images of the tunnel wall opposite the location to determine whether there are cracks in the tunnel wall.

[0021] Step 4: When a blurred area appears in the recognition area of ​​the second camera, control the supplementary light on the side where the blurred area is located to illuminate the blurred area, and control the first camera on the other side to focus on the blurred area to perform concentrated small-area image acquisition and recognition to determine whether there are cracks in the blurred area.

[0022] Step 5: When both sets of walking inspection machines reach the other end of the tunnel, reverse the order of their movement. After the two sets of walking inspection machines are misaligned, control them to return synchronously and perform a second inspection.

[0023] The beneficial effects of this invention are as follows:

[0024] 1. When supplementary lighting is required, the supplementary light directly illuminates one side of the location. The light emitted by the supplementary light does not need to cross the tunnel and will not illuminate vehicles passing through the tunnel, thus not interfering with vehicles driving normally. At the same time, when focusing on detecting blurred areas, the illumination direction of the supplementary light is not the same as the image acquisition direction of the visual recognition camera on the opposite side. Therefore, even if there is a layer of water or water droplets on the inner wall of the blurred area due to weather or other reasons, it is not easy to form concentrated reflection, thus not easily affecting the image acquisition and recognition of the visual recognition camera.

[0025] 2. This invention only requires controlling two sets of walking inspection machines to move automatically, which can effectively detect cracks in the tunnel wall. There is no need for staff to drive vehicles inside the tunnel. Therefore, it can automatically detect cracks on a regular basis without time restrictions, and it will not obstruct the normal driving of cars inside the tunnel. Moreover, during actual detection, the two sets of walking inspection machines can stop at any time. If the visual recognition camera is blocked by a vehicle at a certain moment, the movement of the walking inspection machines can be paused, and the detection can continue after the vehicle passes. In addition, it can provide sufficient image acquisition time for the visual recognition camera to avoid missed detections. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the detection device of the present invention;

[0027] Figure 2 This is a diagram showing the state of the present invention when two sets of detection devices are used and distributed on both sides of the tunnel interior.

[0028] Figure 3 This is a top view showing the relative positions of the two sets of detection devices inside the tunnel according to the present invention;

[0029] Figure 4 This is a state diagram of the detection device of the present invention when the visual recognition camera and the supplementary light are both centered and reset;

[0030] Figure 5This is a diagram showing the pitch adjustment state of the visual recognition camera and supplementary light of the present invention.

[0031] Figure 6 This is a state diagram of the two sets of detection devices of the present invention cooperating with each other to perform supplemental lighting, image acquisition and recognition on one side of the tunnel wall;

[0032] Figure 7 This is a schematic diagram of the structure of the present invention after adding a moisture-proof blowing component to the detection device;

[0033] Figure 8 This is a diagram showing the state of the air collection hood actively absorbing air when a vehicle moves forward in a tunnel and pushes it laterally to the detection component.

[0034] Figure 9 This is a schematic diagram showing the interaction between the air intake and air blowing pipes of the air collecting hood during air blowing according to the present invention.

[0035] Figure 10 This is a schematic diagram of the structure of the present invention when a hollow flow equalizer is added to the gas collection hood;

[0036] Figure 11 This is a schematic diagram showing the connection relationship between the hollow flow equalizer and the gas collection hood of the present invention;

[0037] Figure 12 This is a side view of the distribution state of the hollow flow equalizer of the present invention in the gas collection hood;

[0038] Figure 13 This is a schematic diagram of the sliding mating hole on the side wall of the gas collecting hood of the present invention;

[0039] Figure 14 This is a schematic diagram of the improved hollow flow equalizer according to the present invention;

[0040] Figure 15 For the present invention Figure 14 Enlarged view of the A-section structure;

[0041] Figure 16 This is a diagram showing the state of air being blown from the air holes in the inclined flow wall of the hollow flow equalizer to the lens of the visual recognition camera when the fan assembly of the present invention is reversed.

[0042] Figure 17 For the present invention Figure 16 Enlarged view of the structure of section B;

[0043] Figure 18 This is a flowchart of the detection method of the present invention.

[0044] The attached figures are labeled as follows: 1. Walking detection machine; 11. First adjustment drive assembly; 111. Turntable; 112. First pitch adjuster; 113. Lifting controller; 12. Second adjustment drive assembly; 121. Arc-shaped guide frame; 122. Sliding seat; 123. Second pitch adjuster; 124. Movement controller; 2. Walking track; 3. Visual recognition camera; 31. First camera; 32. Second camera; 4. Supplemental light; 5. Moisture-proof blowing assembly; 51. Fan assembly; 52. Air blowing pipe; 53. Air collection hood; 531. Sliding mating hole; 532. Dust collection port; 6. Hollow flow equalizer; 61. Arc-shaped wind receiving wall; 62. Pressure sensor; 63. Inclined flow wall; 64. Elastic partition; 641. Filter section; 65. Electric heating rod; 7. Elastic connector; 71. Guide pin; 72. Elastic pad; a. Supplemental lighting area; b. Image acquisition area. Detailed Implementation

[0045] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0046] Refer to the instruction manual appendix Figure 1 and Figure 4 A highway tunnel crack detection device includes a mobile detection machine 1 and a mobile track 2. The mobile track 2 is installed and laid on the side wall of the tunnel along the length of the tunnel. The mobile detection machine 1 is slidably mounted on the mobile track 2. The mobile detection machine 1 is equipped with a mobile drive device for driving its sliding movement on the mobile track 2. For example, a mobile drive wheel that cooperates with the mobile track 2 is provided, or to improve accuracy, a drive gear is provided in the mobile detection machine 1 and a rack is provided on the mobile track 2. The movement of the mobile detection machine 1 is completed by means of the cooperation of the gear and the rack.

[0047] In addition, for specific applications, please refer to the instruction manual appendix. Figure 2 and Figure 3 Both sides of the inner wall of the same tunnel are equipped with detection devices (i.e., walking track 2 and walking detection machine 1). The top of the walking detection machine 1 is equipped with a supplementary light 4, and the bottom of the walking detection machine 1 is equipped with a visual recognition camera 3. Specifically, a first adjustment drive assembly 11 is set between the visual recognition camera 3 and the walking detection machine 1, and a second adjustment drive assembly 12 is set between the supplementary light 4 and the walking detection machine 1. The first adjustment drive assembly 11 is used to drive the visual recognition camera 3 to rise and fall, rotate horizontally and rotate vertically, and the second adjustment drive assembly 12 is used to drive the supplementary light 4 to swing vertically, slide in an arc and slide horizontally.

[0048] For details, please refer to the instruction manual appendix. Figure 4 and Figure 5 The first adjustment drive assembly 11 includes a turntable 111, which is connected to the walking detection machine 1 via a lifting controller 113. The turntable 111 is installed at the bottom output end of the lifting controller 113, and the visual recognition camera 3 is installed on the side of the turntable 111. A first pitch adjuster 112 is provided between the visual recognition camera 3 and the turntable 111. The lifting controller 113 can use a guide rod in conjunction with a gear and rack structure installed in the walking detection machine 1, or it can directly use a linear drive device such as a hydraulic rod or a cylinder to drive the turntable 111 to move up and down. The turntable 111 can be a rotating disk structure driven by a motor, which can drive the visual recognition camera 3 to rotate in the horizontal plane (i.e., to...). Figure 4 (as shown in the left and right rotation), at the same time, the first pitch adjuster 112 can also use a motor-driven rotating shaft structure to mount the visual recognition camera 3 on the rotating shaft, so as to drive the visual recognition camera 3 to rotate up and down in the vertical plane (i.e., pitch rotation).

[0049] The second adjustment drive assembly 12 includes an arc-shaped guide frame 121, which is mounted on the walking detection machine 1 via a second pitch adjuster 123 and a movement controller 124. A sliding seat 122 is slidably mounted on the arc-shaped guide frame 121, and a sliding drive device (refer to the walking drive equipment in the walking detection machine 1) is provided inside the sliding seat 122 for driving the sliding seat 122 to slide on the arc-shaped guide frame 121. The supplementary light 4 is fixedly mounted on the sliding seat 122. When the sliding seat 122 is located at the middle position of the arc-shaped guide frame 121 (refer to the appendix of the instruction manual), Figure 4 The supplementary light 4 provides vertical upward supplementary lighting. When the sliding seat 122 slides to the positions of both ends of the arc-shaped guide frame 121, it will form lateral supplementary lighting. At the same time, the movement controller 124 is installed on the traveling detection machine 1, and the second pitch adjuster 123 is installed on the output end of the movement controller 124. The arc-shaped guide frame 121 is installed on the output end of the second pitch adjuster 123. The movement controller 124 can use a linear drive structure such as a lead screw motor or a linear motor. The second pitch adjuster 123 is installed on the movement structure of the movement controller 124 to control the arc-shaped guide frame 121 to move closer to or away from the tunnel wall (i.e., as per the instruction manual). Figure 4 The second pitch adjuster 123 can also use a motor-controlled rotating shaft to mount the arc-shaped guide frame 121 on the rotating shaft to swing the arc-shaped guide frame 121 back and forth in the vertical plane (i.e., pitch rotation), thereby realizing various angle adjustments of the supplementary light 4.

[0050] It should be noted that the cooperation between the walking inspection machine 1 and the walking track 2 is a conventional solution in walking machinery and is used in many fields. In addition, the various movement, rotation, lifting and other adjustment drives mentioned above are also conventional control devices in mechanical equipment. Therefore, this embodiment will not go into too much detail about the specific installation and laying of the walking drive equipment inside the walking inspection machine 1 and the walking track 2, as well as the detailed solutions for the various motion drive methods mentioned above.

[0051] In addition, the supplementary lighting 4 mainly uses focused spotlights, which can concentrate illumination on a specific area. The supplementary lighting 4 can be equipped with a set of variable-focus lamps, which can adapt to different distances by changing the focal point of the lamps. Alternatively, multiple sets of lamps with different brightness can be set up, using different brightness lamps when different areas need to be illuminated. This avoids situations where the brightness and focal length of the supplementary lighting are the same, resulting in large differences in the final light intensity on the tunnel wall due to different distances of the irradiated location, which would prevent the visual recognition camera from recognizing the location. Furthermore, two or more visual recognition cameras 3 can be set up. For example, a set of visual recognition cameras 3 can have two cameras, namely a first camera 31 and a second camera 32. Camera 32, wherein the first camera 31 can be a visual recognition camera 3 with a telephoto lens, while the second camera 32 can be a visual recognition camera 3 with a short focal length or wide-angle lens. In actual detection, the second camera 32 is used to collect and recognize images over a wide area for initial rough judgment. When there are areas with insufficient lighting, small and indistinct cracks in some areas, or blurred areas formed by water vapor, the first camera 31 is used in conjunction with the supplementary light 4 on the opposite side to provide supplementary lighting for the blurred areas. The blurred areas are then enlarged for small-scale image collection and recognition, thereby completing further judgment and avoiding missed or misjudged cracks.

[0052] In practical use, the detection devices installed on both sides inside the tunnel need to be used simultaneously. That is, during detection, both sets of mobile detection machines 1 move simultaneously along the length of the tunnel until they have traversed the entire tunnel. During movement, the two sets of mobile detection machines 1 are staggered. Refer to the instruction manual appendix. Figure 2 and Figure 3 The visual recognition cameras 3 on the two sets of walking inspection machines 1 respectively perform visual recognition inspection of the tunnel inner wall (side wall and top wall) opposite their respective positions, while the supplementary lights 4 on the two sets of walking inspection machines 1 respectively illuminate the tunnel inner wall (side wall and top wall) on one side of their respective positions, forming the image shown in the attached instruction manual. Figure 6The supplementary lighting area a shown (which can be understood as supplementary lighting area a formed by supplementary lighting 4, and image acquisition area b formed by visual recognition camera 3 acquiring images, wherein the image acquisition area b of visual recognition camera 3 in one set of detection devices overlaps with supplementary lighting area a in another set of detection devices, and this overlapping area is the concentrated detection area) therefore, the positions of the two sets of walking detection machines 1 are staggered to avoid their own obstruction of visual recognition detection of the tunnel wall.

[0053] During initial inspection, the two sets of mobile inspection machines 1 are kept staggered and slowly move towards the other end of the tunnel. Using two sets of visual recognition cameras 3, images of the opposite tunnel wall are acquired and identified to determine if cracks have appeared. In tunnels with sufficient lighting and relatively clean walls (such as some newly built tunnels), supplementary lighting 4 can be omitted (although it can be used in areas requiring full illumination, with adjustments made to ensure adequate illumination), and the second camera 32 can be used directly for visual recognition. However, in larger and longer tunnels, some areas may have insufficient lighting, and some... For areas with small, inconspicuous cracks or blurred areas due to moisture buildup, supplementary lighting 4 is required. This is controlled by the second adjustment drive component 12, which illuminates the corresponding blurred area, creating a supplementary lighting area a. Simultaneously, the first camera 31 performs focused image acquisition and recognition of the blurred area, creating an image acquisition area b. The overlapping area between the supplementary lighting area a and the image acquisition area b of the first camera 31 forms a concentrated detection area for the blurred region, allowing for further detailed assessment of whether cracks have formed.

[0054] It should be noted that by using the above-described detection scheme, only two sets of mobile detection machines 1 need to be controlled to move automatically to effectively detect cracks in the tunnel wall. No personnel are required to drive vehicles inside the tunnel. Therefore, it can be automatically detected periodically without time constraints and will not obstruct the normal passage of vehicles inside the tunnel. Furthermore, during actual detection, the two sets of mobile detection machines 1 can stop at any time. If a vehicle obstructs the visual recognition camera 3, the movement of the mobile detection machines 1 can be paused, and the detection can continue after the vehicle passes. This also provides sufficient image acquisition time for the visual recognition camera 3, avoiding... In addition to the absence of missed detections, when supplementary lighting 4 is required, it illuminates one side of the location directly. The light emitted by supplementary lighting 4 does not need to cross the tunnel and will not illuminate vehicles passing through the tunnel, thus not interfering with vehicles driving normally. At the same time, when focusing on detecting blurred areas, the direction of illumination of supplementary lighting 4 is not the same as the image acquisition direction of the visual recognition camera 3 on the opposite side. Therefore, even if there is a layer of water or water droplets on the inner wall of the blurred area due to weather or other reasons, it is not easy to form concentrated reflections, thus not easily affecting the image acquisition and recognition of the visual recognition camera 3.

[0055] Furthermore, supported by the arc-shaped guide frame 121, when the supplementary light 4 shines on the tunnel wall, it will tilt towards the direction of the walking detection machine 1 opposite its location and illuminate the blurred area on the tunnel wall. If there are small cracks on the tunnel wall, they will become more obvious under the effect of the tilted light and shadow. As a result, it is easier to find smaller cracks when performing image acquisition and recognition, and then deal with them in time to prevent the cracks from expanding.

[0056] It should be noted that the above detection scheme is only an example of this embodiment. When necessary, other detection methods can be performed based on the above equipment. Since the top wall of the tunnel is usually curved, the inner walls of the tunnel on both sides mentioned in the above scheme include the two curved parts with the center of the tunnel as the boundary. When encountering some blind spots, the position and angle of the first camera 31 or the second camera 32 can be further adjusted, and the corresponding supplementary light 4 can be adjusted to perform further accurate identification. For example, when a ventilation fan or other equipment is encountered at the center of the tunnel top, the supplementary light 4 on the same side and the visual recognition camera 3 can be used to detect the top area of ​​the inner wall of the tunnel on the same side.

[0057] In addition, to facilitate the maintenance and repair of the detection device, a corresponding maintenance station can be set up outside one end of the tunnel. After the walking detection machine 1 returns, it enters the maintenance station. The maintenance station can be equipped with automatic cleaning and maintenance equipment. When necessary, workers can also be assigned to perform manual maintenance or clean the visual recognition camera 3 and the supplementary light 4. The walking detection machine 1 can carry its own battery, and the maintenance station is equipped with an automatic charging device to charge the walking detection machine 1. In addition, a corresponding sliding conductive device can be directly set on the walking track 2 to directly supply power to the walking detection machine 1 and other equipment throughout the entire process. During periods when detection is not required, the detection device can also stay in the maintenance station. The above solutions are all commonly used automated control and operation technologies such as automatic walking equipment and automatic inspection equipment. Therefore, this embodiment will not be explained in detail.

[0058] Furthermore, in the above-mentioned scheme, if the tunnel wall has moisture or water droplets due to weather or other reasons, the presence of water droplets will not obstruct the cracks over a large area, thus not affecting the detection effect. However, for areas with high moisture content or numerous water droplets (refer to indoor conditions during humid weather), the upper water droplets will concentrate and slide down the tunnel sidewalls, easily accumulating in the lower and middle areas of the tunnel sidewalls. In this case, although the above-mentioned detection scheme does not easily create a reflective phenomenon, if the water layer is large and uneven, it will still cause refraction and other factors that affect the detection. Therefore, to solve the above problems, this embodiment also provides the following solution, which is detailed in the appendix to the instruction manual. Figure 7 and Figure 9 Moisture-proof blowing components 5 are provided on both sides of the walking inspection machine 1. The moisture-proof blowing components 5 include a fan assembly 51 and an air blowing pipe 52. The fan assembly 51 is fixedly installed on the walking inspection machine 1, and the air blowing pipe 52 is fixedly installed at the end of the arc-shaped guide frame 121. The air blowing pipe 52 and the fan assembly 51 are connected by a flexible hose. The fan assembly 51 consists of a cylindrical shell and fan blades rotatably installed in the cylindrical shell. A drive motor for driving the fan blades to rotate is also provided on the cylindrical shell. The flexible hose is fixedly installed on the top of the cylindrical shell. With the help of the fan assembly 51, the air blowing pipe 52 can blow air. During the movement of the walking inspection machine 1, the air blowing is gradually focused on the middle and lower part of the tunnel sidewall to accelerate the evaporation of the water layer attached to the tunnel wall and reduce the accumulation, thereby reducing the impact on visual recognition and detection. At the same time, since the arc-shaped guide frame 121 is adjustable, the direction of the air blowing pipe 52 can also be adjusted by adjusting the arc-shaped guide frame 121.

[0059] It should be noted that the above-mentioned air blowing pipe 52 is only an example of this embodiment. In addition to the position above the walking detection machine 1, a corresponding air blowing pipe 52 can also be set in an appropriate area behind or below the walking detection machine 1 to increase the blowing area. The motor that controls the rotation of the fan blades can be a high-speed motor to ensure that sufficient airflow can be provided. For example, a brushless motor used in equipment such as drones can be used, or a high-power motor can be set on the walking detection machine 1 and the fan blades can be driven to rotate through a transmission structure such as a gear set.

[0060] Furthermore, in the above scheme, to further improve detection accuracy, it is also possible to select a method where the walking detection machine 1 moves and detects simultaneously. That is, after advancing a certain area, a new area is detected. During detection, the visual recognition camera 3 remains relatively stationary. This has two advantages: firstly, it increases the exposure time of the visual recognition camera 3, improving image acquisition accuracy (for cameras, with fixed aperture and ISO, a longer exposure time results in a brighter and clearer image; this method is widely applicable in low-light environments); secondly, multiple images can be acquired at the same detection location for comparison, thereby improving recognition accuracy. For smaller tunnels, the confined space inside causes the car to push air forward, resulting in a tendency for the air to be compressed to the sides. If the car travels at high speed, the resulting lateral airflow is strong. When this airflow impacts the moving detection machine 1, especially the visual recognition camera 3, it can easily cause vibration. Even for detection equipment that moves continuously without stopping, prolonged airflow impact can reduce the device's lifespan due to vibration. Therefore, this embodiment also provides the following solutions, which are detailed in the appendix to the instruction manual. Figure 7 and Figure 8 The moisture-proof blowing assembly 5 also includes a gas collection hood 53. Two sets of gas collection hoods 53 are fixedly installed on both sides of the walking inspection machine 1. The visual recognition camera 3 is located in the area between the two sets of gas collection hoods 53. The gas collection hood 53 is provided with an inclined opening. The opening is away from the walking inspection machine 1 and is inclined towards the center of the tunnel. The top of the gas collection hood 53 is connected to the bottom of the fan assembly 51. Thus, when the fan assembly 51 is working, the gas collection hood 53 can also draw in air. When a vehicle passes through the tunnel, forming an airflow that flows obliquely towards the walking inspection machine 1, by controlling the operation of the fan assembly 51, the gas collection hood 53 can quickly draw in air, thereby accelerating the flow of the compressed airflow into the gas collection hood 53 and converting it into an upward airflow. Therefore, when it is not necessary to blow air onto the inner wall of the tunnel, the fan assembly 51 and the gas collection hood 53 can be used to offset and alleviate the lateral compression airflow, thereby reducing the impact on the visual recognition camera 3. At the same time, it can also form a buffer protection for the entire inspection device and improve the life of the inspection device.

[0061] Furthermore, since the air collection hood 53 is vertically positioned with a large height span, to improve the absorption effect of the airflow, please refer to the appendix of the instruction manual. Figure 10 and Figure 11 The air collection hood 53 includes two mutually perpendicular side walls. The area outside the two side walls forms the opening in the aforementioned inclined direction. A hollow flow equalizer 6 is installed inside the air collection hood 53. The hollow flow equalizer 6 has a hollow structure, and an arc-shaped wind-receiving wall 61 is provided at the position of the hollow flow equalizer 6 corresponding to the opening of the air collection hood 53. The arc-shaped wind-receiving wall 61 is provided with multiple sets of air holes, thereby forming a set of air equalization structure with the help of the hollow flow equalizer 6, so that the airflow can be relatively stable and uniform when absorbed by the air collection hood 53.

[0062] In the above scheme, vehicle detection equipment can be installed inside the tunnel to determine whether a vehicle is approaching the moving detection machine 1, thereby controlling the operation of the fan assembly 51 (when the fan assembly 51 is already in operation, the speed control of the fan blades can be increased to enhance the air intake effect of the air collection hood 53), thus dealing with the lateral airflow squeezed by the moving vehicle. However, when the moving detection machine 1 is in a moving state, it is difficult to determine the specific time when the vehicle entering the tunnel arrives at the moving detection machine 1. Therefore, this embodiment also provides the following scheme, for details, please refer to the appendix of the specification. Figure 11 and Figure 12The hollow flow equalizer 6 also has two mutually perpendicular sidewalls, which are parallel to the two sidewalls of the gas collecting hood 53. The two sidewalls of the hollow flow equalizer 6 are connected to the two sidewalls of the gas collecting hood 53 via elastic connectors 7, thus providing elastic support for the hollow flow equalizer 6 inside the gas collecting hood 53, allowing for some elastic movement. Simultaneously, the top of the hollow flow equalizer 6 is connected to the cylindrical housing of the fan assembly 51 via a flexible adapter (e.g., a short rubber tube). Furthermore, a pressure sensor 62 (e.g., a piezoresistive sensor or a weighing sensor) is installed between the hollow flow equalizer 6 and the gas collecting hood 53. The pressure sensor 62 is used to detect the proximity pressure between the hollow flow equalizer 6 and the gas collecting hood 53. A set of pressure sensors 62 can be installed, with this set of pressure sensors installed in the hollow flow equalizer 6... Between the right-angled portion of the flow equalizer 6 and the right-angled portion of the air collecting hood 53 (the right-angled portion being the connection point of two mutually perpendicular sidewalls), when the equipment is running normally and the fan assembly 51 is stopped, or when running at a normal constant speed, the hollow flow equalizer 6 and the air collecting hood 53 are relatively stable, and the recognition pressure of the pressure sensor 62 is relatively stable. When a lateral compressed airflow approaches the detection device, the airflow first blows towards the arc-shaped wind-receiving wall 61 of the hollow flow equalizer 6. At this time, the arc-shaped wind-receiving wall 61 will move closer to the sidewall of the air collecting hood 53, thereby increasing the recognition pressure of the pressure sensor 62. Therefore, by judging the pressure recognition status of the pressure sensor 62, it can be determined whether to turn on or accelerate the rotation of the fan blades. In addition, multiple sets of pressure sensors 62 can be set, respectively between the two sidewalls of the air collecting hood 53 and the two sidewalls of the hollow flow equalizer 6, to improve the recognition accuracy.

[0063] Refer to the instruction manual appendix Figure 11 and Figure 13 The elastic connector 7 includes a guide pin 71 fixedly installed on the side wall of the hollow flow equalizer 6. A sliding mating hole 531 is provided on the side wall of the gas collecting hood 53 at the position corresponding to the guide pin 71. The guide pin 71 is slidably disposed in the sliding mating hole 531. An elastic pad 72 is provided between the side wall of the gas collecting hood 53 and the corresponding side wall of the hollow flow equalizer 6. The elastic pad 72 is fixedly connected to the side wall of the gas collecting hood 53. The elastic pad 72 can be a rubber pad, thereby realizing small-range movement support for the hollow flow equalizer 6, and at the same time providing reset elasticity with the help of the elastic pad 72.

[0064] Furthermore, in the above embodiments, for long highway tunnels, the detection time of a single detection by the detection device is relatively long. Therefore, the visual recognition camera 3 spends a relatively long time inside the tunnel. Since vehicles inevitably carry dust, there is a risk that the lens of the visual recognition camera 3 will be covered by dust during a single detection period. Although the suction of the aforementioned air collection hood 53 can prevent most of the dust carried by the lateral compressed airflow from reaching the visual recognition camera 3, dust floating in the tunnel still has a relatively high probability of landing on the lens of the visual recognition camera 3. To solve the above technical problem, this embodiment also makes the following improvements to the hollow flow equalizer 6, specifically referring to the appendix to the specification. Figure 14 The hollow flow equalizer 6 is also provided with an inclined flow wall 63 on one side wall corresponding to the visual recognition camera 3. The inclined flow wall 63 is inclined towards the center of the tunnel and is also provided with multiple sets of air holes. In actual use, the moisture-proof blowing component 5 can be continuously opened. While the arc-shaped wind-receiving wall 61 protects the lateral pressurized airflow, it can also form an intake airflow at the inclined flow wall 63, that is, form a continuous airflow near the lens of the visual recognition camera 3, which drives the dust into the hollow flow equalizer 6, further reducing the adhesion of dust on the lens of the visual recognition camera 3.

[0065] Furthermore, the drive motor of the fan assembly 51 can be a forward and reverse drive motor, meaning the motor can rotate both forward and backward, or a shifting structure can be set to control the forward and reverse rotation of the fan blades. This allows the fan blades to be reversed when necessary, causing airflow to be blown out of the air holes in the oblique flow wall 63. (Refer to the attached instruction manual.) Figure 16 When necessary, the turntable 111 can be rotated to align the lens of the visual recognition camera 3 with the air vent of the inclined flow wall 63, thereby cleaning the lens with the help of the air blowing from the inclined flow wall 63. It can also remove the fog on the lens by the airflow blowing from the air vent of the inclined flow wall 63 when the lens fogs up due to weather conditions.

[0066] Furthermore, to enhance the intensity of the airflow from the air holes in the oblique flow wall 63 when the fan blades of the fan assembly 51 reverse, an elastic baffle 64 is provided on the inner side of the arc-shaped wind-receiving wall 61. The two sides of the elastic baffle 64 are fixedly connected to the arc-shaped wind-receiving wall 61, as shown in the attached instruction manual. Figure 15 and Figure 16 The elastic partition 64 has a filter section 641 located in the area of ​​the air holes on the curved wind-receiving wall 61. The filter section 641 is used to filter dust and allow air to pass through. The rest of the elastic partition 64 is described in the attached instruction manual. Figure 16 and Figure 17When the elastic partition 64 is in contact with the air holes on the arc-shaped wind-receiving wall 61, it will block the air holes on the arc-shaped wind-receiving wall 61, thus forming a one-way valve structure on the arc-shaped wind-receiving wall 61. Specifically, when the fan blades in the fan assembly 51 rotate clockwise, air is drawn in through the air holes on both the arc-shaped wind-receiving wall 61 and the oblique flow wall 63. At this time, under the action of the airflow, the elastic partition 64 separates from the arc-shaped wind-receiving wall 61, as shown in the instruction manual. Figure 14 and Figure 15 As shown, when the fan blades of the fan assembly 51 reverse, the elastic baffle 64, under the action of elasticity and airflow, blocks the air holes on the arc-shaped wind-receiving wall 61, thereby creating the effect that only the air holes on the inclined flow wall 63 blow air, improving the cleaning power of the lens of the visual recognition camera 3.

[0067] In addition, a dust collection port 532 is provided at the bottom of the air collection hood 53, corresponding to the bottom of the arc-shaped wind-receiving wall 61. A row of air holes on the arc-shaped wind-receiving wall 61 is located at the bottom of the arc-shaped wind-receiving wall 61. Specifically, when the hollow air equalizer 6 draws in air, most of the air enters through the air holes of the arc-shaped wind-receiving wall 61, and most of the dust is blocked by the filter part 641. When the hollow air equalizer 6 needs to blow air, the elastic partition 64 begins to relax, and the previously blocked dust tends to fall downwards. Thus, when the elastic partition 64 is attached to the arc-shaped wind-receiving wall 61, the dust accumulated at the bottom can be squeezed out from the bottommost air hole and discharged through the dust collection port 532. If necessary, the bottommost row of air holes can also be directly set as an air gap to facilitate better dust discharge.

[0068] It should be noted that the aforementioned air intake is mainly concentrated at the arc-shaped wind-receiving wall 61. Furthermore, the arc-shaped wind-receiving wall 61 primarily faces the lateral airflow from the vehicle, which contains a significant amount of dust. Therefore, the combination of the elastic baffle 64 and the filter screen 641 prevents a large amount of dust from entering the hollow flow equalizer 6, thereby avoiding the large amount of dust blown out when the air vents of the inclined flow wall 63 are blown out. The combination of the elastic baffle 64 and the arc-shaped wind-receiving wall 61 is merely one dust filtration solution provided in this embodiment. If necessary, additional dust filtration structures (such as filter paper) can be separately installed in the air pipe 52, the inclined flow wall 63, or other locations inside the hollow flow equalizer 6 to achieve comprehensive dust prevention. Additionally, refer to the appendix of the instruction manual. Figure 14 The hollow flow equalizer 6 can also be equipped with an electric heating rod 65 to effectively heat the air flowing through it. This serves two purposes: firstly, it enhances the rapid drying effect when the air blowing pipe 52 blows air onto the tunnel wall; secondly, when air is blown through the air holes of the inclined flow wall 63, it can further prevent fogging of the lens of the visual recognition camera 3. If necessary, such as in winter, a set of inclined flow walls 63 can be controlled to continuously blow out air at a relatively high temperature, forming an airflow barrier near the lens of the visual recognition camera 3, directly preventing the lens from fogging.

[0069] Based on the above-mentioned detection device, refer to the instruction manual appendix. Figure 18 A method for detecting cracks in highway tunnels includes the following steps:

[0070] Step 1: Install walking rails 2 on both inner walls of the tunnel, and install walking detection machine 1 on the walking rails 2;

[0071] Step 2: Control one group of walking detection machines 1 to move a certain distance first, so that it is misaligned with the other group of walking detection machines 1, and then simultaneously control both groups of walking detection machines 1 to move to the other end of the tunnel.

[0072] Step 3: Using two sets of second cameras 32, large-scale image acquisition and recognition are performed on the tunnel wall opposite the location to determine whether there are obvious cracks in the tunnel wall.

[0073] Step 4: When there are blurry areas in the recognition area of ​​the second camera 32 due to insufficient lighting, small and inconspicuous cracks in some areas, or obscured by water vapor in some areas, the supplementary light 4 on the side where the blurry area is located is controlled to provide supplementary lighting to the blurry area, and the first camera 31 on the other side is controlled to focus on the blurry area for concentrated small-range image acquisition and recognition, to further determine whether cracks have been generated in the blurry area. If necessary, the two sets of walking inspection machines 1 can also be stopped to perform long-term and multiple inspections.

[0074] Step 5: When both sets of walking inspection machines 1 reach the other end of the tunnel, reverse the order of movement of the two sets of walking inspection machines 1. After the two sets of walking inspection machines 1 are misaligned in opposite directions, control the two sets of walking inspection machines 1 to move back synchronously and perform a second inspection.

[0075] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A highway tunnel crack detection device, comprising a traveling detection machine (1) and a traveling track (2), wherein the traveling track (2) is installed on the side wall of the tunnel along the length of the tunnel, and the traveling detection machine (1) is slidably mounted on the traveling track (2), characterized in that: Walking tracks (2) and walking detection machines (1) are installed on both sides of the inner wall of the same tunnel. The top of the walking detection machine (1) is equipped with a supplementary light (4) through the second adjustment drive assembly (12), and the bottom of the walking detection machine (1) is equipped with two visual recognition cameras (3) through the first adjustment drive assembly (11). The second adjustment drive assembly (12) includes an arc-shaped guide frame (121), which is mounted on the walking detection machine (1) via a second pitch adjuster (123). A sliding seat (122) is slidably mounted on the arc-shaped guide frame (121), and the supplementary light (4) is fixedly mounted on the sliding seat (122). Two sets of walking inspection machines (1) are set up in a staggered manner. The visual recognition cameras (3) on the two sets of walking inspection machines (1) respectively perform visual recognition inspection on the tunnel wall opposite their respective positions. The supplementary lights (4) on the two sets of walking inspection machines (1) respectively provide supplementary lighting on the tunnel wall on one side of their respective positions. Moisture-proof blowing components (5) are provided on both sides of the walking inspection machine (1). The moisture-proof blowing components (5) include a fan assembly (51) and an air blowing pipe (52). The fan assembly (51) is fixedly installed on the walking inspection machine (1), and the air blowing pipe (52) is fixedly installed at the end of the arc-shaped guide frame (121). The air blowing pipe (52) and the fan assembly (51) are connected by a flexible hose. The moisture-proof blowing assembly (5) also includes a gas collection hood (53). Two sets of gas collection hoods (53) are fixedly installed on both sides of the walking inspection machine (1). The visual recognition camera (3) is located in the area between the two sets of gas collection hoods (53). The gas collection hood (53) is provided with an opening in an inclined direction. The opening is away from the walking inspection machine (1) and is inclined towards the center of the tunnel. The top of the gas collection hood (53) is connected to the bottom of the fan assembly (51). The air collection hood (53) includes two mutually perpendicular side walls, and the area outside the two side walls forms the opening in the above-mentioned inclined direction. A hollow flow equalizer (6) is installed inside the air collection hood (53). The hollow flow equalizer (6) has a hollow structure, and an arc-shaped wind-receiving wall (61) is provided at the position of the opening of the air collection hood (53) corresponding to the hollow flow equalizer (6). Multiple sets of air holes are provided on the arc-shaped wind-receiving wall (61). The hollow flow equalizer (6) is connected to the fan assembly (51). The hollow flow equalizer (6) also has two mutually perpendicular sidewalls, and the two sidewalls of the hollow flow equalizer (6) are respectively arranged parallel to the two sidewalls of the gas collection hood (53). The two sidewalls of the hollow flow equalizer (6) are respectively connected to the two sidewalls of the gas collection hood (53) through elastic connectors (7). The top of the hollow flow equalizer (6) is connected to the fan assembly (51) through a flexible adapter pipe. A pressure sensor (62) is also provided between the hollow flow equalizer (6) and the gas collection hood (53). The pressure sensor (62) is used to detect the proximity pressure between the hollow flow equalizer (6) and the gas collection hood (53).

2. The highway tunnel crack detection device according to claim 1, characterized in that: The first adjustment drive assembly (11) includes a turntable (111), which is connected to the walking detection machine (1) via a lifting controller (113). The turntable (111) is installed at the bottom output end of the lifting controller (113). The two visual recognition cameras (3) are a first camera (31) and a second camera (32), respectively. The first camera (31) is a visual recognition camera (3) with a telephoto lens, and the second camera (32) is a visual recognition camera (3) with a wide-angle lens. The first camera (31) and the second camera (32) are respectively rotatably connected to the side of the turntable (111) via a first pitch adjuster (112). The second pitch adjuster (123) is installed on the walking detection machine (1) via a motion controller (124).

3. The highway tunnel crack detection device according to claim 2, characterized in that: The elastic connector (7) includes a guide pin (71) fixedly installed on the side wall of the hollow flow equalizer (6). A sliding mating hole (531) is provided on the side wall of the gas collecting hood (53) at the position corresponding to the guide pin (71). The guide pin (71) is slidably disposed in the sliding mating hole (531). An elastic pad (72) is provided between the side wall of the gas collecting hood (53) and the side wall of the hollow flow equalizer (6). The elastic pad (72) is fixedly connected to the side wall of the gas collecting hood (53).

4. The highway tunnel crack detection device according to claim 3, characterized in that: The hollow flow equalizer (6) is provided with an inclined flow wall (63) on one side wall corresponding to the visual recognition camera (3). The inclined flow wall (63) is inclined towards the center of the tunnel. Multiple sets of air holes are also provided on the inclined flow wall (63). The fan assembly (51) consists of a cylindrical shell and fan blades rotatably disposed in the cylindrical shell. A drive motor for driving the fan blades to rotate is also provided on the cylindrical shell. The drive motor is a forward and reverse drive motor.

5. The highway tunnel crack detection device according to claim 4, characterized in that: An elastic partition (64) is provided on the inner side of the arc-shaped wind-receiving wall (61). The two sides of the elastic partition (64) are fixedly connected to the arc-shaped wind-receiving wall (61). A filter part (641) is provided on the area of ​​the elastic partition (64) that avoids the air holes on the arc-shaped wind-receiving wall (61). The filter part (641) is used to filter dust and allow air to pass through. The part of the elastic partition (64) other than the filter part (641) blocks the air holes on the arc-shaped wind-receiving wall (61) when it fits against them. An electric heating rod (65) is also provided inside the hollow flow equalizer (6).

6. A method for detecting cracks in highway tunnels, characterized in that, The detection of cracks in highway tunnels using the highway tunnel crack detection device as described in claim 5 includes the following steps: Step 1: Install walking rails (2) on both sides of the inner wall of the tunnel, and install a walking detection machine (1) on the walking rails (2); Step 2: Control one group of walking inspection machines (1) to move a certain distance first, and after it is misaligned with the other group of walking inspection machines (1), control both groups of walking inspection machines (1) to move to the other end of the tunnel at the same time; Step 3: Use two sets of second cameras (32) to collect and identify large-scale images of the tunnel wall opposite the location to determine whether there are cracks in the tunnel wall. Step 4: When a blurry area appears in the recognition area of ​​the second camera (32), control the supplementary light (4) on the side where the blurry area is located to provide supplementary lighting for the blurry area, and control the first camera (31) on the other side to focus on the blurry area to perform concentrated small-range image acquisition and recognition, and determine whether there is a crack in the blurry area. Step 5: When both sets of walking inspection machines (1) reach the other end of the tunnel, change the order of movement of the two sets of walking inspection machines (1). After the two sets of walking inspection machines (1) are misaligned in opposite directions, control the two sets of walking inspection machines (1) to move back synchronously and perform secondary inspection.

Images