Bridge image acquisition device, vehicle and method

Abstract

This invention discloses a bridge image acquisition device, vehicle, and method. The bridge image acquisition device includes: a support frame; a base plate mounted on the support frame; a housing sealed to the base plate, forming a mounting cavity together; an image acquisition system disposed within the mounting cavity, including a light source module and a camera assembly; and a controller disposed within the mounting cavity, electrically connected to the light source module and the camera assembly. This invention also discloses a bridge image acquisition vehicle incorporating the device and a bridge image acquisition method using the device. The device of this invention has a compact structure and is easy to assemble and disassemble. Combined with the movement of the vehicle along the bridge length and the movement of the truss platform along the bridge width, it achieves automated, high-efficiency, high-safety, and low-cost acquisition of bridge underside images.

Description

Technical Field

[0001] This invention belongs to the field of bridge inspection technology, specifically relating to a bridge image acquisition device, vehicle, and method. Background Technology

[0002] As bridges age, structural aging becomes increasingly prominent, with frequent occurrences of various defects such as concrete cracking, steel corrosion, and protective layer peeling, posing a potential threat to bridge operational safety. Currently, bridge inspection work mainly relies on traditional manual visual inspection methods. Inspectors need to use bridge inspection vehicles or elevated platforms to enter the area under the bridge, closely observe and photograph suspicious areas in the complex environment, and then compile the data to complete the overall inspection and evaluation.

[0003] However, this method has revealed many unavoidable limitations in practice: First, the detection efficiency is significantly low, the coverage area of ​​a single operation is limited, and the position of the equipment needs to be moved repeatedly, which is time-consuming and labor-intensive; second, the detection accuracy is greatly affected by subjective factors, and minor cracks or hidden defects are easily missed due to obstructed vision or insufficient lighting; third, the high-altitude working environment is complex, and the interference from vehicles passing under the bridge is serious, so the personal safety risks to the inspection personnel remain high; in addition, the comprehensive costs of bridge inspection vehicle rental, traffic control, and personnel allocation have been rising year by year, further increasing the burden on maintenance units. Faced with the ever-growing number of bridges and the increasingly sophisticated requirements for maintenance management, traditional manual inspection methods can no longer meet the needs of efficient, safe, and intelligent modern bridge maintenance.

[0004] Therefore, there is an urgent need to develop a new type of intelligent image acquisition device for the bridge underside environment. This device can replace manual close-range operations with automated and high-precision visual perception technology, fundamentally improving the detection quality and operational efficiency of bridge underside defects, and providing reliable technical support for the whole life cycle health management of bridges. Summary of the Invention

[0005] The technical problem to be solved by this invention is: how to improve the problems of low efficiency, low accuracy, low safety and high cost in bridge under-bridge environment detection.

[0006] To solve the above-mentioned technical problems, the present invention provides a bridge image acquisition device, comprising: support; The base plate is mounted on the bracket; The outer shell is sealed to the base plate, and together with the base plate, they form an installation cavity. An image acquisition system, housed within the mounting cavity, includes a light source module and a camera assembly; The controller is located inside the mounting cavity and is electrically connected to the light source module and the camera assembly, respectively.

[0007] The aforementioned bridge image acquisition device includes a light source module comprising a cover plate, a light source, a heat sink, a cooling fan, and a package box; the cooling fan, heat sink, light source, and cover plate are arranged sequentially inside the package box; the package box has an air inlet, an air outlet, and a wire passage hole.

[0008] The aforementioned bridge image acquisition device has multiple light source modules arranged in two equidistant symmetrical arrays along the length of the base plate, and a camera component is set at the center of every four adjacent light source modules.

[0009] The aforementioned bridge image acquisition device includes a camera assembly comprising a camera and a motorized lens, the motorized lens being connected to the camera for acquiring images of the underside of the bridge.

[0010] The aforementioned bridge image acquisition device also includes an image acquisition card, which is disposed in the mounting cavity and electrically connected to the camera assembly and controller for the acquisition and transmission of multi-channel image data.

[0011] The aforementioned bridge image acquisition device also includes a laser ranging sensor, which is disposed in the mounting cavity and electrically connected to the controller for detecting and feeding back the working distance; the outer shell is provided with a laser transceiver port, which corresponds to the position of the laser ranging sensor and is used for the laser ranging sensor to emit and receive laser light.

[0012] The aforementioned bridge image acquisition device has a light source illumination hole, an image acquisition hole, and a heat dissipation hole on the upper surface of the outer shell; the light source illumination hole corresponds to the position of the light source module and is used for light to be emitted from the outer shell; the image acquisition hole corresponds to the position of the camera component and is used for the camera component to acquire images of the bridge underside through the outer shell; the heat dissipation hole is used to dissipate the heat generated when the image acquisition system is working.

[0013] The aforementioned bridge image acquisition device has an adjustment hole, a light source heat dissipation hole, and a wire passage hole on the lower surface of the base plate. The adjustment hole corresponds to the position of the camera component and is used to adjust the module installation position to adapt to different image overlap requirements. The light source heat dissipation hole corresponds to the position of the light source module and is used to improve the heat dissipation efficiency of the light source module during operation. The wire passage hole is used for power lines and signal lines to enter and exit, facilitating electrical connection and signal transmission between external devices and the main body of the device.

[0014] The present invention also provides a bridge image acquisition vehicle, comprising: Vehicle body; A truss platform is mounted on the vehicle body; And the bridge image acquisition device described in any of the preceding items; The bridge image acquisition device is mounted on the truss platform via its bracket, with the upper surface of the outer shell facing the bottom of the bridge.

[0015] The present invention also provides a bridge image acquisition method, using the aforementioned bridge image acquisition vehicle, comprising the following steps: Step 1: Install the bridge image acquisition device on the truss platform and adjust the length of the support to place the bridge image acquisition device at the set working distance; Step 2: Move the vehicle body along the length of the bridge to drive the truss platform, so that the controller controls the camera components to automatically focus, turn on the light source module, and trigger the camera components to synchronously acquire images of the bridge bottom at preset time intervals; Step 3: After completing the image acquisition of one bridge bottom, move the truss platform along the bridge width direction by a preset length, driving the bridge image acquisition device to move in the bridge width direction. Repeat step 2 until the moving length of the truss platform is consistent with the bridge width, thus completing the image acquisition of the entire bridge bottom.

[0016] In the aforementioned bridge image acquisition method, step two involves multiple camera components with a fixed spacing between them, resulting in overlapping areas between images captured by adjacent camera components.

[0017] The beneficial effects achieved by this invention are as follows: The bridge image acquisition device of this invention adopts a modular sealed shell, which enables quick assembly and disassembly and adjustment of working distance through a bracket, making it suitable for the limited space under the bridge. The array layout of the light source module and camera components and the corresponding holes in the shell ensure uniform illumination and clear imaging. The bridge image acquisition device, together with the bridge inspection vehicle moving along the bridge length and the truss platform extending along the bridge width, covers a large area during a single image acquisition. The spacing between multiple camera components and fixed camera components ensures overlap between adjacent images and columns, effectively improving acquisition efficiency and stitching integrity.

[0018] This invention has the advantages of high acquisition efficiency and convenient installation, which meets the requirements of bridge bottom acquisition for shooting efficiency and system deployment flexibility. It has a compact structure and light weight, and is suitable for rapid deployment and flexible movement in the limited space under the bridge. It can significantly improve the continuity and stability of image acquisition, and fully meet the actual needs of bridge bottom defect detection. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the working scene of the binocular bridge image acquisition device of the present invention; Figure 2 This is a schematic diagram of the overall assembly of the binocular bridge image acquisition device of the present invention; Figure 3 This is a schematic diagram of the support structure of the binocular bridge image acquisition device of the present invention; Figure 4 This is a schematic diagram of the internal structure of the binocular bridge image acquisition device of the present invention; Figure 5 This is a schematic diagram of the unfolded light source module of the binocular bridge image acquisition device of the present invention; Figure 6 This is a schematic diagram of the working path of the binocular bridge image acquisition device of the present invention; Figure 7 This is a schematic diagram of the control principle of the binocular bridge image acquisition device of the present invention; Figure 8 This is a schematic diagram showing the matching of the working states of the camera, lens, and light source module of the present invention.

[0020] Reference numerals: 1. Vehicle body; 2. Bridge; 3. Truss platform; 4. Bridge image acquisition device; 5. Light source module; 6. Cover plate; 7. Bracket; 8. Heat dissipation hole in the outer casing; 9. Base plate; 10. Light source illumination hole; 11. Image acquisition hole; 12. Laser transceiver hole; 13. Cable guide hole; 14. Light source heat dissipation hole; 15. Adapter plate; 16. Adjustment hole; 17. Unequal side bracket; 18. Light source module bracket; 19. Controller; 20. Camera bracket; 21. Image acquisition card; 22. Camera; 23. Motorized lens; 24. Laser rangefinder sensor; 25. Air outlet; 26. Air inlet; 27. Cable guide hole; 28. Cover plate; 29. ​​Light source; 30. Heat sink; 31. Cooling fan; 32. Encapsulation box. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] Example 1

[0023] This embodiment provides a bridge image acquisition device 4, as shown in the attached document. Figure 2-4 As shown, the bridge image acquisition device 4 consists of three main parts: the encapsulation structure, the image acquisition system, and the control system.

[0024] The main body of the bridge image acquisition device 4 adopts a modular packaging structure, which includes a bracket 7, an adapter plate 15, a base plate 9, and a shell 6. The base plate 9 and the shell 6 are integrally formed sealed shells to support and protect the internal components of the bridge image acquisition device 4. The sealed shell and the bracket 7 are connected by the adapter plate 15. The bracket 7 is an adjustable and telescopic structure. By adjusting the extension of the bracket 7, the working distance of the binocular bridge detection device 4 can be adjusted.

[0025] The image acquisition system is the core component for obtaining disease information, including a light source module 5, a camera 22, a motorized lens 23, a laser rangefinder sensor 24, and an image acquisition card 21.

[0026] The base plate 9 is provided with multiple light source module brackets 18, and the light source modules 5 are fixed to the light source module brackets 18 by unequal side brackets 17. (See attached image) Figure 5 As shown, the light source module 5 includes a cover plate 28, a light source 29, a heat sink 30, a cooling fan 31, and a housing 32. The housing 32 is the shell of the light source module 5. Inside the housing 32, the cooling fan 31, the heat sink 30, the light source 29, and the cover plate 28 are arranged sequentially. The cover plate 28 is located on the light-emitting side of the light source module 5. The light source 29 is close to the inner side of the cover plate 28. The heat sink 30 is attached to the back of the light source 29, and the cooling fan 31 is located behind the heat sink 30. The housing 32 has an air inlet 26, an air outlet 25, and a cable routing hole 27 for the light source module, which are used for airflow and cable routing, respectively.

[0027] The motorized lens 23 and camera 22 are tightly connected via an internal threaded structure, ensuring the stability and coaxiality of the image acquisition system during imaging. The motorized lens 23 and camera 22 are mounted together on the camera bracket 20. The laser rangefinder 24 is used to detect and provide feedback on the working distance. The image acquisition card 21 is a multi-channel transmission device responsible for the acquisition and transmission of image data.

[0028] Multiple light source modules 5 are arranged equidistantly along the length of the base plate 9, and symmetrically arranged in two rows at equal intervals in the vertical direction. In this embodiment, a total of six light source modules 5 are provided, arranged in two rows of three; at the center position enclosed by every four adjacent light source modules 5 vertically and horizontally, a camera 22 and its matching motorized lens 23 are respectively provided, therefore, this embodiment is equipped with two cameras 22. It is understood that in other embodiments, a greater number of cameras 22 can be deployed according to the actual detection area and accuracy requirements.

[0029] A controller 19 is positioned between two adjacent light source modules 5 in the first row. An image acquisition card 21 is positioned in the gap between the light source modules 5 in the second row, and the image acquisition card 21 is fixed to the base plate 9. The laser rangefinder 24 is fixed to the aluminum alloy base plate 9.

[0030] The upper surface of the outer casing 6 is provided with multiple functional holes, including: a light source illumination hole 10, an image acquisition hole 11, a laser transceiver hole 12, and a casing heat dissipation hole 8. The light source illumination hole 10 corresponds to the positions on both sides of the middle row of light source modules 5 on the base plate 9, and is used to allow the light emitted by the light source modules 5 to be emitted. The image acquisition hole 11 corresponds to the position of the camera 22, and is used to allow the camera 22 to acquire images of the bridge bottom through the image acquisition hole 11. The laser transceiver hole 12 corresponds to the position of the laser range sensor 24, and is used to allow the laser range sensor 24 to emit and receive laser light to perform working distance detection. The casing heat dissipation hole 8 is used to dissipate heat from the machine body during operation.

[0031] The lower surface of the base plate 9 is provided with an adjustment hole 16, a light source heat dissipation hole 14, and a wire passage hole 13; the adjustment hole 16 corresponds to the position of the camera 22 and is used to adjust the installation position of the camera 22 to adapt to different image overlap requirements; the light source heat dissipation hole 14 corresponds to the position of the light source module 5 and is used to improve the heat dissipation efficiency of the light source module 5 during operation; the wire passage hole 13 is used for the entry and exit of power lines and signal lines, which facilitates the electrical connection and signal transmission between external devices and the main body of the device.

[0032] The control system consists of a controller 19 and its internal embedded program, responsible for coordinating and controlling various subsystems, including lens focusing, light source control, and synchronous image acquisition, thereby automating and maximizing the image acquisition process. (See attached...) Figure 7 As shown, the embedded program inside controller 19 runs according to the following steps: The control system inputs the bridge structure parameters and initializes the camera 22 and the motorized lens 23. The laser rangefinder 24 acquires the initial object distance, and the controller 19 controls the motorized lens 23 to automatically focus based on the object distance. After focusing is complete, controller 19 controls light source module 5 to flash and simultaneously triggers camera 22 to acquire an image. Motorized lens 23 continues focusing, controller 19 starts timer to accumulate time. During the accumulation process, controller 19 continuously judges two conditions: whether the preset time threshold has been reached and whether the edge of the bridge has been reached. If the bridge edge is not reached and the accumulated time has not reached the threshold, the time will continue to accumulate. If the bridge edge is not reached but the accumulated time reaches the threshold, controller 19 executes the following: timer reset, control light source module 5 to flash, trigger camera 22 to acquire the next image, and accumulate the number of acquired images. After acquisition is completed, controller 19 restarts the timer and repeats the above time accumulation and judgment process.

[0033] If the edge of the bridge is reached during the time accumulation process or after the acquisition is completed, the image acquisition task for the current column will be terminated immediately.

[0034] As attached Figure 8 As shown, the controller 19 controls the timing of the camera 22, motorized lens 23, and light source module 5 as follows: The controller 19 controls the motorized lens 23 to perform a focusing operation. After focusing is completed, the light source module 5 is turned on. During the period when the light source module 5 is on, the camera 22 acquires images. The exposure acquisition time of the camera 22 is entirely within the working time of the light source module 5 to ensure that the camera obtains sufficient and stable illumination when acquiring images.

[0035] It is understood that this embodiment uses two cameras 22 as an example for illustration. In other embodiments, three, four, or more cameras 22 can be set according to the actual detection area, accuracy requirements, and the width of the bridge bottom. When multiple cameras 22 are set, each camera 22 and its matching motorized lens 23 can be arranged sequentially along the length of the base plate 9 or distributed in an array along the width of the bridge. Each camera 22 is correspondingly set at the center of the area enclosed by the adjacent light source modules 5 to ensure that each camera 22 obtains uniform illumination conditions. The specific number and layout of the cameras 22 should be determined according to actual needs. Those skilled in the art can make corresponding adjustments under the inspiration of the present invention, all of which fall within the protection scope of the present invention.

[0036] In this embodiment, the specific opening shape of the light source illumination hole 10 is not limited, as long as the light emitted by the light source module 5 can be effectively emitted; the number of controllers 19 and image acquisition cards 21 can be adjusted according to actual needs; the cover plate 28 and the encapsulation box 32 can be made of acrylic material, and the outer shell 6 and the base plate 9 can be made of aluminum alloy material.

[0037] Example 2

[0038] This embodiment provides a bridge image acquisition vehicle, including: Vehicle body 1; Truss platform 3 is mounted on the vehicle body 1; And the bridge image acquisition device 4 as described in any one of Embodiment 1; The bridge image acquisition device 4 is mounted on the truss platform 3 via its bracket 7, with the upper surface of the outer shell 6 facing the bottom of the bridge.

[0039] When performing image acquisition, as shown in the attached document Figure 1 As shown, vehicle body 1 travels on the bridge deck of bridge 2. One end of truss platform 3 is connected to vehicle body 1 via a slewing mechanism or telescopic boom, and can extend outward from vehicle body 1 to below the bridge deck. Truss platform 3 is equipped with a telescopic mechanism inside, allowing the total length of truss platform 3 to be adjusted as needed.

[0040] The bridge image acquisition device 4 is fixedly installed above the truss platform 3. The truss platform 3 has a horizontal bearing surface, and the bridge image acquisition device 4 is fixed to the horizontal bearing surface of the truss platform 3 by a bracket 7. The image acquisition hole 11 and the light source illumination hole 10 on the upper surface of the outer shell 6 of the bridge image acquisition device 4 face the bottom surface of the bridge 2 to acquire images of the bridge bottom. During the image acquisition process, the successive extension of the internal telescopic mechanism of the truss platform 3 drives the bridge image acquisition device 4 to move along the width of the bridge, covering different rows of the bridge bottom area.

[0041] Example 3

[0042] This embodiment provides a bridge image acquisition method, using the bridge image acquisition device 4 described in any one of Embodiment 1, including the following steps: Step 1: Install the bridge image acquisition device 4 on the truss platform 3, and adjust the length of the bracket 7 so that the bridge image acquisition device is at the set working distance; Step 2: Move the vehicle body 1 along the bridge length direction to drive the truss platform 3, so that the controller 19 controls the camera assembly to automatically focus, turn on the light source module 5, and trigger the camera assembly to synchronously collect images of the bridge bottom at preset time intervals. Step 3: After completing the image acquisition of one bridge bottom, move the truss platform 3 along the bridge width direction by a preset length, thereby moving the bridge image acquisition device in the bridge width direction. Repeat step 2 until the moving length of the truss platform 3 is consistent with the bridge width, thus completing the image acquisition of the entire bridge bottom.

[0043] Specifically, before the operation begins, the bridge image acquisition device 4 is first installed under the bridge via the truss platform 3. The truss platform 3 extends outward from the bridge inspection vehicle body 1, along the bridge width, to the starting acquisition position. The operator inputs the bridge under-structural parameters, such as bridge span, bridge width, and clearance height, through the control system. The control system automatically controls the motorized lens 23 to adjust the depth of field based on the input parameters, ensuring that the camera 22 captures a clear image.

[0044] After the electric lens 23 is adjusted, the control system activates the light source module 5 to provide uniform illumination to the shooting area. In this embodiment, the bridge image acquisition device 4 has two cameras 22 inside. When more cameras are set, the acquisition principle is the same, and all are triggered synchronously by the controller. The control system automatically triggers the two cameras 22 to acquire images synchronously according to a preset time interval. The fixed distance between the two cameras 22 is 450 mm, the field of view of each image is 500 mm, and there is an overlap of about 10% between adjacent images to ensure the continuity of subsequent image stitching. Therefore, each time the device 4 moves along the length of the bridge, it can cover a 950 mm × 500 mm area under the bridge, effectively improving the single acquisition area and detection efficiency.

[0045] At the start of the collection, as shown in the attached document. Figure 6 As shown, after the vehicle 1 travels from the starting pier to the opposite pier, it completes the acquisition of one series of bridge bottom images. Subsequently, the truss platform 3 extends a preset length, for example, 700 mm, in a step-by-step manner along the bridge width direction, driving the device 4 to move in the bridge width direction. The preset length matches the field of view width of the camera 22, ensuring sufficient overlap between adjacent series of images.

[0046] The bridge inspection vehicle 1 then reverses back to the starting pier and repeats the image acquisition process along the bridge length to complete the acquisition of the second row of bridge bottom images. This process continues until the cumulative extension length of the truss platform 3 reaches the width of the bridge, completing the image acquisition of the entire area of ​​the bottom of one span of the bridge.

[0047] The extension distance of the truss platform 3 (700 mm), the spacing of the cameras 22, the field of view of each image, the overlap between adjacent images, and the size of the bridge bottom area covered in a single instance are all specific values ​​in this embodiment. In practical applications, they can be adaptively adjusted according to the bridge width, detection resolution, and image stitching requirements, and should not be construed as limitations on the present invention.

[0048] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "up," "down," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific posture. If the specific posture changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing the invention and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention.

[0049] Furthermore, the terms "first," "second," etc., 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 with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A bridge image acquisition device, characterized in that... ,include: Support (7); The base plate (9) is mounted on the bracket (7); The outer shell (6) is sealed to the base plate (9) and together with the base plate (9) forms an installation cavity; An image acquisition system, installed in the mounting cavity, includes a light source module (5) and a camera assembly; The controller (19) is located in the mounting cavity and is electrically connected to the light source module (5) and the camera assembly, respectively.

2. The bridge image acquisition device as described in claim 1, characterized in that, The light source module (5) includes a cover plate (28), a light source (29), a heat sink (30), a cooling fan (31), and a package (32); the cooling fan (31), the heat sink (30), the light source (29), and the cover plate (28) are arranged in sequence inside the package (32); the package (32) has an air inlet (26), an air outlet (25), and a wire through hole (27).

3. The bridge image acquisition device as described in claim 1, characterized in that, Multiple light source modules (5) are arranged in two rows of equidistant symmetrical arrays along the length direction on the base plate (9). At the center of every four adjacent light source modules (5), a camera component is set.

4. The bridge image acquisition device as described in claim 1, characterized in that, The camera assembly includes a camera (22) and a motorized lens (23), the motorized lens (23) being connected to the camera (22) for acquiring images of the underside of the bridge.

5. The bridge image acquisition device as described in claim 1, characterized in that, It also includes an image acquisition card (21), which is disposed in the mounting cavity and electrically connected to the camera assembly and controller (19) for the acquisition and transmission of multi-channel image data.

6. The bridge image acquisition device as described in claim 1, characterized in that, It also includes a laser rangefinder (24), which is disposed in the mounting cavity and electrically connected to the controller (19) for detecting and feeding back the working distance; the housing (6) is provided with a laser transceiver hole (12), which corresponds to the position of the laser rangefinder (24) and is used for the laser rangefinder (24) to emit and receive lasers.

7. The bridge image acquisition device as described in claim 1, characterized in that, The upper surface of the housing (6) is provided with a light source illumination hole (10), an image acquisition hole (11), and a housing heat dissipation hole (8); the light source illumination hole (10) corresponds to the position of the light source module (5) and is used for light to be emitted from the housing (6); the image acquisition hole (11) corresponds to the position of the camera assembly and is used for the camera assembly to obtain the image of the bridge bottom through the housing (6); the housing heat dissipation hole (8) is used to dissipate the heat generated when the image acquisition system is working.

8. The bridge image acquisition device as described in claim 1, characterized in that, The lower surface of the base plate (9) is provided with an adjustment hole (16), a light source heat dissipation hole (14), and a wire passage hole (13). The adjustment hole (16) corresponds to the position of the camera component and is used to adjust the module installation position to adapt to different image overlap requirements. The light source heat dissipation hole (14) corresponds to the position of the light source module (5) and is used to improve the heat dissipation efficiency of the light source module (5) when it is working. The wire passage hole (13) is used for the entry and exit of power lines and signal lines, which facilitates the electrical connection and signal transmission between external equipment and the main body of the device.

9. A bridge image acquisition vehicle, characterized in that, include Vehicle body (1); A truss platform (3) is mounted on the vehicle body (1); And the bridge image acquisition device according to any one of claims 1 to 8; The bridge image acquisition device is mounted on the truss platform (3) via its bracket (7), with the upper surface of the outer shell (6) facing the bottom of the bridge.

10. A method for acquiring bridge images, characterized in that, Using the bridge image acquisition vehicle as described in claim 9, the steps include: Step 1: Install the bridge image acquisition device on the truss platform (3) and adjust the length of the bracket (7) so that the bridge image acquisition device is at the set working distance; Step 2: Move the vehicle body (1) along the bridge length direction to drive the truss platform (3), so that the controller (19) controls the camera assembly to automatically focus, turn on the light source module (5), and trigger the camera assembly to synchronously collect images of the bridge bottom at preset time intervals; Step 3: After completing the image acquisition of one bridge bottom, move the truss platform (3) along the bridge width direction by a preset length, thereby moving the bridge image acquisition device in the bridge width direction. Repeat step 2 until the moving length of the truss platform (3) is consistent with the bridge width, and complete the image acquisition of the entire bridge bottom.

11. The bridge image acquisition method according to claim 10, characterized in that, Step two involves multiple camera components with a fixed spacing between them, resulting in overlapping areas between images captured by adjacent camera components.

Images