Hollow pier inspection system

Abstract

The utility model provides a hollow pier inspection system. The hollow pier inspection system comprises an image acquisition device and a position adjusting device used for adjusting the position of the image acquisition device in a hollow pier. Wherein the image acquisition device comprises a lifting platform, an image collector and a telescopic mechanism; the plurality of image collectors are arranged at the bottom or on the side surface of the lifting platform; one end of each telescopic mechanism is connected with the bottom or the side face of the lifting platform, and the other end of each telescopic mechanism is provided with a pushing piece used for making contact with the inner wall of the hollow pier, so that the image collecting device stably operates in the working process. The image acquisition device of the hollow pier inspection system is provided with the telescopic mechanism which always abuts against the inner wall of the hollow pier in the lifting process, stable support is provided for the image acquisition device, shaking of the image acquisition device is avoided, the quality of acquired images is improved, and effective support is provided for disease assessment of the surface of the inner wall of the hollow pier.

Description

Technical Field

[0001] The utility model relates to the technical field of bridge hollow pier detection, in particular to a hollow pier inspection system. Background Art

[0002] Hollow piers are widely used in modern bridges as crucial infrastructure. Due to long-term dynamic loads and natural disasters like earthquakes, these piers can develop defects such as cracks, falling blocks, and pitting. Therefore, regular inspections of hollow piers are a crucial part of railway inspections.

[0003] To inspect the interior of the pier, inspectors must climb a ladder into the hollow pier, using handheld lighting equipment to inspect the conditions. This poses a significant safety risk to the inspectors. Furthermore, the limited position of the inspection ladder often reduces the inspection range, making it difficult to obtain a complete and accurate image of the pier interior, severely impacting the inspection results of the hollow pier's inner wall.

[0004] In order to change this situation, there is also a hollow pier inner wall detection device in the prior art, such as Figure 1 As shown, the device uses a winch to hoist the camera for detecting the inner wall of the hollow pier. However, this method will cause the cable to rotate during the process of raising and lowering the camera, resulting in the camera focal length and the horizontal position of the collected image constantly changing and being uncontrollable, making it difficult to achieve the ideal detection effect. Utility Model Content

[0005] In view of this, an embodiment of the present invention provides a hollow pier inspection system to eliminate or improve one or more defects in the prior art.

[0006] The technical solution of the utility model is as follows:

[0007] A hollow pier inspection system, comprising an image acquisition device and a position adjustment device for adjusting the position of the image acquisition device inside the hollow pier; wherein the image acquisition device comprises: a lifting platform, an image collector and a telescopic mechanism; several image collectors are arranged at the bottom or side of the lifting platform; several telescopic mechanisms are each configured to be connected to the bottom or side of the lifting platform at one end and to be provided with a pushing member at the other end for contacting the inner wall of the hollow pier, so that the image acquisition device operates smoothly during operation.

[0008] In some embodiments, the telescopic mechanism is arranged horizontally or tilted; and / or,

[0009] The telescopic mechanism is adjustable in length and comprises a fixed rod, a movable rod and an elastic member, wherein the fixed rod is connected to the lifting platform, and the elastic member is provided at the connection portion between the fixed rod and the movable rod, so that the pushing member of the movable rod always maintains contact with the inner wall of the hollow pier during the image acquisition process of the image acquisition device; and / or

[0010] The image acquisition device is provided with two telescopic mechanisms, which are arranged on two opposite sides of the lifting platform, so that the pushing members of the two movable rods can respectively slide in contact with the two inner walls of the hollow pier in the short axis direction; and / or,

[0011] The image acquisition device is provided with two or more telescopic mechanisms, which are evenly or unevenly arranged on the outside of the lifting platform; and / or,

[0012] The pushing member is a roller or a ball with an elastic member.

[0013] In some embodiments, when the number of the image collector is one, the image collector is installed at the bottom of the lifting platform, and the image collector is used to collect 360° images of the inner wall of the hollow pier;

[0014] When there are two or more image collectors, the image collectors are installed at the bottom or side of the lifting platform. The image collectors are all used to collect images of corresponding areas. The images collected by each image collector can be spliced ​​to form images of all inner walls of the hollow pier.

[0015] In some embodiments, the image collector is a laser camera lens; and / or,

[0016] At least one fill light is further provided at the bottom or side of the lifting platform; and / or,

[0017] A distance meter is provided at the bottom of the lifting platform for detecting the distance from the bottom of the lifting platform to the bottom of the hollow pier; and / or,

[0018] The lifting platform further includes a power supply compartment for installing a battery to supply power to the image acquisition device; and / or,

[0019] The lifting platform includes an upper platform and a lower platform. A buffer is provided between the upper platform and the lower platform for stable lifting of the image collector.

[0020] In some embodiments, the position adjustment device includes a machine base that can be fixed on an artificial platform reserved on the top of the hollow pier, a reel mounted on the machine base, and a flexible traction member connecting the reel and the lifting platform;

[0021] One end of the flexible traction member is connected to the reel, and the other end of the flexible traction member is connected to the top of the lifting platform. The reel is configured to be driven to rotate manually or electrically to retract and release the flexible traction member wound on the reel, thereby pulling the image acquisition device up or down.

[0022] In some embodiments, the position adjustment device also includes a guide frame and a first pulley fixed on the guardrail of an artificial platform reserved on the top of the hollow pier, the guide frame having a cantilever portion, the first pulley being arranged at an end of the cantilever portion away from the reel, and being rotatably connected to the cantilever portion, the guide frame and the first pulley being used to pull the flexible traction member to the central axis area of ​​the hollow pier after leaving the reel.

[0023] In some embodiments, the position adjustment device further includes a limiting mechanism, and the limiting mechanism is provided on the machine base and / or the guide frame;

[0024] The limiting mechanism includes a second pulley, a pressure wheel and a limiting bracket. The second pulley and the pressure wheel are installed on the limiting bracket and are both rotatably connected to the limiting bracket. The second pulley and the pressure wheel are arranged adjacent to each other. After the flexible traction member is led out from the reel, it passes through the groove of the second pulley, is pressed by the pressure wheel, and then is wound around the groove of the first pulley.

[0025] In some embodiments, the position adjustment device further includes a drive motor, which is directly or indirectly connected to the reel and is used to drive the reel to rotate to retract and release the flexible traction member; and / or,

[0026] The position adjustment device further comprises a manual rocker, which is directly or indirectly connected to the reel to drive the reel to rotate and retract the flexible traction member.

[0027] In some embodiments, the position adjustment device further comprises an encoder, which is disposed at the shaft end of the reel and is used to detect the number of rotations or angular displacement of the reel; and / or,

[0028] The position adjustment device further includes a depth counter. The flexible traction member is marked with a magnetic mark. The depth counter detects the depth information of the image acquisition device by detecting the magnetic mark.

[0029] In some embodiments, the flexible traction member is a steel cable, which is used to prevent it from rotating when the reel is retracted or released, so as to ensure that the focal length and horizontal position of the camera do not change.

[0030] The image acquisition device of the hollow pier inspection system is equipped with a telescopic mechanism, which always rests against the inner wall of the hollow pier during the lifting process, providing stable support for the image acquisition device, avoiding shaking of the image collector, improving the quality of the acquired image, and providing effective support for the disease assessment of the inner wall surface of the hollow pier.

[0031] Additional advantages, objects, and features of the present invention will be partially set forth in the following description and will partially become apparent to those skilled in the art upon study of the following or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0032] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present invention are not limited to those specifically described above, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are intended to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are merely for the purpose of illustrating the principles of the present invention. To facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may be larger than other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0034] Figure 1 The figure is a schematic diagram of a hollow pier inner wall detection device in the prior art.

[0035] Figure 2 It is a partial structural diagram of a hollow pier in the prior art.

[0036] Figure 3 It is a structural diagram of a hollow pier inspection system in one embodiment of the present utility model.

[0037] Figure 4 Schematic diagram of the structure of an image acquisition device in one embodiment of the present invention.

[0038] Figure 5 Schematic diagram of the structure of the limiting mechanism of the position adjustment device in one embodiment of the present utility model.

[0039] Reference numerals:

[0040] 1. Hollow pier; 11. Ladder; 12. Entry and exit; 13. Artificial platform; 14. Guardrail; 15. Inner wall; 2. Image acquisition device; 21. Lifting platform; 211. Upper platform; 212. Lower platform; 22. Image collector; 23. Telescopic mechanism; 231. Fixed rod; 232. Movable rod; 24. Pushing member; 25. Fill light; 26. Rangefinder; 27. Power supply compartment; 28. Buffer; 3. Position adjustment device; 31. Reel; 32. Flexible traction member; 33. Machine base; 34. Guide frame; 35. First pulley; 36. Limiting mechanism; 361. Limiting bracket; 362. Second pulley; 363. Pressure roller; 37. Drive motor; 38. Depth counter; 41. Processor; 42. Controller. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the schematic embodiments of the present invention and their description are used to explain the present invention, but are not intended to limit the present invention.

[0042] It should also be noted here that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solution according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0043] It should be emphasized that the term "include / comprises" when used herein refers to the existence of features, elements, steps or components, but does not exclude the existence or addition of one or more other features, elements, steps or components.

[0044] It should also be noted that, unless otherwise specified, the term "connection" herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0045] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0046] The utility model provides a hollow pier inspection system, which realizes detection through a lifting image acquisition method. The structure cost is low and the detection method is simple. There is no need for personnel to climb up and down ladders in the hollow pier for inspection, which saves personnel physical strength and reduces risks.

[0047] Figure 2 FIG. 1 is a partial structural diagram of a hollow pier 1 in the prior art. Figure 2For example, in the prior art, ladders 11 may be reserved on the inside and outside of the hollow pier 1, an access compartment 12 may be reserved at the top, and an artificial platform 13 and guardrail 14 may be reserved above the interior of the hollow pier 1. For example, the artificial platform 13 and guardrail 14 may be constructed scaffolding, and technicians can operate equipment, install the hollow pier inspection system, and so on on the artificial platform 13.

[0048] like Figure 3 and Figure 4 As shown, in some embodiments, the hollow pier inspection system includes an image acquisition device 2 and a position adjustment device 3 for adjusting the position of the image acquisition device 2 within the hollow pier 1. The hollow pier inspection system in the embodiment of the present invention adopts a lifting image acquisition method, eliminating the need for personnel to descend into the interior of the hollow pier 1. This solves or alleviates the problems of high risk, long inspection time, and high labor costs for personnel inspecting the hollow pier 1 in the prior art.

[0049] The image acquisition device 2 includes a lifting platform 21, an image collector 22, and a telescopic mechanism 23. The lifting platform 21 serves as the hardware support structure for the image collector 22 and the telescopic mechanism 23. There is at least one image collector 22, which can be installed on the bottom or side of the lifting platform 21 to facilitate image acquisition.

[0050] There is at least one telescopic mechanism 23 , the first end of which is connected to the bottom or side of the lifting platform 21 , and the other end of which has a pushing member 24 for contacting the inner wall 15 of the hollow pier, so that the image acquisition device 2 remains stable during the lifting and detection process.

[0051] In the above embodiment, the image acquisition device 2 of the hollow pier inspection system is provided with a telescopic mechanism 23, which always rests against the inner wall 15 of the hollow pier 1 during the lifting process, providing stable support for the image acquisition device 2, preventing the image collector 22 from shaking, improving the quality of the acquired image, and providing effective support for the disease assessment of the inner wall surface of the hollow pier.

[0052] In some embodiments, the telescopic mechanism 23 can be arranged horizontally or tilted upward or downward; the arrangement of the telescopic mechanism 23 will not affect its pushing function, and can provide effective support during the lifting process of the lifting platform 21 to avoid shaking.

[0053] In some embodiments, as Figure 3As shown, the telescopic mechanism 23 is adjustable in length and includes a fixed rod 231, a movable rod 232, and an elastic member. The fixed rod 231 is connected to the lifting platform 21, and the elastic member is disposed at the connection between the fixed rod 231 and the movable rod 232. During the lifting and detection process of the image acquisition device 2, the push member 24 of the movable rod 232 is ensured to maintain contact with the inner wall 15 of the hollow pier. The elastic member can be a spring with a certain degree of elasticity, which provides a certain thrust to the push member 24. The telescopic mechanism 23 adopts a length-adjustable structural design, which can cope with the uneven structure of the hollow pier 1, making the lifting process of the lifting platform 21 smoother and improving the image acquisition quality.

[0054] In some embodiments, as Figure 3 As shown, two telescopic mechanisms 23 are provided, one on each of two opposing sides of the lifting platform 21, such that the abutting members 24 of the two movable rods 232 respectively slide in contact with the two inner walls 15 in the short-axis direction of the hollow pier 1. However, the present invention is not limited thereto. More than two telescopic mechanisms 23 may be provided, evenly or unevenly arranged on the outside of the lifting platform 21. For example, the telescopic mechanisms 23 may be arranged in the long-axis direction of the hollow pier 1. Preferably, two telescopic mechanisms 23 are symmetrically provided, symmetrically abutting against the inner wall 15 in the short-axis direction of the hollow pier 1 and capable of sliding along the inner wall 15 of the hollow pier, thereby ensuring balanced and stable lifting and lowering of the image acquisition device 2 while completing the image acquisition operation.

[0055] In some embodiments, as Figure 3 As shown, the pushing member 24 is a structure such as a pulley, a roller or a ball. The pushing member 24 can rotatably contact the inner wall 15 of the hollow pier, effectively reducing friction and making the abutment more stable during lifting.

[0056] In some embodiments, when one image collector 22 is provided, the image collector 22 is provided at the bottom of the lifting platform 21 and is used to collect images of the inner wall 15 within a 360° range inside the hollow pier 1; Figure 4 As shown, when two or more image collectors 22 are provided, each image collector 22 is positioned at the bottom or side of the lifting platform 21. Each image collector 22 is configured to capture images of a corresponding area. The images captured by each image collector 22 can be spliced ​​together to form an image of the entire inner wall 15 of the hollow pier 1. For example, the image collector 22 can utilize three laser lenses with a 120° detection angle. Providing multiple image collectors 22 simultaneously expands the inspection field of view within the pier and improves inspection quality.

[0057] Optionally, the image collector 22 is a laser camera lens, which has the advantages of high precision, fast scanning, long-distance measurement capability, three-dimensional perception and durability. The laser camera lens can provide very high precision and resolution, and can capture tiny details and edges, thereby producing clear and sharp images. The laser camera lens can quickly acquire image data, and its scanning speed is usually faster than that of a traditional camera lens. The laser camera lens can achieve distance measurement by measuring the flight time of the light beam. Compared with traditional visual measurement technology, the laser camera lens can achieve high-precision measurement over a longer distance range. The laser camera lens can generate point cloud data, thereby achieving three-dimensional perception of objects. Laser camera lenses generally have high durability and anti-interference capabilities, and can work normally under various environmental conditions, including complex scenes such as weak light, strong light, and haze.

[0058] In some embodiments, as Figure 4 As shown, at least one fill light 25 is further provided at the bottom or side of the lifting platform 21 for increasing the brightness of the image acquisition area to facilitate image acquisition.

[0059] In some embodiments, as Figure 4 As shown, a rangefinder 26 is provided at the bottom of the lifting platform 21 for detecting the distance from the bottom of the lifting platform 21 to the bottom of the hollow pier 1; further, the rangefinder 26 can adopt an anti-fall ranging lens, which is connected to the anti-fall alarm module. When the distance measured by the anti-fall ranging lens is less than the set threshold, the anti-fall alarm module will emit an alarm sound or other reminders.

[0060] In some embodiments, as Figure 4 As shown, the lifting platform 21 also includes a power supply compartment 27 for installing batteries to power the image acquisition device 2. Installing batteries within the lifting platform 21 effectively increases weight, making the lifting platform 21 less prone to shaking during the lifting process and improving stability. In other embodiments, the image acquisition device 2 can also be powered by a power supply located on the user's side, transmitted via wires, which can be integrated with the flexible traction member 32.

[0061] In some embodiments, as Figure 4 As shown, the lifting platform 21 includes an upper platform 211 and a lower platform 212. A buffer 28 is disposed between the upper and lower platforms 211 and 212 to ensure stable lifting and lowering of the image acquisition device 22. The buffer 28 can be a spring buffer, a hydraulic buffer, a pneumatic buffer, a rubber buffer, or a shock absorber, etc., to absorb and reduce impact forces, vibration, and shaking. Alternatively, the buffer 28 can be a shock absorber structure consisting of a guide shaft and a spring sleeved outside the guide shaft.

[0062] In some embodiments, as Figure 3As shown, the position adjustment device 3 includes a reel 31, a flexible traction member 32 and a base 33. When in use, the position adjustment device 3 is fixed as a whole to the top of the hollow pier 1, and the image acquisition device 2 is raised and lowered from the top.

[0063] Among them, the machine base 33 can be fixed on the artificial platform 13 reserved on the top of the hollow pier 1, the reel 31 can be rotatably installed on the machine base 33, one end of the flexible traction member 32 is fixedly set on the reel 31, and the other end of the flexible traction member 32 is connected to the top of the lifting platform 21, and the reel 31 is configured to be able to be rotated manually or electrically to retract and release the flexible traction member 32 wound on the reel 31 to realize the lifting and lowering of the image acquisition device 2.

[0064] In some embodiments, as Figure 3 As shown, the position adjustment device 3 further includes a guide frame 34 and a first pulley 35. The guide frame 34 can be fixed to the guardrail 14 of the artificial platform 13 reserved at the top of the hollow pier 1, for example, by means of angle irons, bolts, etc. The guide frame 34 has a cantilever portion, and the first pulley 35 is rotatably disposed at an end of the cantilever portion away from the reel 31. The guide frame 34 and the first pulley 35 are used to pull the flexible traction member 32 to the central axis area of ​​the hollow pier 1 after it leaves the reel 31. Optionally, the cantilever portion can extend horizontally or tilted upward.

[0065] In some embodiments, as Figure 3 and Figure 5 As shown, the position adjustment device 3 also includes a limiting mechanism 36, which is arranged on the machine base 33 and / or the guide frame 34; optionally, the limiting mechanism 36 is arranged on the machine base 33, and is used to limit the flexible traction member 32 to prevent the flexible traction member 32 from rotating or tilting after being led out of the roller, thereby reducing the shaking of the image acquisition device 2.

[0066] Further, if Figure 5 As shown, the limiting mechanism 36 includes a limiting bracket 361 and a second pulley 362 and a pressure wheel 363 rotatably mounted on the limiting bracket 361. The second pulley 362 is adjacent to the pressure wheel 363 and can be optionally located on the side of the second pulley 362 facing the first pulley 35. After the flexible traction member 32 is led out from the reel 31, it passes through the groove of the second pulley 362 and is pressed by the pressure wheel 363, and then is wound around the groove of the first pulley 35 to prevent the flexible traction member 32 from twisting or tilting after being led out of the roller.

[0067] In some embodiments, as Figure 3As shown, the position adjustment device 3 further includes a drive motor 37, which is directly or indirectly connected to the reel 31 to drive the reel 31 to rotate and retract the flexible traction member 32. Optionally, the position adjustment device 3 further includes a manual rocker, which is directly or indirectly connected to the reel 31 to drive the reel 31 to rotate and retract the flexible traction member 32. The position adjustment device 3 can be driven electrically or manually to adapt to various scenarios.

[0068] In some embodiments, in order to locate and detect the depth, the position adjustment device 3 further includes an encoder, which is arranged at the shaft end of the reel 31 and is used to detect the number of rotations or angular displacement of the reel 31. This method obtains the depth of the image acquisition device 2 by detecting the angular displacement of the reel 31. Alternatively, Figure 3 As shown, the position adjustment device 3 also includes a depth counter 38. The flexible traction member 32 is marked with a magnetic mark. The depth counter 38 detects the depth information of the image acquisition device 2 by detecting the magnetic mark. In this embodiment, the depth counter 38 is used to measure the detection depth, achieve real-time positioning, and obtain elevation distance information at any time, making it convenient to check the depth and location of defects or cracks.

[0069] In some embodiments, the flexible traction member 32 can be a steel cable, a steel wire rope, a chain, a belt or a nylon rope, etc. Taking the steel cable as an example, the steel cable does not rotate when the reel 31 is retracted or released, which can ensure that the camera focal length and horizontal position do not change.

[0070] In some embodiments, as Figure 3 As shown, the hollow pier inspection system may further include a processor 41 and a controller 42. The processor 41 is connected to the image collector 22 and is used to receive image data acquired by the image collector 22. The controller 42 may be connected to the control position adjustment device 3 to control the position adjustment device 3 to realize the lifting, pausing and other driving actions of the image acquisition device 2. For example, the controller 42 may adopt a "Human Internet of Things" remote controller 42USR-IO808 (EWR), which is connected to the communication module, the depth counter 38 and the processor 41 to control the driving motor 37 to rotate, pause and other driving actions and transmit the depth information to the processor 41. The communication module described here may adopt a wired transmission method or a wireless transmission method.

[0071] The steps of detection and data processing of the hollow pier inspection system are as follows:

[0072] The image collector 22 collects the three-dimensional point cloud of the inner wall 15 of the hollow pier in slices, and transmits the three-dimensional point cloud to the processor 41;

[0073] The segmented three-dimensional point clouds of the inner wall of the hollow pier 15 are spliced ​​together to form a three-dimensional point cloud of the entire inner wall of the hollow pier 15 , and the spliced ​​three-dimensional point cloud of the entire inner wall of the hollow pier 15 is sliced ​​to obtain a cross section of the inner wall of the hollow pier 15 ;

[0074] Separate the cross section of the inner wall of the hollow pier 15 into intact point sets and diseased point sets;

[0075] Accurately align the intact point set with the 15 standard cross sections of the inner wall of the hollow pier, locate the defective point set, and extract the features of the defective point set in each cross section;

[0076] The area of ​​each defect point set is calculated from the point cloud data of the 15-section inner wall of the hollow pier; and the type of defect is determined based on the characteristics and area of ​​the defect point set.

[0077] The hollow pier inspection system may include laser camera software, which includes front-end data acquisition software and back-end data analysis software. The front-end data acquisition software is used to collect, rapidly integrate, and store real-time on-site data. The back-end data processing and analysis software extracts the data collected by the data acquisition software, analyzes and reorganizes the data, and generates two-dimensional and three-dimensional holograms. The back-end data analysis software is primarily responsible for comprehensive data analysis and processing, including holographic display, data processing, data analysis, and report generation. It extracts intensity information from the data integrated and stored by the front-end data acquisition software, performs grayscale conversion, and generates a holographic display of the inner surface of the hollow pier 1, which is then converted into a pixel grayscale image.

[0078] According to the hollow pier inspection system in the embodiment of the present utility model, the beneficial effects that can be obtained include at least:

[0079] 1. The image acquisition device of the hollow pier inspection system adopts a telescopic mechanism to lean against the inner wall 15 of the hollow pier and can slide along the inner wall to prevent the image acquisition device from shaking, which is conducive to improving the image acquisition quality.

[0080] 2. The position adjustment device of the hollow pier inspection system can be lifted and lowered by a steel cable. The steel cable cooperates with a limit pulley with a groove so that the cable is confined within the pulley, thereby preventing the detection unit from rotating during the lifting process.

[0081] 3. The bottom of the image acquisition device of the hollow pier inspection system is equipped with an anti-fall ranging lens to prevent the bottom image acquisition device from being damaged by collision.

[0082] 4. This utility model utilizes multiple laser cameras to capture images in slices. The system then stitches these slices together to form a 3D point cloud of the entire hollow pier's inner surface, identifying surface defects such as cracks, honeycombing, pitting, and chipping. The stitched 3D point cloud is then sliced ​​to produce a map of the pier's inner surface defects (cracks, honeycombing, pitting, and chipping). The working surface quality can be observed in real time on the host monitor (multiple cameras displayed simultaneously) and uploaded promptly. This effectively mitigates the impact of changes in the focal length of the major and minor axes of the hollow pier.

[0083] 5. The hollow pier inspection system can replace manual inspections, making hollow pier inspections efficient, intelligent, and automated; it improves inspection efficiency while saving costs.

[0084] Those skilled in the art will appreciate that the various exemplary components, systems, and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software, or a combination of both. Whether to implement the system in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the present invention. When implemented in hardware, it may be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment may be stored in a machine-readable medium or transmitted over a transmission medium or communication link via a data signal carried in a carrier wave. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segments may be downloaded via a computer network such as the Internet or an intranet.

[0085] It should also be noted that the exemplary embodiments described in this utility model describe methods or systems based on a series of steps or devices. However, this utility model is not limited to the order of the steps described above. In other words, the steps can be performed in the order described in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0086] The software may be placed in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0087] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or replace features of other embodiments.

[0088] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A hollow pier inspection system, characterized in that: The hollow pier inspection system comprises an image acquisition device (2) and a position adjustment device (3) for adjusting the position of the image acquisition device (2) inside the hollow pier (1); Wherein, the image acquisition device (2) comprises: a lifting platform (21), an image acquisition device (22) and a telescopic mechanism (23); A plurality of image collectors (22) are arranged at the bottom or side of the lifting platform (21); A plurality of telescopic mechanisms (23) are configured such that one end is connected to the bottom or side of the lifting platform (21), and the other end is provided with a pushing member (24) for contacting the inner wall (15) of the hollow pier, so that the image acquisition device (2) operates smoothly during operation.

2. The hollow pier inspection system according to claim 1, characterized in that: The telescopic mechanism (23) is arranged horizontally or tilted; and / or, The telescopic mechanism (23) is adjustable in length and comprises a fixed rod (231), a movable rod (232) and an elastic member, wherein the fixed rod (231) is connected to the lifting platform (21), and the elastic member is provided at the connection portion between the fixed rod (231) and the movable rod (232), so that the pushing member (24) of the movable rod (232) always keeps in contact with the inner wall (15) of the hollow pier during the process of the image acquisition device (2) acquiring images; and / or, The image acquisition device (2) is provided with two telescopic mechanisms (23), which are arranged on two opposite sides of the lifting platform (21), so that the pushing members (24) of the two movable rods (232) can respectively slide in contact with the two inner walls (15) in the short axis direction of the hollow pier (1); and / or, The image acquisition device (2) is provided with two or more telescopic mechanisms (23), which are evenly or unevenly arranged on the outside of the lifting platform (21); and / or, The pushing member (24) is a roller or a ball with an elastic member.

3. The hollow pier inspection system according to claim 1, characterized in that: When the number of the image collector (22) is one, the image collector (22) is installed at the bottom of the lifting platform (21), and the image collector (22) is used to collect images of the inner wall (15) within a range of 360° inside the hollow pier (1); When the number of the image collectors (22) is two or more, the image collectors (22) are installed at the bottom or side of the lifting platform (21), and the image collectors (22) are used to collect images of corresponding areas. The images collected by each image collector (22) can be spliced ​​to form an image of all inner walls (15) of the hollow pier (1).

4. The hollow pier inspection system according to claim 1, characterized in that: The image collector (22) is a laser camera lens; and / or, At least one fill light (25) is also provided at the bottom or side of the lifting platform (21); and / or, A distance meter (26) is provided at the bottom of the lifting platform (21) for detecting the distance from the bottom of the lifting platform (21) to the bottom of the hollow pier (1); and / or, The lifting platform (21) further comprises a power supply compartment (27) for installing a battery to supply power to the image acquisition device (2); and / or, The lifting platform (21) comprises an upper platform (211) and a lower platform (212), and a buffer (28) is provided between the upper platform (211) and the lower platform (212) for stable lifting of the image collector (22).

5. The hollow pier inspection system according to any one of claims 1 to 4, characterized in that: The position adjustment device (3) comprises a machine base (33) that can be fixed on an artificial platform (13) reserved on the top of the hollow pier (1), a reel (31) installed on the machine base (33), and a flexible traction member (32) connecting the reel (31) and the lifting platform (21); One end of the flexible traction member (32) is connected to the reel (31), and the other end of the flexible traction member (32) is connected to the top of the lifting platform (21). The reel (31) is configured to be manually or electrically driven to rotate so as to retract and release the flexible traction member (32) wound on the reel (31), thereby pulling the image acquisition device (2) up or down.

6. The hollow pier inspection system according to claim 5, characterized in that: The position adjustment device (3) also includes a guide frame (34) and a first pulley (35) fixed on a guardrail (14) of an artificial platform (13) reserved on the top of the hollow pier (1), wherein the guide frame (34) has a cantilever portion, and the first pulley (35) is arranged at an end of the cantilever portion away from the reel (31) and is rotatably connected to the cantilever portion, and the guide frame (34) and the first pulley (35) are used to pull the flexible traction member (32) to the central axis area of ​​the hollow pier (1) after leaving the reel (31).

7. The hollow pier inspection system according to claim 6, characterized in that: The position adjustment device (3) further comprises a limiting mechanism (36), wherein the limiting mechanism (36) is arranged on the machine base (33) and / or the guide frame (34); The limiting mechanism (36) comprises a second pulley (362), a pressure wheel (363) and a limiting bracket (361); the second pulley (362) and the pressure wheel (363) are mounted on the limiting bracket (361) and are both rotatably connected to the limiting bracket (361); the second pulley (362) and the pressure wheel (363) are arranged adjacent to each other; after the flexible traction member (32) is led out from the reel (31), it passes through the groove of the second pulley (362) and is pressed by the pressure wheel (363) and then is wound on the groove of the first pulley (35).

8. The hollow pier inspection system according to claim 5, characterized in that: The position adjustment device (3) further comprises a drive motor (37), wherein the drive motor (37) is directly or indirectly connected to the reel (31) and is used to drive the reel (31) to rotate to retract and release the flexible traction member (32); and / or, The position adjustment device (3) further comprises a manual rocker, which is directly or indirectly connected to the reel (31) so as to drive the reel (31) to rotate to retract and release the flexible traction member (32).

9. The hollow pier inspection system according to claim 5, characterized in that: The position adjustment device (3) further comprises an encoder, which is arranged at the shaft end of the reel (31) and is used to detect the number of rotations or angular displacement of the reel (31); and / or, The position adjustment device (3) further comprises a depth counter (38), the flexible traction member (32) is marked with a magnetic mark, and the depth counter (38) detects the depth information of the image acquisition device (2) by detecting the magnetic mark.

10. The hollow pier inspection system according to claim 5, characterized in that: The flexible traction member (32) is a steel cable and is used for not rotating when the reel (31) is being retracted or released, so as to ensure that the focal length and horizontal position of the camera do not change.

Images