Tunnel high-definition image acquisition device

Abstract

The utility model provides a tunnel high-definition image acquisition device which comprises a self-walking trolley, a mounting bracket and a TVI inspection acquisition host which are arranged on the self-walking trolley, a plurality of tunnel image acquisition modules mounted on the mounting bracket, and pulse signal sensors arranged on wheels of the self-walking trolley, each tunnel image acquisition module comprises a shell and a plurality of cameras arranged in the shell, the shell comprises a left section, a middle section and a right section which are sequentially and continuously distributed, the left section and the right section are symmetrically arranged, and the left section and the middle section as well as the right section and the middle section are bent at an obtuse angle; the left section, the middle section and the right section of the shell are sequentially provided with a first window, a second window and a third window, all the cameras face the inner wall of a tunnel to be detected through the corresponding windows, all the tunnel image acquisition modules are arranged in different directions of the self-walking trolley, and therefore the tunnel all-dimensional synchronous image acquisition task can be achieved. And a synchronous control function of data streams, pulse trigger signals and power supply of a plurality of cameras is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel image acquisition, and particularly relates to a tunnel high-definition image acquisition device. Background Art

[0002] With the rapid development of high-speed railways in China, the number of newly added high-speed railway lines and train trips increases every year, making people's travel more convenient and efficient. However, at the same time, it greatly increases the bearing pressure of high-speed railways. Among them, the safety inspection work of existing tunnels and newly built tunnels is particularly important. How to detect the current situation of tunnels more quickly, comprehensively and in real time, and maintain them in time to ensure the safe operation of each train is one of the most urgent problems faced by the current railway inspection department.

[0003] At present, general tunnel image acquisition devices have a low protection level, poor earthquake and water resistance, and occupy a large space. They have high requirements for environmental and weather conditions during use and cannot collect tunnel image information in all directions. The models using robotic arms need to extend the acquisition device outside the vehicle, and the whole device is exposed outside, with the risk of collision due to over-limit. When not in use, it needs to be retracted into the vehicle, posing a safety hazard.

[0004] Therefore, in order to improve the use environment and protection level of the device and enable it to be used in more adverse weather conditions, there is an urgent need for a device and instrument with higher detection efficiency that can conveniently and stably collect high-definition images of tunnel walls to meet the daily detection requirements. Summary of the Utility Model

[0005] Aiming at the problems existing in current tunnel image acquisition devices, such as the inability to collect image information of facilities on the tunnel in all directions, easy damage, large occupied space, and high requirements for application conditions, the utility model provides a tunnel high-definition image acquisition device, which can perform tunnel image acquisition tasks in all directions, identify abnormal positions on the tunnel, and can realize the data stream synchronization control function of multiple cameras.

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

[0007] A high-definition tunnel image acquisition device, characterized in that it includes a self-propelled vehicle traveling along the track in the tunnel, a mounting bracket arranged at the front end of the self-propelled vehicle, a plurality of tunnel image acquisition modules fixedly installed on the front side of the mounting bracket, a TVI inspection and acquisition host arranged in the middle or at the rear end of the self-propelled vehicle, and a pulse signal sensor arranged on the wheels of the self-propelled vehicle. Each tunnel image acquisition module includes a housing and a number of cameras arranged in the housing. The housing includes a left section, a middle section, and a right section that are continuously distributed in sequence. The left section and the right section are symmetrically arranged, and the left section and the middle section, as well as the right section and the middle section, are both bent at an obtuse angle. The first window, the second window, and the third window are arranged in sequence on the left section, the middle section, and the right section of the housing. Each camera faces the inner wall of the tunnel to be measured through the corresponding window. Each tunnel image acquisition module is arranged in a different direction facing the self-propelled vehicle, so that each window faces the top and the side wall of the inner wall of the tunnel to be measured; the TVI inspection and acquisition host is connected to each camera arranged in the housing, and the pulse signal sensor is connected to the TVI inspection and acquisition host.

[0008] Preferably, the mounting bracket includes a vertically arranged mounting plate. The plurality of tunnel image acquisition modules include a first tunnel image acquisition module, a second tunnel image acquisition module, a third tunnel image acquisition module, and a fourth tunnel image acquisition module, all of which are arranged on the front side surface of the mounting plate. The second tunnel image acquisition module and the third tunnel image acquisition module are arranged at intervals in the horizontal direction on the upper part of the mounting plate, and the middle sections of the housings of the second tunnel image acquisition module and the third tunnel image acquisition module are arranged horizontally, the second window faces directly above the inner wall of the tunnel to be measured, and the first window and the third window face the upper left / upper right and upper right / upper left of the inner wall of the tunnel to be measured; the first tunnel image acquisition module and the fourth tunnel image acquisition module are symmetrically arranged on the left and right sides of the mounting plate respectively, and are located below the second tunnel image acquisition module and the third tunnel image acquisition module. The middle section of the housing of the first tunnel image acquisition module is arranged vertically, the second window faces the horizontal left direction of the inner wall of the tunnel to be measured, and the first window and the third window face the upper left / lower left and lower left / upper left of the inner wall of the tunnel to be measured. The middle section of the housing of the fourth tunnel image acquisition module is arranged vertically, the second window faces the horizontal right direction of the inner wall of the tunnel to be measured, and the first window and the third window face the upper right / lower right and lower right / upper right of the inner wall of the tunnel to be measured.

[0009] Preferably, the obtuse angle formed by the left section and the middle section, as well as the right section and the middle section of the housing of each tunnel image acquisition module is set at 120° - 160°.

[0010] Preferably, the first tunnel image acquisition module and the second tunnel image acquisition module are axisymmetric with the third tunnel image acquisition module and the fourth tunnel image acquisition module about the center line formed by the height direction of the vehicle along the mounting plate.

[0011] Preferably, each of the tunnel image acquisition modules further includes a plurality of lasers disposed in the housing, and each laser is connected to each corresponding industrial camera.

[0012] Preferably, the self-propelled trolley includes a body and wheels located on both sides of the body. The body has a plate-like structure and the distance extending in the width direction of the rail is less than the width between the two tracks. The mounting bracket and the TVI inspection acquisition host are both disposed on the body, and the pulse signal sensor is disposed inside the wheel.

[0013] Preferably, it further includes a display and a power supply disposed on the body of the self-propelled trolley. The display is respectively connected to the TVI inspection acquisition host and the power supply, and the power supply is respectively connected to the self-propelled trolley, each tunnel image acquisition module, the TVI inspection acquisition host, and the pulse signal sensor.

[0014] Preferably, the camera includes a line array camera and a area array camera.

[0015] Preferably, the TVI inspection acquisition host includes a memory, and the memory is respectively connected to a plurality of cameras.

[0016] Preferably, the power supply uses a lithium battery.

[0017] The technical effects of the present utility model are as follows:

[0018] The utility model provides a tunnel high-definition image acquisition device for efficiently and comprehensively acquiring the current situation of facilities on a railway line. The device includes a self-propelled trolley, a mounting bracket arranged at the front end of the self-propelled trolley, a plurality of tunnel image acquisition modules fixedly installed on the front side of the mounting bracket, a TVI inspection and acquisition host arranged in the middle or at the rear end of the self-propelled trolley, and a pulse signal sensor arranged on the wheels of the self-propelled trolley. Each tunnel image acquisition module is a core component and includes a housing, a first window, a second window, and a third window arranged on the housing, and a plurality of cameras arranged in the housing and facing each window. Specifically, the housing includes a left section, a middle section, and a right section that are sequentially and continuously distributed. The left section and the right section are symmetrically arranged, and both the left section and the middle section, and the right section and the middle section are bent at an obtuse angle. The first window, the second window, and the third window are sequentially arranged on the left section, the middle section, and the right section of the housing. Each camera faces the inner wall of the tunnel to be measured through the corresponding window. Each tunnel image acquisition module is arranged in a different direction facing the self-propelled trolley, so that each window faces the top and the side wall of the inner wall of the tunnel to be measured, and can efficiently and comprehensively acquire the current situation of facilities on the railway line in the tunnel (such as cracks, water leakage, mud pumping, etc. on the tunnel wall). The utility model can operate in a relatively harsh environment on a railway locomotive. The TVI inspection and acquisition host is connected to a plurality of external cameras (line array cameras, area array cameras) to perform synchronous image acquisition tasks. The TVI inspection and acquisition host controls the pulse signal sensor to acquire the pulse trigger signal output when the wheels of the self-propelled trolley rotate, and at the same time controls each camera in each tunnel image acquisition module to comprehensively acquire the facility images on the current tunnel according to the pulse trigger signal, and performs intelligent recognition processing on the data streams of the plurality of cameras that have acquired the facility image information on the current tunnel in each tunnel image acquisition module, identifies and marks the abnormal positions in the facility images, so as to obtain the facility images with abnormal positions on the current tunnel acquired by the plurality of cameras in each tunnel image acquisition module, realizes the synchronous image acquisition task of the plurality of cameras, is applicable to various industrial cameras to perform on-site acquisition tasks, has the synchronous control function for the data streams, pulse trigger signals, and power supplies of the plurality of industrial cameras, has a relatively high acquisition and detection efficiency, can conveniently and stably acquire high-definition images of the tunnel wall, and meets the daily acquisition and detection requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the preferred structure of the tunnel high-definition image acquisition device of the present utility model.

[0020] Figure 2 It is a schematic diagram of the preferred structure of the tunnel image acquisition module of the present utility model.

[0021] Figure 3 It is a schematic diagram of the preferred layout of a plurality of tunnel image acquisition modules.

[0022] Figure 4Schematic diagram of the image acquisition range of the tunnel of the present utility model.

[0023] Figure 5 Preferred workflow diagram of the high-definition tunnel image acquisition device of the present utility model.

[0024] Figure 6 Schematic diagram of the abnormal position in the tunnel facility image of the present utility model.

[0025] The reference numerals in the figure are listed as follows:

[0026] 1 - self-propelled trolley, 2 - display, 3 - TVI inspection and acquisition host, 4 - battery, 5 - mounting bracket, 6 - tunnel image acquisition module, 61 - first tunnel image acquisition module, 62 - second tunnel image acquisition module, 63 - third tunnel image acquisition module, 64 - fourth tunnel image acquisition module, 7 - first window, 8 - second window, 9 - third window, 10 - track, 11 - tunnel wall, 12 - shooting field of view, 13 - marking frame, 14 - defects on the tunnel wall (such as cracks, water leakage, mud gushing, etc.), 15 - abnormal appearance equipment on the tunnel wall. Specific implementation mode

[0027] The technical solution of the present utility model will be described in detail below with reference to the accompanying drawings.

[0028] The present utility model provides a high-definition tunnel image acquisition device for efficiently and comprehensively acquiring the current status of facilities on the tunnel in real time. Its structure is as Figure 1 shown. The device includes a self-propelled trolley 1, a plurality of tunnel image acquisition modules (such as the first tunnel image acquisition module 61, the second tunnel image acquisition module 62, the third tunnel image acquisition module 63, and the fourth tunnel image acquisition module 64), a TVI inspection and acquisition host 3, a pulse signal sensor ( Figure 1not shown), mounting bracket 5, display 2, and power supply (battery 4). Each tunnel image acquisition module is arranged on the mounting bracket 5. The power supply is respectively connected to the self-propelled vehicle 1, each tunnel image acquisition module, the TVI inspection acquisition host 3, the pulse signal sensor, and the display 2 through data lines and power lines, for providing power supply to all parts of the equipment. The self-propelled vehicle 1 includes a body and wheels located on both sides of the body, responsible for traveling and carrying all detection equipment and staff. The pulse signal sensor is arranged inside the wheels, for collecting the pulse signal (or trigger signal) output when the wheels rotate. The pulse signal sensor is connected to the TVI inspection acquisition host 3. The TVI inspection acquisition host 3 includes a control main board and a memory. The memory is respectively connected to multiple cameras in each tunnel image acquisition module, for storing the images of facilities with abnormal positions on the current tunnel collected by the multiple cameras, capable of connecting multiple external cameras (or industrial cameras) to perform synchronous image acquisition tasks, having the synchronous control function for the data stream, pulse trigger signal, and power supply of multiple industrial cameras, and capable of realizing the synchronous image acquisition tasks of multiple industrial cameras. In addition, the overall structure of the tunnel image acquisition module is also subjected to waterproof and dustproof treatment, with the protection level reaching IP66, having good rain and dust protection effects, and adopting a fixed installation method, without movable mechanical structures, capable of operating in the harsh environment on the railway line, being convenient for installation and transportation. Preferably, the body of the self-propelled vehicle 1 is in a plate-like structure, and the distance extending along the width direction of the rail is less than the width between the two rails. The mounting bracket 5, the TVI inspection acquisition host 3, the display 2, and the power supply are all arranged on the body. Preferably, the power supply uses a lithium battery for power supply, and can provide power for the whole machine for about 90 seconds in case of accidental power failure.

[0029] Specifically, as Figure 2 shown in the structural block diagram, each tunnel image acquisition module 6 includes a housing, a first window 7, a second window 8, and a third window 9 arranged on the housing, and multiple cameras facing each window arranged inside the housing (that is, the tunnel image acquisition module is a hardware tunnel image acquisition component). The housing structure can be made of aluminum alloy material, which is light, flexible, has a strong and firm structure that is not easy to deform, has strong compressive and load-bearing capacities, and effectively protects the internal equipment. As Figure 2As shown, the outer shell includes a left section, a middle section, and a right section that are successively and continuously distributed. The left section and the right section are symmetrically arranged, and both the left section and the middle section, and the right section and the middle section are bent at an obtuse angle, for example, bent at an obtuse angle of 120° to 160°, preferably at an obtuse angle of 152°. The first viewing window 7, the second viewing window 8, and the third viewing window 9 are successively arranged on the left section, the middle section, and the right section of the outer shell. Each camera faces the inner wall of the tunnel to be measured through the corresponding viewing window. Each tunnel image acquisition module is arranged in a different direction facing the self-propelled trolley. Furthermore, each viewing window faces the top and the side wall of the inner wall of the tunnel to be measured. The obtuse-angle bending setting of the structure of each tunnel image acquisition module itself and the installation of each tunnel image acquisition module in different directions enable multiple cameras to acquire high-definition images of the top and the side wall of the inner wall of the tunnel through the corresponding viewing windows in all directions, avoiding the irradiation dead angle, timely acquiring and detecting the abnormalities in the tunnel, and providing guarantee for the safety inspection of the tunnel.

[0030] Furthermore, as Figure 1 and Figure 3 shown, the mounting bracket 5 includes a vertically arranged mounting plate. The multiple tunnel image acquisition modules include a first tunnel image acquisition module 61, a second tunnel image acquisition module 62, a third tunnel image acquisition module 63, and a fourth tunnel image acquisition module 64 that are all arranged on the front side of the mounting plate. The second tunnel image acquisition module 62 and the third tunnel image acquisition module 63 are arranged at intervals in the horizontal direction on the upper part of the mounting plate, and the middle sections of the outer shells of the second tunnel image acquisition module 62 and the third tunnel image acquisition module 63 are horizontally arranged. The second viewing window 8 faces directly above the inner wall of the tunnel to be measured, and the first viewing window 7 and the third viewing window 9 face the upper left and upper right of the inner wall of the tunnel to be measured (or the first viewing window 7 and the third viewing window 9 face the upper right and upper left of the inner wall of the tunnel to be measured). As Figure 3As shown in the figure, the first tunnel image acquisition module 61 and the fourth tunnel image acquisition module 64 are symmetrically arranged on the left and right sides of the mounting plate respectively, and are located below the second tunnel image acquisition module 62 and the third tunnel image acquisition module 63. The middle section of the outer shell of the first tunnel image acquisition module 61 is vertically arranged, the second window 8 faces the horizontally left direction of the inner wall of the tunnel to be measured, and the first window 7 and the third window 9 face the upper left and lower left directions (or the first window 7 and the third window 9 face the lower left and upper left directions) of the inner wall of the tunnel to be measured. The middle section of the outer shell of the fourth tunnel image acquisition module 64 is vertically arranged, the second window 8 faces the horizontally right direction of the inner wall of the tunnel to be measured, and the first window 7 and the third window 9 face the upper right and lower right directions (or the first window 7 and the third window 9 face the lower right and upper right directions) of the inner wall of the tunnel to be measured. The first tunnel image acquisition module 61 and the second tunnel image acquisition module 62, and the third tunnel image acquisition module 63 and the fourth tunnel image acquisition module 64 are axisymmetric about the center line formed by the mounting plate along the height direction of the trolley. Through the preferred layout of the above four tunnel image acquisition modules, when collecting tunnel images, as Figure 4 shown in the figure, it can make the acquisition range cover the entire cross-section of the high-speed rail tunnel, that is, it can collect the image information of the facilities on the tunnel in all directions.

[0031] The tunnel high-definition image acquisition device provided by the present invention is applicable to the high-definition image acquisition task of the high-speed rail tunnel wall; it can be connected to different TVI inspection and acquisition hosts by using industrial interfaces; it can be integrally designed, integrate multiple cameras into two tunnel image acquisition modules, adopt a fixed installation method, and have no moving mechanical structure; it uses industrial-grade components inside and can work stably in the harsh environment of high vibration on the railway line; it has a high-speed data interface externally and can quickly transmit data; it is small in size and does not occupy too much space; it uses a high-strength aluminum alloy structure to protect the internal equipment of the tunnel image acquisition module, playing a role in vibration reduction and pressure resistance, and is light in weight and high in structural strength; the overall structure is waterproofed and the protection level reaches IP66; it is miniaturized, and the overall weight of a single tunnel image acquisition module does not exceed 16KG, which is convenient for installation and transportation.

[0032] Among them, as Figure 5The preferred working flow chart shown. After the device is started, the TVI inspection acquisition host starts synchronous acquisition. The control main board of the TVI inspection acquisition host controls the pulse signal controller to collect the pulse trigger signal output when the wheels of the self-propelled trolley rotate. At the same time, according to the pulse trigger signal, it controls each camera in each tunnel image acquisition module to synchronously acquire the images of the facilities on the current tunnel in all directions. That is, the TVI inspection acquisition host simultaneously controls multiple cameras (such as industrial camera 1, industrial camera 2, industrial camera 3 in the first tunnel image acquisition module, industrial camera 4, industrial camera 5, industrial camera 6 in the second tunnel image acquisition module...) to acquire the images of the facilities on the current tunnel, and the acquisition range can cover the entire tunnel cross-section. In addition, before the camera takes the images of the facilities on the current tunnel, the lasers in the tunnel image acquisition module are first controlled by each industrial camera to provide supplementary lighting for shooting, so as to provide a supplementary lighting environment for shooting. That is, each of the said tunnel image acquisition modules further includes a plurality of lasers arranged in the housing (such as laser 1, laser 2, laser 3 in the first tunnel image acquisition module, laser 4, laser 5, laser 6 in the second tunnel image acquisition module...). Each industrial camera controls each corresponding laser to emit laser lines through the corresponding window to the inner wall of the tunnel at regular intervals, and then each industrial camera acquires the images of the facilities on the tunnel formed by the laser lines on the inner wall of the tunnel. Then each industrial camera transmits the image information of the facilities on the current tunnel collected to the TVI inspection acquisition host. The TVI inspection acquisition host reads the image information and performs intelligent recognition processing on the data streams of multiple industrial cameras. For example, existing intelligent recognition algorithms (i.e., the intelligent recognition processing work in the control main board of the TVI inspection acquisition host) can be used to identify and mark the abnormal positions in the facility images through the marking frame 13, and obtain the facility images (facility images with recognition marks) on the current tunnel with abnormal positions collected by multiple cameras (such as line array cameras and area array cameras), and transmit them to the display for display. Among them, as Figure 6 shown, the abnormal positions in the facility images (i.e., the defects 14 on the tunnel wall) are observable appearance abnormalities on the surface of the tunnel wall (such as cracks, water leakage, mud gushing on the tunnel wall shown by label 14, and equipment appearance abnormalities shown by label 15, etc.), and are stored in the memory to complete the multi-camera all-round synchronous image acquisition task. In addition, the marking frame 13 can be obtained in two ways: (1) automatic defect marking by the intelligent recognition algorithm in the TVI inspection acquisition host; (2) manual image playback and manual marking of defects.

[0033] The utility model provides an objective and scientific acquisition device that can collect and detect the surface state of tunnels on high-speed railway lines in real time, efficiently and omni-directionally. Based on a locomotive, the protection level reaches IP66, with good rain and dust protection effects, and it can operate in relatively harsh environments on railway locomotives. The TVI inspection and acquisition host can be connected to multiple industrial cameras (line array cameras, area array cameras) to perform omni-directional synchronous image acquisition tasks, is suitable for various industrial cameras to perform on-site acquisition tasks, and has the function of synchronously controlling the data streams and power supplies of multiple industrial cameras.

[0034] It should be noted that the above specific embodiments can enable those skilled in the art to understand the present invention and creation more comprehensively, but do not limit the present invention and creation in any way. Therefore, although this specification has described the present invention and creation in detail with reference to the drawings and embodiments, those skilled in the art should understand that the present invention and creation can still be modified or equivalently replaced. In short, all technical solutions and their improvements that do not depart from the spirit and scope of the present invention and creation should be covered by the protection scope of the patent of the present invention and creation.

Claims

1. A tunnel high-definition image acquisition device, characterized in that: It includes a self-propelled vehicle moving along a track in a tunnel, a mounting bracket arranged at the front end of the self-propelled vehicle, a plurality of tunnel image acquisition modules fixedly mounted on the front side of the mounting bracket, a TVI inspection and acquisition host arranged at the middle or rear end of the self-propelled vehicle, and a pulse signal sensor arranged on the wheel of the self-propelled vehicle, each tunnel image acquisition module includes a shell and a plurality of cameras arranged in the shell, the shell includes a left section, a middle section and a right section which are successively distributed, the left section and the right section are symmetrically arranged, and the left section and the middle section, the right section and the middle section are bent at an obtuse angle, the left section, the middle section and the right section of the shell are arranged with a first window, a second window and a third window in sequence, each camera faces the inner wall of the tunnel to be measured through the corresponding window, each tunnel image acquisition module is arranged in different directions of the self-propelled vehicle respectively, and each window faces the top and the side wall of the inner wall of the tunnel to be measured; the TVI inspection and acquisition host is connected to each camera arranged in the shell, and the pulse signal sensor is connected to the TVI inspection and acquisition host.

2. The tunnel high-definition image acquisition device according to claim 1, characterized in that: The mounting bracket includes a vertically arranged mounting plate, the plurality of tunnel image acquisition modules include a first tunnel image acquisition module, a second tunnel image acquisition module, a third tunnel image acquisition module and a fourth tunnel image acquisition module, all of which are arranged on the front side of the mounting plate, the second tunnel image acquisition module and the third tunnel image acquisition module are arranged at intervals on the upper part of the mounting plate in the horizontal direction, and the middle sections of the housings of the second tunnel image acquisition module and the third tunnel image acquisition module are arranged horizontally, the second window faces directly above the inner wall of the tunnel to be measured, and the first window and the third window face the upper left / right and upper right / left of the inner wall of the tunnel to be measured; the first tunnel image The acquisition module and the fourth tunnel image acquisition module are symmetrically arranged on the left and right sides of the mounting plate, respectively, and are located below the second tunnel image acquisition module and the third tunnel image acquisition module, and the middle section of the shell of the first tunnel image acquisition module is vertically arranged, the second window faces the horizontal left direction of the tunnel inner wall to be measured, the first window and the third window face the upper left / lower left and lower left / upper left of the tunnel inner wall to be measured, and the middle section of the shell of the fourth tunnel image acquisition module is vertically arranged, the second window faces the horizontal right direction of the tunnel inner wall to be measured, the first window and the third window face the upper right / lower right and lower right / upper right of the tunnel inner wall to be measured.

3. The tunnel high-definition image acquisition device according to claim 1 or 2, characterized in that: The left section and the middle section, and the right section and the middle section of the shell of each tunnel image acquisition module are bent at an obtuse angle of 120° to 160°.

4. The tunnel high-definition image acquisition device according to claim 2, characterized in that: The first tunnel image acquisition module and the second tunnel image acquisition module are axially symmetrical with the third tunnel image acquisition module and the fourth tunnel image acquisition module about a center line formed by the mounting plate along the height direction of the trolley.

5. The tunnel high-definition image acquisition device according to claim 1, characterized in that: Each of the tunnel image acquisition modules further comprises a plurality of lasers arranged in the housing, and each of the lasers is connected to a corresponding industrial camera.

6. The tunnel high-definition image acquisition device according to claim 1, characterized in that: The self-propelled vehicle includes a main body and wheels located on both sides of the main body. The main body is a plate-like structure, and the distance extending along the width direction of the rail is less than the width between the two rails. The mounting bracket and the TVI inspection and collection host are both arranged on the main body, and the pulse signal sensor is arranged on the inner side of the wheel.

7. The tunnel high-definition image acquisition device according to claim 6, characterized in that: It also includes a display and a power supply arranged on the body of the self-propelled vehicle, the display is respectively connected to the TVI inspection and acquisition host and the power supply, and the power supply is respectively connected to the self-propelled vehicle, each tunnel image acquisition module, the TVI inspection and acquisition host and the pulse signal sensor.

8. The tunnel high-definition image acquisition device according to claim 1, characterized in that: The cameras include line array cameras and area array cameras.

9. The tunnel high-definition image acquisition device according to claim 8, characterized in that: The TVI inspection and collection host includes a memory, and the memory is connected to multiple cameras respectively.

10. The tunnel high-definition image acquisition device according to claim 7, characterized in that: The power supply adopts a lithium battery.

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