Crack detection equipment

Abstract

The utility model discloses crack detection equipment. The crack detection equipment comprises a mounting structure, a camera shooting structure and a crack detection structure, the mounting structure comprises a mounting part and a moving part, and the moving part is mounted on the mounting part; the camera shooting structure comprises a camera mounted on the mounting part and an adjusting driving part and can move relative to the mounting part in the optical axis direction of the mounting part, and the adjusting driving part is connected with the camera; and the crack detector is mounted on the mounting part. According to the scheme, the small-size camera can be flexibly driven to move in the optical axis direction by adjusting the driving part, even if the mounting part is not easy to move, the object distance of the camera can be adjusted, the imaging definition can be improved, the crack can be positioned through the camera, and the surface image of the building crack can be obtained; and meanwhile, the internal information of the building crack is obtained through the crack detector, so that the three-dimensional quantitative information of the crack is generated according to the obtained crack surface image and internal information fusion, and an operator can obtain the building crack information more comprehensively and visually.

Description

Technical Field

[0001] This utility model relates to the technical field of crack detection equipment, and specifically to a crack detection device. Background Technology

[0002] Crack detection is a crucial step in the safety inspection of large infrastructure projects such as bridges and tunnels.

[0003] Publication number CN221667625U discloses a dam crack detection device, which includes a frame, a camera module and a crack detection device. The camera module locates the crack and acquires an image of the crack surface, and the crack detection device detects the internal information of the crack.

[0004] However, the camera in this patent is fixedly mounted on the vehicle frame. When the space in the part of the building being inspected is limited and the vehicle frame is not easy to move, it is not convenient for the camera to flexibly adjust the object distance, and its practicality needs to be improved. Utility Model Content

[0005] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and propose a crack detection device to solve the technical problem that in the prior art, the camera is fixedly installed on the frame, and when the space of the part of the building to be detected is limited and the frame is not easy to move, it is not convenient for the camera to flexibly adjust the object distance, and the practicality needs to be improved.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] This utility model provides a crack detection device, including:

[0008] The mounting structure includes a mounting part and a movable part, wherein the movable part is mounted on the mounting part and is used to drive the mounting part to move;

[0009] A camera structure includes a camera mounted on the mounting portion and an adjustment drive unit. The camera is used to capture surface images of the crack and is movable relative to the mounting portion along its optical axis. The adjustment drive unit is connected to the camera and is used to drive the camera to move along its optical axis.

[0010] A crack detector is installed on the mounting part and is used to detect cracks.

[0011] In some embodiments, the adjustment drive unit includes a lead screw, a nut seat, and an adjustment motor. The lead screw is rotatable about its axis and extends along the optical axis of the camera. The nut seat is screwed onto the lead screw and moves along the optical axis of the camera when the lead screw rotates. The adjustment motor is mounted on the mounting unit, and its output shaft is connected to the lead screw to drive the lead screw to rotate about its axis.

[0012] The camera is located on the nut seat and is mounted on the mounting part via the nut seat.

[0013] In some embodiments, one of the nut seat and the mounting portion is provided with a guide hole, and the other is provided with a guide arm passing through the guide hole. Both the guide hole and the guide arm extend along the optical axis of the camera.

[0014] In some embodiments, the crack detection device further includes a metal frame and a shock-absorbing pad. The metal frame is installed on the mounting part and has a hollowed-out protective space. The shock-absorbing pad is installed on the metal frame and is located within the protective space.

[0015] The camera is mounted on the shock-absorbing pad and placed in the mounting part via the shock-absorbing pad and the metal frame.

[0016] In some embodiments, the crack detector includes an ultrasonic transducer mounted on the mounting portion.

[0017] In some embodiments, the crack detector further includes a preamplifier mounted on the mounting portion, the preamplifier being connected to the ultrasonic transducer.

[0018] In some embodiments, the crack detector further includes a fixing base and a fixing screw. The fixing base is installed on the mounting part and has a mounting channel. The side wall of the mounting channel has fixing screw holes.

[0019] The ultrasonic transducer is installed in the mounting channel. One end of the fixing screw is threaded to the fixing seat through the fixing screw hole, extends into the mounting channel, and presses against the ultrasonic transducer.

[0020] In some embodiments, the crack detection device further includes a heat sink and heat dissipation fins. The heat sink is mounted on the mounting portion for mounting the fusion chip, and the heat dissipation fins are disposed on the heat sink.

[0021] In some embodiments, the crack detection device further includes a temperature sensor mounted on the mounting portion; and / or,

[0022] The mounting part is a chassis, and the moving part is a set of wheels mounted on the chassis.

[0023] In some embodiments, the mounting portion has a groove, and a limiting block is provided at one end of the groove in the extending direction. The limiting block is spaced apart from the bottom wall of the groove and spaced apart from the opposite side wall.

[0024] The crack detection device also includes a battery box and a limiting slide rail. The limiting slide rail is installed in the battery box and has a stop flange at one end away from the battery box. The stop flange can slide along the limiting slide rail in the slide groove and can slide to the side of the limiting block near the bottom wall of the slide groove.

[0025] Compared with existing technologies, the crack detection device provided by this utility model, when detecting cracks, moves the mounting part to the crack location in the building via a moving part. When the space at the crack location is limited and it is not easy to move the mounting part, the driving part can be adjusted to move the smaller camera along its optical axis, thereby adjusting the object distance of the camera and improving the image quality. Simultaneously, the camera can locate the crack and acquire surface images of the building crack, while the crack detector acquires internal information of the crack. This facilitates the fusion of the acquired surface images and internal information to generate three-dimensional quantitative information of the crack, allowing operators to obtain more comprehensive and intuitive information about building cracks. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the crack detection device provided in an embodiment of the present invention;

[0027] Figure 2 yes Figure 1 A schematic diagram of a crack detection device without a top cover;

[0028] Figure 3 yes Figure 1 A partial schematic diagram of a medium crack detection device;

[0029] Figure 4 yes Figure 1 A schematic diagram of the central camera structure;

[0030] Figure 5 yes Figure 1 A partial exploded view of the medium crack detection equipment;

[0031] Figure 6 yes Figure 2 A partial schematic diagram of the battery box corresponding to the medium crack detection equipment.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Installation structure; 1a. Slide rail; 11. Mounting part; 12. Moving part; 13. Limiting block; 2. Camera structure; 21. Camera; 22. Adjustment drive part; 221. Adjustment motor; 222. Lead screw; 223. Nut seat; 223a. Screw hole; 223b. Guide hole; 224. Guide arm; 3. Crack detector; 31. Ultrasonic transducer; 32. Preamplifier; 33. Fixing base; 34. Fixing screw; 4. Temperature sensor; 5. Battery box; 51. Limiting slide rail; 52. Stopping flange; 6. Data processing component; 7. Main control unit. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0035] To address the technical problem in existing technologies where cameras are fixedly mounted on a vehicle frame, making it difficult to flexibly adjust the object distance when space is limited at the inspected part of the building and the vehicle frame is not easily movable, thus hindering practicality, this invention provides a crack detection device. This device can adjust the object distance of a small camera by adjusting the drive unit to move it along its optical axis, thereby improving image quality. Simultaneously, it acquires surface images of building cracks through the camera structure and internal information of the cracks through a crack detector. The acquired surface images and internal information are fused to generate three-dimensional quantitative information about the cracks, allowing operators to obtain more comprehensive and intuitive information about building cracks.

[0036] Please see Figures 1 to 3 , Figures 1 to 3 This is a schematic diagram of a crack detection device according to an embodiment of the present invention. The crack detection device includes a mounting structure 1, a camera structure 2, a crack detector 3, and a fusion chip. The mounting structure 1 includes a mounting part 11 and a moving part 12. The moving part 12 is mounted on the mounting part 11 and is used to drive the mounting part 11 to move. The camera structure 2 includes a camera 21 mounted on the mounting part 11 and an adjustment drive part 22. The camera 21 is used to capture surface images of the crack and can move relative to the mounting part 11 along its optical axis. The adjustment drive part 22 is connected to the camera 21 and is used to drive the camera 21 to move along its optical axis. The crack detector 3 is mounted on the mounting part 11 and is used to detect cracks. Specifically, the crack detector 3 is used to acquire internal information of the crack. The fusion chip is mounted on the mounting part 11 and is used to acquire and fuse the surface image and internal information of the crack, and generate three-dimensional quantitative information of the crack.

[0037] The crack detection device provided by this utility model, when detecting cracks, moves the mounting part 11 to the crack location in the building via the moving part 12. When the space at the crack location is limited and it is not easy to move the mounting part 11, the driving part 22 can be adjusted to drive the smaller camera 21 to move along its optical axis, thereby adjusting the object distance of the camera 21 and improving the imaging quality. At the same time, the camera 21 can locate the crack and acquire the surface image of the building crack, and the crack detector 3 can acquire the internal information of the building crack. This facilitates the fusion of the acquired crack surface image and internal information to generate three-dimensional quantitative information of the crack, thus enabling operators to obtain more comprehensive and intuitive information about the building cracks.

[0038] Specifically, the surface image of the building crack is then acquired through camera 21, while the internal information of the building crack is acquired through crack detector 3. A fusion chip is then used to acquire the surface image and internal information of the crack, and the acquired surface image and internal information are fused to generate three-dimensional quantitative information of the crack, thus enabling operators to obtain more comprehensive and intuitive information about the building crack.

[0039] It should be noted that the internal information of the aforementioned gap includes the length, width, depth, and direction of the gap.

[0040] In addition, in one embodiment, the fusion chip is a storage chip that stores spatial multimodal perception algorithms. It generates an environmental perception map by mapping optical camera and ultrasonic sensor data to a unified bird's-eye view space and combining target detection and semantic segmentation results. Common methods include Kalman filtering, particle filtering and other probabilistic models to optimize the spatiotemporal alignment and consistency of multi-source heterogeneous data.

[0041] In another embodiment, the fusion chip is a storage chip that stores a multi-sensor feature-level fusion algorithm. It uses a deep learning model (such as CNN - convolutional neural network, Transformer - self-attention mechanism deep learning architecture) to extract the texture features of optical images and the depth / distance features of ultrasonic signals, and achieves complementary enhancement through feature splicing or attention mechanism.

[0042] In another embodiment, the fusion chip integrates an image analysis chip, an acoustic signal processing chip, and a data fusion processing chip. The image analysis chip performs noise reduction and edge extraction on the surface image data transmitted by the optical detection component. Specifically, it uses a median filtering algorithm for noise reduction and the Sobel operator for edge extraction to identify the surface features of the crack. The acoustic signal processing chip performs filtering and spectrum analysis on the acoustic signals transmitted by the acoustic detection component. Specifically, it uses a bandpass filter for filtering and a fast Fourier transform for spectrum analysis to obtain the internal information of the crack. The data fusion processing chip fuses the processed optical and acoustic data using a Kalman filter algorithm based on spatiotemporal registration to generate three-dimensional quantized data of the crack. The three-dimensional quantized data includes the length, width, depth, and orientation information of the crack. The fusion chip is connected to the main control unit 7 of the detection equipment via a network interface, transmitting the fused data to the main control unit 7, which then uploads it to the cloud for further analysis and storage.

[0043] It should be noted that in this embodiment, the fusion chip can achieve information exchange with the camera structure 2 and the crack detector 3 through wireless transmission, or through wire connection, or it can simultaneously achieve information exchange through both wireless and wired transmission.

[0044] Furthermore, it should be noted that the camera 21 can be an optical 3D scanner or a camera system that combines optical and radar / laser fusion, or other forms. Specifically, in this solution, the camera 21 is an adjustable-focus camera 21. It should also be noted that the adjustment drive unit 22 can be configured as a hydraulic rod, an electric actuator, a linear motor, or other forms.

[0045] In one embodiment, the adjustment drive unit 22 includes a lead screw 222, a nut seat 223, and an adjustment motor 221. The lead screw 222 is rotatable around its axis and extends along the optical axis of the camera 21. The nut seat 223 is screwed onto the lead screw 222 and moves along the optical axis of the camera 21 when the lead screw 222 rotates. The adjustment motor 221 is mounted on the mounting part 11, and its output shaft is connected to the lead screw 222 to drive the lead screw 222 to rotate around its axis. The camera 21 is disposed on the nut seat 223 and is mounted on the mounting part 11 via the nut seat 223.

[0046] In this embodiment, by adjusting the output shaft of the motor 221 to drive the lead screw 222 to rotate, the nut seat 223 and the camera 21 on it are driven to move along their optical axis, thereby improving the accuracy of the camera 21 moving along its optical axis.

[0047] In one embodiment, in this solution, one of the nut seat 223 and the mounting part 11 is provided with a guide hole 223b, and the other is provided with a guide arm passing through the guide hole 223b. Both the guide hole 223b and the guide arm 224 extend along the optical axis direction of the camera 21.

[0048] In this embodiment, the guide arm 224 cooperates with the guide hole 223b to guide the nut seat 223 to move along the optical axis of the camera 21, ensuring the stability of the camera 21's movement. Specifically, in this embodiment, the guide arm 224 is provided on the mounting part 11, and the guide hole 223b is formed on the nut seat 223. Furthermore, the guide hole 223b extends in the same direction as the screw hole 223a of the nut seat 223.

[0049] In one embodiment, the crack detection device further includes a metal frame and a shock-absorbing pad. The metal frame is installed on the mounting part 11 and has a protective space with a hollowed-out design. The shock-absorbing pad is installed on the metal frame and located within the protective space. The camera is located on the shock-absorbing pad and is placed on the mounting part 11 via the shock-absorbing pad and the metal frame.

[0050] In this embodiment, a metal frame protects the camera structure 2 from accidental damage, while vibration damping pads reduce the adverse effects of vibration on the imaging of the camera structure 2. Specifically, in this solution, the vibration damping pads are rubber damping pads, and multiple layers are stacked together.

[0051] It should be noted that the crack detector 3 can be set as an independent ultrasonic probe or laser probe, or it can be set as a combination of ultrasonic probe, amplifier and filter.

[0052] In one embodiment, the crack detector 3 includes an ultrasonic transducer 31 and a preamplifier 32 mounted on the mounting part 11, with the preamplifier 32 connected to the ultrasonic transducer 31.

[0053] In this embodiment, ultrasonic transducers 31 transmit and receive ultrasonic waves, and preamplifiers 32 amplify the weak acoustic signals received by the ultrasonic transducers 31 to improve detection accuracy. It should be noted that in this solution, there are two sets of ultrasonic transducers 31 and preamplifiers 32, and the ultrasonic transducers 31 and the preamplifiers 32 in the same set are connected to the data processing component 6 via shielded cables, transmitting the amplified acoustic signals to the fusion chip. It should be understood that the specific structure and principle of the ultrasonic probe and preamplifier 32 are existing technologies and will not be described in detail here. The fusion chip is a component of the data processing component 6.

[0054] In one embodiment, the crack detector 3 further includes a fixing base 33 and a fixing screw 34. The fixing base 33 is installed on the mounting part 11 and has a mounting channel. The side wall of the mounting channel has a fixing screw hole. The ultrasonic transducer 31 is installed in the mounting channel. One end of the fixing screw 34 is threaded to the fixing base 33 through the fixing screw hole and extends into the mounting channel, pressing against the ultrasonic transducer 31.

[0055] In this embodiment, the ultrasonic transducer 31 is fixed in the mounting channel of the mounting base 33 by the fixing screw 34, which is simple and reliable.

[0056] In one embodiment, the crack detection device further includes a heat sink and heat sink fins. The heat sink is mounted on the mounting part 11, and the heat sink fins are disposed on the heat sink. The fusion chip is disposed on the heat sink and is mounted on the mounting part 11 via the heat sink.

[0057] In this embodiment, the fused chip is mounted on a heat sink, and the heat sink and heat dissipation fins improve the heat dissipation capacity of the chip. Specifically, in this solution, the heat sink is attached to the heat dissipation fins with thermal grease to enhance the heat dissipation effect.

[0058] In one embodiment, the crack detection device further includes a temperature sensor 4, which is mounted on the mounting part 11.

[0059] In this embodiment, a temperature sensor 4 is provided to monitor the device temperature in real time, so that appropriate heat dissipation measures can be taken when the temperature is too high, ensuring the normal operation of each component.

[0060] It should be noted that the mounting part 11 and the moving part 12 can be in the form of a frame, an aircraft or a mounting base and tracks, or other forms.

[0061] In one embodiment, the mounting part 11 is a chassis, and the moving part 12 is a moving wheel.

[0062] In this embodiment, the functional components are moved by a mobile trolley to facilitate flexible detection of gaps in various parts of the building, which is quite practical.

[0063] In one embodiment, please refer to Figure 6 The mounting part 11 has a sliding groove 1a, and a limiting block 13 is provided at one end of the sliding groove 1a in the extending direction. The limiting block 13 is spaced apart from the bottom wall of the sliding groove 1a and spaced apart from the opposite side wall. The crack detection device also includes a battery box 5 and a limiting slide rail 51. The limiting slide rail 51 is installed in the battery box 5, and a stop flange 52 is provided at one end away from the battery box 5. The stop flange 52 can slide along the limiting slide rail 51 in the sliding groove 1a and can slide to the side of the limiting block 13 near the bottom wall of the sliding groove 1a.

[0064] In this embodiment, the battery box 5 is detachably installed on the mounting part 11 through the cooperation of the slide rail and the slide groove 1a, so as to facilitate the quick installation and removal of the battery box 5 and ensure a stable and continuous power supply to each component.

[0065] Specifically, in one embodiment, the battery box 5 is provided with a power detection module, which includes a power detection chip and a voltage sampling circuit connected to the lithium battery pack. The power detection chip monitors the power of the lithium battery pack in real time through the voltage sampling circuit and transmits the power data to the data processing component 6.

[0066] It should be understood that the mounting part 11 of the testing equipment can be adapted to the type of the actual testing equipment. For example, when applied to a wall-climbing testing robot, the mounting part 11 needs to have corresponding movement and support functions.

[0067] Furthermore, the high-resolution industrial camera in camera structure 2 can be configured with different pixels and frame rates according to the required detection accuracy; the ultrasonic transducer 31 in crack detector 3 can be configured with different frequencies and specifications according to the required detection depth and accuracy. Additionally, it should be understood that the chips on the data processing circuit board of data processing component 6 interact and work collaboratively through internal circuitry. Similarly, the lithium battery pack provides a stable power supply to all components via an electrical interface.

[0068] Mechanical interfaces are provided at the parts of the equipment that require electrical connection. Specifically, in one embodiment, the mechanical interface is a snap-fit ​​structure, which includes a snap-fit ​​on the functional component and a slot on the mounting part 11 that engages with the snap-fit. The snap-fit ​​and the slot engage to enable quick installation and disassembly of the functional component and the mounting part 11.

[0069] The electrical interface includes a plug on the functional component and a socket on the mounting part 11 that mates with the plug. The plug and socket are plugged in and out for power connection between the lithium battery pack and the power supply system. The data interface uses a USB 3.2 / Type-C interface, which is located on the side of the modular housing. It is used for data interaction between the data processing component 6 and the main control unit 7 of the detection equipment, supporting high-speed data transmission.

[0070] In one embodiment, the crack detection device further includes a data backup module, which is installed on the mounting part 11 and connected to the data processing component 6 for backing up the processed data.

[0071] In this embodiment, the data backup module prevents data loss and ensures the security and integrity of the detection data. If data loss or corruption occurs during transmission, the data can be recovered from the data backup module.

[0072] It should be noted that, in one embodiment, the data backup module is configured as a solid-state drive, which features fast read / write speeds and high reliability. In another embodiment, a large-capacity storage device such as a tape library can also be used for data backup.

[0073] It should be understood that, in one embodiment, the crack detection device further includes a communication module, which is mounted on the mounting section 11 and connected to the data processing component 6 and the main control unit 7 of the detection device. The specific communication protocol and transmission method are existing technologies and will not be elaborated here. The communication module enables stable data transmission, ensuring that detection data can be transmitted to the main control unit 7 of the detection device and the cloud in a timely and accurate manner.

[0074] In one embodiment, the crack detection device further includes a self-test module, which is installed on the mounting part 11 and is used to perform self-tests on each component before startup.

[0075] In this embodiment, a self-test module can perform a comprehensive check on the optical detection component, acoustic detection component, data processing component 6, and power supply component before the detection structure is activated, ensuring that each component is working properly. If an abnormality is detected, an alarm can be issued in a timely manner, facilitating timely repair and replacement of faulty components.

[0076] It should be noted that, in one embodiment, the self-test module is configured as a software program integrated into the data processing component 6, which monitors and analyzes the working status of each component to determine whether a fault exists. In another embodiment, a hardware detection circuit can also be used for self-testing to improve the accuracy and reliability of the detection.

[0077] In one embodiment, the crack detection device further includes a positioning module mounted on the mounting part 11 for determining the position of the detection device.

[0078] In this embodiment, the positioning module can obtain the location information of the detection equipment in real time, which facilitates the planning and management of detection tasks. Furthermore, when multiple detection devices work collaboratively, the positioning module can achieve location synchronization and task allocation among the devices.

[0079] It should be noted that, in one embodiment, the positioning module is set to a GPS positioning module, which has the characteristics of high positioning accuracy and wide coverage. In another embodiment, other positioning methods such as a Beidou positioning module can also be used.

[0080] To better understand this utility model, the following is combined with... Figures 1 to 6 The technical solution of this utility model is described in detail below:

[0081] Before operation, the acoustic-optical fusion crack detection structure in this solution performs a self-check. The self-check module conducts a comprehensive inspection of each component to ensure that each component is functioning properly. It ensures that all mechanical interfaces fit tightly into the slots on the mounting section 11. Next, the lithium battery pack is connected to the power supply system via the electrical interface to provide power to each component. Finally, the data interface is connected to the main control unit 7 of the detection equipment to establish a data transmission channel.

[0082] After the detection task is initiated, the detection equipment moves to the location on the building to be inspected. The data processing component 6, based on preset detection parameters, controls a micro stepper motor to drive the camera 21 along its optical axis, while simultaneously adjusting the focal length of the camera 21 to begin acquiring image data of the surface at the location to be inspected. Simultaneously, the ultrasonic transducer array 31 of the acoustic detection component emits ultrasonic waves into the area to be inspected and receives the reflected acoustic signals; the preamplifier 32 amplifies these signals.

[0083] The surface image data acquired by the optical detection component and the acoustic signal acquired by the acoustic detection component are transmitted to the data processing circuit board of the data processing component 6 via data lines and shielded cables, respectively, and analyzed by the fusion chip on it. The image analysis chip processes the surface image data, uses a median filtering algorithm for noise reduction, and employs the Sobel operator for edge extraction to identify surface features of the crack, such as its location, length, and width. The acoustic signal processing chip analyzes the acoustic signal, uses a bandpass filter for filtering, and employs a fast Fourier transform for spectral analysis to obtain internal information about the crack, such as its depth and orientation. The data fusion processing chip fuses the processed optical and acoustic data using a Kalman filter algorithm based on spatiotemporal registration to generate three-dimensional quantized data of the crack.

[0084] Data processing component 6 transmits the fused three-dimensional quantitative data of cracks to the main control unit 7 of the inspection equipment via a network interface. The main control unit 7 then uploads the data to the cloud server. Inspection personnel can view, analyze, and evaluate the inspection data in real time through the cloud server, promptly identify crack problems in the structure under inspection, and take corresponding maintenance measures.

[0085] During testing, temperature sensor 4 monitors the temperature inside the modular housing in real time. When the temperature is too high, heat dissipation is achieved through heat sink fins and a metal heat sink to ensure the normal operation of all components. The power detection module monitors the lithium battery pack's power level in real time. When the power is low, operators can quickly replace the lithium battery pack in the battery compartment using a sliding quick-release structure, ensuring the continuity of testing. Simultaneously, the positioning module acquires the location information of the testing structure in real time, facilitating the planning and management of testing tasks. If the self-test module detects any component abnormalities during testing, it promptly issues an alarm, reminding operators to perform repairs and replacements.

[0086] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A crack detection apparatus characterized by comprising: The application relates to a crack detection device. The crack detection device comprises a mounting structure, a camera structure and a crack detector. The mounting structure comprises a mounting part and a moving part, the moving part is mounted on the mounting part and used for driving the mounting part to move. The camera structure comprises a camera and an adjusting driving part, the camera is used for shooting the surface image of a crack and can move along the optical axis of the camera, the adjusting driving part is connected with the camera and used for driving the camera to move along the optical axis. The crack detector is mounted on the mounting part and used for detecting the crack.

2. The crack detection apparatus according to claim 1, characterized by The adjusting driving part comprises a screw rod, a nut seat and an adjusting motor, the screw rod can rotate around the axis and extends along the optical axis of the camera, the nut seat is screwed on the screw rod and moves along the optical axis of the camera when the screw rod rotates, and the adjusting motor is mounted on the mounting part and its output shaft is connected with the screw rod and used for driving the screw rod to rotate around the axis. The camera is arranged on the nut seat and mounted on the mounting part through the nut seat.

3. The crack detection apparatus according to claim 2, characterized by One of the nut seat and the mounting part is provided with a guide hole, and the other is provided with a guide arm penetrating in the guide hole, and the guide hole and the guide arm extend along the optical axis of the camera.

4. The crack detection apparatus according to claim 1, characterized by The crack detection device further comprises a metal frame and a damping pad, the metal frame is mounted on the mounting part and has a hollow protection space, and the damping pad is mounted on the metal frame and located in the protection space. The camera is arranged on the damping pad and placed on the mounting part through the damping pad and the metal frame.

5. The crack detection apparatus of claim 1, wherein The crack detector comprises an ultrasonic transducer mounted on the mounting part.

6. The crack detection apparatus according to claim 5, characterized by The crack detector further comprises a preamplifier mounted on the mounting part, and the preamplifier is connected with the ultrasonic transducer.

7. The crack detection apparatus according to claim 5, characterized by The crack detector further comprises a fixing seat and a fixing screw, the fixing seat is mounted on the mounting part and provided with a mounting channel, the side wall of the mounting channel is provided with a fixing screw hole, the ultrasonic transducer is mounted on the mounting channel, one end of the fixing screw is screwed with the fixing seat through the fixing screw hole and extends into the mounting channel and presses against the ultrasonic transducer. The crack detection device further comprises a heat dissipation plate and a heat dissipation fin, the heat dissipation plate is mounted on the mounting part and used for placing a fusion chip, and the heat dissipation fin is arranged on the heat dissipation plate.

8. The crack detection apparatus of claim 1, wherein The crack detection device further comprises a temperature sensor mounted on the mounting part.

9. The crack detection apparatus of claim 1, wherein The mounting part is a chassis, and the moving part is a moving wheel mounted on the chassis. The mounting part is provided with a sliding groove and a limiting block at one end of the sliding groove in the extending direction, the limiting block is arranged at intervals with the bottom wall and the opposite side wall of the sliding groove.

10. The crack detection apparatus of claim 1, wherein The crack detection device further comprises a battery box and a limiting sliding rail, the limiting sliding rail is mounted on the battery box and provided with a stop flange at one end away from the battery box, the stop flange can be arranged in the sliding groove by sliding along the limiting sliding rail and can slide to the side of the limiting block close to the bottom wall of the sliding groove. ​

Images