CN115839059A - Crack detection and repair system for bridge construction - Google Patents

Abstract

The invention discloses a crack detection and repair system for bridge construction, which comprises a vehicle body, a pretreatment mechanism, an atomization cleaning recovery component and a repair mechanism, wherein the pretreatment mechanism, the atomization cleaning recovery component and the repair mechanism are sequentially arranged on the vehicle body from front to back, a controller is arranged on the vehicle body, a crack identification module is arranged in the controller, an image acquisition camera is arranged at the bottom of the vehicle body and is arranged between a pretreatment cover body and the repair mechanism, and the image acquisition camera is used for obtaining an original image. The invention belongs to the technical field of bridge crack detection and repair, and particularly relates to a crack detection and repair system for bridge construction.

Description

Crack detection and repair system for bridge construction

Technical Field

The invention belongs to the technical field of bridge crack detection and repair, and particularly relates to a crack detection and repair system for bridge construction.

Background

Under the influence of factors such as temperature change, load action and the like, cracks with large sizes and small sizes can be generated on the surface of the bridge, and in order to prolong the service life of the bridge, the cracks need to be repaired in time.

The method is characterized in that large-particle impurities such as stones and the like, and stains and small-particle impurities often exist around cracks, workers need to clean the large-particle impurities such as the stones around the cracks by using tools such as a broom and a dustpan before repair, then the stains and the small-particle impurities around the cracks and in the cracks are cleaned by using tools such as a high-pressure water gun and a brush, and after the cracks are repaired by manually pouring a repairing agent.

Disclosure of Invention

Aiming at the situation and overcoming the defects of the prior art, the invention provides the crack detection and repair system for bridge construction, aiming at the technical problems of time and labor waste and low efficiency of the existing repair mode, the scheme accurately identifies the cracks by arranging the crack identification module, can remove noise in the original image on the premise of keeping crack characteristics, reduces the influence of illumination on the identification process, enables the cracks to be completely extracted, has high identification accuracy, and simultaneously repairs the quick cracks by the repair mechanism, improves the efficiency and reduces the labor cost.

The technical scheme adopted by the invention is as follows: the invention provides a crack detection and repair system for bridge construction, which comprises a vehicle body, a pretreatment mechanism, an atomization cleaning recovery assembly and a repair mechanism, wherein the pretreatment mechanism, the atomization cleaning recovery assembly and the repair mechanism are sequentially arranged on the vehicle body from front to back, a controller is arranged on the vehicle body, and a crack identification module is arranged in the controller.

As a further improvement of the scheme, the pretreatment mechanism comprises an adjusting and regulating assembly, a pretreatment cover body, a cleaning assembly and a pretreatment assembly, the adjusting and regulating assembly is arranged at the front end of the vehicle body and comprises a pretreatment adjusting and fixing plate, a pretreatment adjusting screw rod, a pretreatment adjusting driving wheel, a pretreatment adjusting transmission belt and a pretreatment adjusting motor, the pretreatment adjusting and fixing plate is symmetrically arranged at the front end of the vehicle body, the pretreatment adjusting screw rod is rotatably arranged on the pretreatment adjusting and fixing plate, the pretreatment adjusting driving wheel is coaxially and fixedly connected with the pretreatment adjusting screw rod, the pretreatment adjusting transmission belt is wound on the pretreatment adjusting driving wheel, the pretreatment adjusting motor is arranged on the pretreatment adjusting and fixing plate, the output end of the pretreatment adjusting motor is fixedly connected with the pretreatment adjusting screw rod in a coaxial manner, the pretreatment cover body is arranged on the pretreatment adjusting screw rod in a threaded connection manner, the pretreatment cover body is arranged at the bottom opening, a cleaning partition plate is arranged in the pretreatment cover body, the cleaning assembly is arranged on the pretreatment cover body and comprises a protective cover, a primary driving wheel, a primary driven driving wheel, a primary driving transmission belt, a cleaning driving motor, a cleaning driving gear, a cleaning driven gear, a secondary driving wheel, a secondary driving belt, a cleaning disc and a brush layer, the protective cover is arranged on the pretreatment cover body, the primary driving wheel is rotatably arranged on the pretreatment cover body and is arranged in the cleaning partition plate, the primary driven driving wheel is rotatably arranged on the pretreatment cover body and is arranged in the cleaning partition plate, and the primary driving transmission belt is wound on the primary driving wheel and the primary driven driving wheel, the cleaning device comprises a cleaning driving motor, a cleaning driving wheel, a first-level driving wheel, a cleaning driven wheel, a second-level driving wheel, a cleaning plate, a brush layer and a brush layer, wherein the cleaning driving motor is arranged on a pretreatment cover body and arranged in the cleaning plate, the output end of the cleaning driving motor is fixedly connected with the first-level driving wheel coaxially, the cleaning driving wheel is rotatably arranged in the pretreatment cover body and arranged above the cleaning plate, the cleaning driving wheel is fixedly connected with the first-level driving wheel coaxially, the cleaning driven wheel is meshed with the cleaning driving wheel, the second-level driving wheel is rotatably arranged in the pretreatment cover body and arranged above the cleaning plate, the second-level driving wheel is wound on the second-level driving wheel, the cleaning driving wheel is fixedly connected with a set of second-level driving wheels coaxially, the cleaning driven wheels are close to the cleaning driven wheel, the brush layer is rotatably arranged in the pretreatment cover body and arranged below the cleaning plate, the cleaning plate is coaxially, and the brush layer is arranged at the bottom of the cleaning plate.

As a further improvement of the scheme, the pre-cleaning assembly is arranged on the outer side wall, far away from one side of the vehicle body, of the pre-treatment cover body, the pre-cleaning assembly comprises a pre-cleaning annular nested plate, a pre-cleaning annular plate and a fixing bolt, the pre-cleaning annular nested plate is arranged on the outer side wall, far away from one side of the vehicle body, of the pre-treatment cover body, the pre-cleaning annular plate is connected to the pre-cleaning annular nested plate in a sliding and plugging mode, the fixing bolt is connected to the pre-cleaning annular nested plate in a threaded mode, and the fixing bolt is in contact with the pre-cleaning annular plate.

As a further improvement of the scheme, the atomization cleaning recovery component comprises a water storage tank, a collection tank, an air outlet through hole, an exhaust fan blade, an exhaust hood, an arc-shaped atomization nozzle, a flexible elastic atomization injection pipeline, a liquid outlet pipeline, a collection hood and a flexible elastic collection pipeline, wherein the water storage tank is arranged on a vehicle body, the water storage tank is provided with a transparent visual window I, the collection tank is arranged on the vehicle body, a filter screen plate is arranged in the collection tank, the collection tank is provided with a box door, the air outlet through hole is arranged on the collection tank, the exhaust fan blade is rotatably arranged in the air outlet through hole, the exhaust hood is arranged on the air outlet through hole and outside the collection tank, the arc-shaped atomization nozzle is arranged on the side wall of one side, far away from the vehicle body, in the pretreatment hood body, the arc-shaped atomization nozzle is arranged below the cleaning partition plate, and a plurality of groups of injection holes are distributed in an array at the bottom of the arc-shaped atomization nozzle, one end of the flexible elastic atomization injection pipeline is communicated with and arranged on the exhaust hood, the other end of the flexible elastic atomization injection pipeline is communicated with and arranged on the arc atomization spray head, the interior of the flexible elastic atomization injection pipeline is sequentially communicated with and provided with an air flow inlet cavity, an air flow compression cavity and an air flow outlet cavity, the air flow inlet cavity and the exhaust hood are communicated, the air flow outlet cavity and the arc atomization spray head are communicated, the cross sectional area of the air flow compression cavity from the air flow inlet cavity to the air flow outlet cavity is gradually reduced, the cross sectional area of the air flow inlet cavity is equal to that of one end of the air flow inlet cavity close to the air flow compression cavity, the cross sectional area of the air flow outlet cavity is equal to that of one end of the air flow outlet cavity close to the air flow compression cavity, the lower end of the liquid outlet pipeline is communicated with and arranged on the water storage tank, the upper end of the liquid outlet pipeline is communicated with and arranged on the air flow outlet cavity close to one end of the air flow compression cavity, the collecting cover is communicated with the side wall of the collecting box far away from one side of the air outlet through hole, the collecting cover is arranged on the side wall of the pretreatment cover body close to one side of the vehicle body, one end of the flexible elastic collecting pipeline is communicated with the collecting cover, and the other end of the flexible elastic collecting pipeline is communicated with the collecting cover.

Furthermore, the repairing mechanism comprises an adjusting component and a repairing component, the adjusting component is arranged at the bottom of the rear end of the vehicle body, and the repairing component is arranged at the rear end of the vehicle body.

Further, the adjusting assembly comprises a transverse adjusting motor, a transverse adjusting screw rod, a transverse adjusting transmission wheel, a transverse adjusting transmission belt, a transverse adjusting seat, a longitudinal adjusting screw rod, a longitudinal adjusting motor, a longitudinal adjusting transmission wheel, a longitudinal adjusting transmission belt, a longitudinal adjusting seat and a vertical adjusting electric push rod, wherein the transverse adjusting screw rod is symmetrically and rotatably arranged at the bottom of the vehicle body, the transverse adjusting motor is arranged at the bottom of the vehicle body, the output end of the transverse adjusting motor is coaxially and fixedly connected with a group of transverse adjusting screw rods close to the transverse adjusting motor, the transverse adjusting transmission wheel is symmetrically and rotatably arranged at the bottom of the vehicle body, the transverse adjusting transmission wheel is coaxially and fixedly connected with the transverse adjusting screw rods, the transverse adjusting transmission belt is wound on the transverse adjusting transmission wheel, the transverse adjusting seat is in threaded connection with the transverse adjusting screw rods, the longitudinal adjusting transmission belt is symmetrically and rotatably arranged at the bottom of the transverse adjusting seat, the longitudinal adjusting motor is arranged at the bottom of the transverse adjusting seat, the output end of the longitudinal adjusting motor is coaxially and fixedly connected with a group of longitudinal adjusting screw rods close to the longitudinal adjusting motor, the longitudinal adjusting transmission wheel is symmetrically and rotatably arranged at the bottom of the transverse adjusting seat, and the longitudinal adjusting transmission wheel is electrically pushed by the vertical adjusting rod.

Further, repair the subassembly and include storage barrel, delivery pump, intercommunication pipeline and gentle elasticity delivery pipe, storage barrel locates the rear end of automobile body, the last liquid level observation window two that is equipped with of storage barrel, the rear end of automobile body is located to the delivery pump, the intercommunication pipeline intercommunication is located between storage barrel and the delivery pump, the lower extreme of vertical regulation electric putter is equipped with repairs the head, the one end intercommunication of gentle elasticity delivery pipe is located on the delivery pump, the other end intercommunication of gentle elasticity delivery pipe is located and is repaired overhead.

Preferably, an image acquisition camera is arranged at the bottom of the vehicle body, the image acquisition camera is arranged between the preprocessing cover body and the repairing component, the image acquisition camera is used for obtaining an original image, the crack identification module comprises an image preprocessing module and a crack extraction module, the image preprocessing module comprises an image blurring module, an image enhancement module, a threshold segmentation module and a morphology operation module, the image blurring module adopts a gaussian function to process the original image and obtain an image two, the image blurring module removes noise in the original image on the premise of retaining crack characteristics, and the calculation formula of the gaussian function is as follows:

in the formula, G (u, v) is a Gaussian function, (u, v) is the coordinate of a pixel point, and sigma is the standard deviation of a distribution function;

the image enhancement module is used for highlighting the brightness characteristic and the edge characteristic of the image II to reduce the influence of illumination and obtain an image III, the threshold segmentation module is used for distinguishing the crack characteristic and the background of the image III and obtaining an image IV, the morphological operation module is used for expanding or reducing the characteristic region in the image IV and obtaining an image V, the crack extraction module comprises an image isolated point elimination module and a crack skeleton extraction module, the image isolated point elimination module is used for eliminating the noise point in the image V and obtaining an image VI, and the image isolated point elimination module has the following operation steps:

(1) marking a connected domain;

(2) eliminating isolated points;

(3) splicing the crack fragments;

and the fracture framework extraction module is used for carrying out framework extraction on the fracture of the image six and obtaining an image seven.

Preferably, be equipped with the receiving and dispatching antenna on the automobile body, be equipped with the battery on the automobile body, the bilateral symmetry of automobile body is equipped with two liang of advancing wheels for a set of, controller wireless connection has the remote controller, be equipped with signal transceiver on the remote controller, battery and receiving and dispatching antenna, image acquisition camera, controller, delivery pump, horizontal adjustment motor, vertical adjustment motor, exhaust flabellum, preliminary treatment adjustment motor and clearance driving motor electric connection, the controller is the singlechip of STM32 model.

The beneficial effects obtained by adopting the scheme are as follows:

(1) Not only waste time and energy to current repair mode, and the technical problem of inefficiency, this scheme is through setting up crack recognition module and accurately discerning the crack, can get rid of the noise in the original image under the prerequisite that remains crack characteristic, alleviates illumination to the influence of identification process, makes the crack can be completely extracted out, and the accuracy of discernment is high, simultaneously, repairs quick crack through repairing the mechanism, has improved efficiency, has reduced the human cost.

(2) The clearance mode to large granule debris among the prior art can harm the healthy technical problem of workman, and this scheme blocks large granule debris through setting up clearance subassembly in advance, has solved the healthy technical problem of harm workman that current clearance mode brought, simultaneously, can avoid the adverse effect that large granule debris brought to crack identification process, has guaranteed the accuracy of crack recognition result.

(3) The technical problem of the road surface of bridge is dirty in disorder in addition can lead to the clearance mode of spot and tiny particle debris among the prior art, this scheme is cleared up the spot through setting up the clearance subassembly, and retrieve the subassembly to tiny particle debris through setting up the atomizing cleanness, and clear up the sewage etc. that the clearance in-process produced, the road surface after making the clearance is extraordinarily clean and tidy, thereby avoided the spot, the adverse effect that sewage and tiny particle debris brought to crack identification process, the accuracy of crack identification result has been improved.

(4) Can produce a large amount of heats when the spot friction on brush layer and ground, when the heat is too high, it is impaired to make the brush layer impaired easily, need frequently to change the brush layer, for this reason, this scheme is moist to ground through spraying water smoke, the heat that produces when moist ground can absorb the friction, avoided leading to the impaired situation of brush layer because of the heat is too high, the life on brush layer has been prolonged, the problem that needs frequently to change the brush layer has been solved, the cost is saved, simultaneously, water smoke can soften the spot, be favorable to cleaning the spot.

Drawings

FIG. 1 is a schematic structural diagram of a crack detection and repair system for bridge construction according to the present invention;

FIG. 2 is a schematic view of an overall structure of a crack detection and repair system for bridge construction according to the present invention;

FIG. 3 is a schematic diagram of the overall structure of the remote controller;

FIG. 4 is a bottom view of a crack detection and repair system for bridge construction according to the present invention;

FIG. 5 is a top view of a crack detection and repair system for bridge construction according to the present invention;

FIG. 6 is a right side view of a crack detection and repair system for bridge construction according to the present invention;

FIG. 7 is a left side view of a crack detection and repair system for bridge construction according to the present invention;

FIG. 8 is a plan sectional view of a portion a-a of FIG. 7;

FIG. 9 is a plan sectional view of portion b-b of FIG. 6;

FIG. 10 is a plan sectional view of portion c-c of FIG. 6;

FIG. 11 is a plan sectional view of portion d-d of FIG. 6;

FIG. 12 is a plan sectional view of section e-e of FIG. 7;

FIG. 13 is a plan sectional view of portion f-f of FIG. 5;

FIG. 14 is a plan sectional view of portion g-g of FIG. 6;

FIG. 15 is an enlarged partial view of portion A of FIG. 10;

FIG. 16 is an enlarged partial view of portion B of FIG. 11;

FIG. 17 is an enlarged partial view of portion B of FIG. 13;

FIG. 18 is an original image acquired by an image capture camera;

FIG. 19 is a fourth image obtained after processing by the threshold segmentation module;

FIG. 20 is a fifth image resulting from processing by the morphological operation module;

FIG. 21 is a sixth image obtained after processing by the image outlier removal module;

fig. 22 is a flowchart of the operation of the image capture camera and crack identification module.

Wherein, 1000, the car body, 2000, the pretreatment mechanism, 2100, the pretreatment adjusting component, 2101, the pretreatment adjusting fixing plate, 2102, the pretreatment adjusting screw rod, 2103, the pretreatment adjusting driving wheel, 2104, the pretreatment adjusting driving belt, 2105, the pretreatment adjusting motor, 2200, the pretreatment cover body, 2201, the cleaning partition plate, 2300, the cleaning component, 2301, the protective cover, 2302, the primary driving wheel, 2303, the primary driven driving wheel, 2304, the primary driving belt, 2305, the cleaning driving motor, 2306, the cleaning driving wheel, 2307, the cleaning driven gear, 2308, the secondary driving wheel, 2309, the secondary driving wheel, 2310, the cleaning disc, 2311, the brush layer, 2400, the pretreatment component, 2401, the pretreatment annular nested plate, 2402, the pretreatment annular plate, 2403, the fixing bolt, 3000, the atomized cleaning recycling component, 3001, the water storage tank, 3002, the collecting tank, 3003 and the air outlet through hole, 3004, exhaust fan blades, 3005, exhaust hood, 3006, curved atomizer head, 3007, flexible atomizing spray pipe, 3008, liquid outlet pipe, 3009, collecting hood, 3010, collecting hood, 3011, flexible collecting pipe, 3012, transparent visual window one, 3013, filter screen, 3014, door, 3015, injection hole, 3016, air flow inlet chamber, 3017, air flow compression chamber, 3018, air flow outlet chamber, 4000, repair mechanism, 4100, adjustment assembly, 4101, lateral adjustment motor, 4102, lateral adjustment screw, 4103, lateral adjustment drive wheel, 4104, lateral adjustment drive belt, 4105, lateral adjustment seat, 4106, longitudinal adjustment screw, 4107, longitudinal adjustment motor, 4108, longitudinal adjustment drive wheel, 4109, longitudinal adjustment drive belt, 4110, longitudinal adjustment seat, 4111, vertical adjustment electrical push rod, 4200, repair assembly, 4201, storage cylinder, 4202, delivery pump, 4203, and communication pipe, 4204. the device comprises a flexible conveying pipeline, 4205, a repairing head, 4206, a liquid level observation window II, 5000, a crack identification module, 5100, an image preprocessing module, 5101, an image blurring module, 5102, an image enhancement module, 5103, a threshold segmentation module, 5104, a morphology calculation module, 5200, a crack extraction module, 5201, an image isolated point elimination module, 5202, a crack skeleton extraction module, 6001, an image acquisition camera, 6002, a transmitting and receiving antenna, 6003, a storage battery, 6004, a traveling wheel, 6005, a remote controller, 6006, a signal transceiver, 6007 and a controller.

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

Referring to fig. 1, 2, 5 and 22, the crack detection and repair system for bridge construction provided by the invention comprises a vehicle body 1000, a pretreatment mechanism 2000, an atomization cleaning recovery component 3000 and a repair mechanism 4000, wherein the pretreatment mechanism 2000, the atomization cleaning recovery component 3000 and the repair mechanism 4000 are sequentially arranged on the vehicle body 1000 from front to back, a controller 6007 is arranged on the vehicle body 1000, and a crack identification module 5000 is arranged in the controller 6007.

Referring to fig. 1, 2, 8, 9, 10, 12 and 14, the pretreatment mechanism 2000 includes an adjusting assembly 2100, a pretreatment housing 2200, a cleaning assembly 2300 and a pretreatment assembly 2400, the adjusting assembly 2100 is disposed at the front end of the vehicle 1000, the adjusting assembly 2100 includes a pretreatment adjusting fixing plate 2101, a pretreatment adjusting screw 2102, a pretreatment adjusting driving wheel 2103, a pretreatment adjusting driving belt 2104 and a pretreatment adjusting motor 2105, the pretreatment adjusting fixing plate 2101 is symmetrically disposed at the front end of the vehicle 1000, the pretreatment adjusting screw 2102 is rotatably disposed on the pretreatment adjusting fixing plate 2101, the pretreatment adjusting driving wheel 2103 is coaxially fixed with the pretreatment adjusting screw 2102, the pretreatment adjusting driving belt 2104 is disposed on the pretreatment adjusting fixing plate 2101, the pretreatment adjusting driving wheel 2104 is rotatably disposed on the pretreatment adjusting fixing plate 2101, the output end of the pretreatment adjusting motor 2105 is fixedly connected with the pretreatment adjusting screw 2200, the pretreatment adjusting driving wheel 2303 is coaxially disposed on the pretreatment adjusting screw, the pretreatment adjusting driving wheel 2301 is rotatably disposed on the pretreatment adjusting fixing plate 2200, the pretreatment adjusting driving wheel 2301, the pretreatment adjusting driving wheel 2302 is disposed in the pretreatment adjusting housing 2200, the primary cleaning housing 2301, the cleaning assembly 2301 and the cleaning assembly 2302 is disposed in the primary cleaning housing 2301, the secondary cleaning assembly 2301, the cleaning assembly 2302 and the cleaning housing 2302, the cleaning assembly 2302 is disposed in the primary cleaning housing 2, the primary driven transmission wheel 2303 is rotatably arranged on the pretreatment housing 2200 and is arranged in the cleaning partition plate 2201, the primary driving transmission belt 2304 is wound on the primary driving transmission wheel 2302 and the primary driven transmission wheel 2303, the cleaning driving motor 2305 is arranged on the pretreatment housing 2200 and is arranged in the cleaning partition plate 2201, the output end of the cleaning driving motor 2305 is coaxially and fixedly connected with the primary driving transmission wheel 2302, the cleaning driving gear 2306 is rotatably arranged in the pretreatment housing 2200 and is arranged above the cleaning partition plate 2201, the cleaning driving gear 2306 is coaxially and fixedly connected with the primary driven transmission wheel 2303, the cleaning driven gear 2307 is rotatably arranged in the pretreatment housing 2200 and is arranged above the cleaning partition plate 2201, the cleaning driven gear 2307 is meshed with the cleaning driving gear 2306, the secondary transmission wheel 2308 is rotatably arranged in the pretreatment housing 2200 and is arranged above the cleaning partition plate 2201, the secondary driving belt 2309 is wound on a secondary driving wheel 2308, the cleaning driving gear 2306 is coaxially and fixedly connected with a group of secondary driving wheels 2308 close to the cleaning driving gear 2306, the cleaning driven gear 2307 is coaxially and fixedly connected with a group of secondary driving wheels 2308 close to the cleaning driven gear 2307, a plurality of groups of cleaning discs 2310 are rotatably arranged in the pretreatment housing 2200 and are arranged below the cleaning partition plate 2201, the cleaning discs 2310 are coaxially and fixedly connected with the secondary driving wheels 2308, the brush layer 2311 is arranged at the bottom of the cleaning discs 2310, the pre-cleaning assembly 2400 is arranged on the outer side wall of one side, far away from the vehicle body 1000, of the pretreatment housing 2200, the pre-cleaning assembly 2400 comprises a pre-cleaning annular nesting plate 2401, a pre-cleaning annular plate 2402 and a fixing bolt 2403, the pre-cleaning annular nesting plate 2401 is arranged on the outer side wall of the pretreatment housing 2200, far away from the vehicle body 1000, and the pre-cleaning annular nesting plate 2402 is slidably and detachably connected to the pre-cleaning annular nesting plate 2401, the fixing bolt 2403 is in threaded connection with the pre-cleaning annular nested plate 2401, and the fixing bolt 2403 is in contact with the pre-cleaning annular plate 2402.

Referring to fig. 1, 2, 4, 5, 7, 12, 13, 14 and 17, the recycling assembly 3000 includes a water storage tank 3001, a collection tank 3002, an air outlet through hole 3003, an exhaust fan 3004, an exhaust hood 3005, an arc-shaped atomizing nozzle 3006, a flexible elastic atomizing spray pipe 3007, an outlet pipe 3008, a collection hood 3009, a collection hood 3010 and a flexible elastic collection pipe 3011, the water storage tank 3001 is disposed on the vehicle body 1000, the water storage tank 3001 is provided with a transparent visual window 3012, the collection tank 3002 is disposed on the vehicle body 1000, the collection tank 3002 is provided with a filter screen 3013, the collection tank 3002 is provided with an air outlet through hole 3014, the air outlet through hole 3003 is disposed on the collection tank 3002, the exhaust fan 3004 is rotatably disposed in the air outlet through hole 3003, the exhaust hood 3005 is disposed on the air outlet through hole 3003 and is disposed outside the collection tank 3002, the arc-shaped atomizing spray head 3006 is disposed on a side wall of the pretreatment tank 2200 far away from the side of the vehicle body 1000, the arc-shaped atomizing nozzle 3006 is disposed on the side wall of the collection tank 3006, the separation plate 3006, the arc-shaped atomizing spray pipe 3006, the air outlet through hole 3016, the air inlet through hole 3016, the air outlet through hole 3016, the air inlet pipe 3016 is communicated with the elastic atomizing spray chamber 3016, the elastic atomizing spray pipe 3016, the air outlet chamber 3016, the elastic atomizing spray pipe 3016, the air outlet chamber 3016 and the air outlet chamber 3016, the air outlet chamber is communicated with the elastic atomizing spray chamber 3016, the cross-sectional area that is close to air current on air current send out chamber 3018 and the air current compression chamber 3017 and send out chamber 3018 one end equal, the lower extreme intercommunication of liquid outlet pipe 3008 is located on storage water tank 3001, the one end that is close to air current compression chamber 3017 on the air current send out chamber 3018 is located to the upper end intercommunication of liquid outlet pipe 3008, collect cover 3010 intercommunication and locate on the lateral wall of keeping away from air outlet hole 3003 one side on the collecting box 3002, collect cover 3009 and locate in the pretreatment cover body 2200 on being close to the lateral wall of automobile body 1000 one side, the one end of gentle elasticity collecting pipe 3011 is the intercommunication setting with collecting cover 3009, the other end of gentle elasticity collecting pipe 3011 with collect cover 3010 and be the intercommunication setting.

Referring to fig. 1, 2, 6, 10, 11, 15 and 16, the repairing mechanism 4000 includes an adjusting assembly 4100 and a repairing assembly 4200, the adjusting assembly 4100 is disposed at the bottom of the rear end of the vehicle body 1000, the repairing assembly 4200 is disposed at the rear end of the vehicle body 1000, the adjusting assembly 4100 includes a lateral adjusting motor 4101, a lateral adjusting screw 4102, a lateral adjusting transmission wheel 4103, a lateral adjusting transmission belt 4104, a lateral adjusting seat 4105, a longitudinal adjusting screw 4106, a longitudinal adjusting motor 4107, a longitudinal adjusting transmission wheel 4108, a longitudinal adjusting transmission belt 4109, a longitudinal adjusting seat 4110 and a vertical adjusting electric push rod 4111, the lateral adjusting screw 4102 is symmetrically disposed at the bottom of the vehicle body 1000, the lateral adjusting motor 4101 is disposed at the bottom of the vehicle body 1000, an output end of the lateral adjusting motor 4101 is fixedly connected to a set of lateral adjusting screws 4102 close to the lateral adjusting screw 4101, the lateral adjusting motor 4105 is disposed at the bottom of the vehicle body 1000, the lateral adjusting screw 4105 is coaxially connected to the longitudinal adjusting motor 4105, the longitudinal adjusting screw 4105 is disposed at the bottom of the vehicle body 4105, the lateral adjusting screw 4105 and fixedly connected to the longitudinal adjusting motor 4105, the longitudinal adjusting motor 4105 around the set of the longitudinal adjusting screw 4105, the lateral adjusting seat 4105 is disposed at the bottom of the lateral adjusting screw 4105, the repairing assembly 4200 comprises a storage cylinder 4201, a delivery pump 4202, a communicating pipe 4203 and a flexible delivery pipe 4204, wherein the storage cylinder 4201 is arranged at the rear end of the vehicle body 1000, a liquid level observation window two 4206 is arranged on the storage cylinder 4201, the delivery pump 4202 is arranged at the rear end of the vehicle body 1000, the communicating pipe 4203 is communicated between the storage cylinder 4201 and the delivery pump 4202, a repairing head 4205 is arranged at the lower end of the vertical adjusting electric push rod 4111, one end of the flexible delivery pipe 4204 is communicated with the delivery pump 4202, and the other end of the flexible delivery pipe 4204 is communicated with the repairing head 4205.

Referring to fig. 1, 2, 4, 18, 19, 20, 21 and 22, an image capturing camera 6001 is disposed at the bottom of the vehicle 1000, the image capturing camera 6001 is disposed between the preprocessing cover 2200 and the repairing component 4200, the image capturing camera 6001 is used to obtain an original image, the crack identifying module 5000 includes an image preprocessing module 5100 and a crack extracting module 5200, the image preprocessing module 5100 includes an image blurring module 5101, an image enhancing module 5102, a threshold segmentation module 5103 and a morphology calculation module 5104, the image blurring module 5101 processes the original image by using a gaussian function to obtain a second image, the image blurring module 5101 removes noise in the original image on the premise of retaining crack characteristics, and the gaussian function calculation formula is as follows:

in the formula: g (u, v) is a Gaussian function, (u, v) is the coordinates of the pixel points, and sigma is the standard deviation of the distribution function;

the image enhancement module 5102 is configured to highlight the brightness feature and the edge feature of the second image to reduce the influence of illumination and obtain a third image, the threshold segmentation module 5103 is configured to distinguish the crack feature and the background of the third image and obtain a fourth image, the morphological operation module 5104 is configured to expand or reduce the feature region in the fourth image and obtain a fifth image, the crack extraction module 5200 includes an image isolated point elimination module 5201 and a crack skeleton extraction module 5202, the image isolated point elimination module 5201 is configured to eliminate the noise point in the fifth image and obtain a sixth image, and the operation steps of the image isolated point elimination module 5201 are as follows:

(1) marking a connected domain;

(2) eliminating isolated points;

(3) splicing the crack fragments;

the fracture skeleton extraction module 5202 is configured to perform skeleton extraction on the fracture of the image six, and obtain an image seven.

Referring to fig. 2, 3, 4, 5, 6, 9, 10, 11, 13, 14, 15, and 16, a transceiver antenna 6002 is disposed on the vehicle 1000, a battery 6003 is disposed on the vehicle 1000, two sets of traveling wheels 6004 are symmetrically disposed on two sides of the vehicle 1000, the controller 6007 is wirelessly connected to a remote controller 6005, a signal transceiver 6006 is disposed on the remote controller 6005, the battery 6003 is electrically connected to the transceiver antenna 6002, the image capturing camera 6001, the controller 6007, the transfer pump 4202, the transverse adjustment motor 4101, the longitudinal adjustment motor 4107, the vertical adjustment electric push rod 4111, the exhaust fan 3004, the preprocessing adjustment motor 2105, and the cleaning drive motor 2305, and the controller 6007 is an STM32 type single chip microcomputer.

First embodiment referring to fig. 1, 2, 7, 9 and 13, a user needs to perform a preparation before using the device.

Before using, the user pours into liquid water into storage water tank 3001 to follow the liquid level change of storage water tank 3001 constantly through transparent visual window 3012, when being about to fill up water in storage water tank 3001, the user stops the water injection, simultaneously, through setting up transparent visual window 3012, can the convenient to use person observe the surplus of the liquid water in storage water tank 3001 at the repair in-process, when the water yield is not enough, the user can in time discover and supply liquid water.

Before use, a user injects the prepared repairing agent into the delivery pump 4202, and pays attention to the liquid level change of the delivery pump 4202 at any time through the second liquid level observation window 4206, when the delivery pump 4202 is about to be filled with the repairing agent, the user does not inject the repairing agent any more, meanwhile, the second liquid level observation window 4206 is arranged, so that the user can conveniently observe the residual amount of the repairing agent in the delivery pump 4202 in the repairing process, and when the repairing agent is insufficient, the user can timely find and supplement the repairing agent.

Before using, the user starts the pretreatment adjusting motor 2105, the pretreatment adjusting motor 2105 drives a set of pretreatment adjusting transmission wheels 2103 which are coaxially and fixedly connected with the output end of the pretreatment adjusting motor 2105 to rotate, a set of pretreatment adjusting transmission wheels 2103 which are coaxially and fixedly connected with the output end of the pretreatment adjusting motor 2105 drive two sets of pretreatment adjusting transmission wheels 2103 to synchronously rotate through the transmission of the pretreatment adjusting transmission belt 2104, the two sets of pretreatment adjusting transmission wheels 2103 drive two sets of pretreatment adjusting screw rods 2102 to rotate, thereby driving the pretreatment cover 2200 which is in threaded connection with the pretreatment adjusting transmission wheels 2103 to move downwards, shortening the distance between the bottom of the pretreatment cover 2200 and the ground, and further facilitating the pre-cleaning of the ground before repairing.

Second embodiment, referring to fig. 2, 3 and 5, the second embodiment is based on the above embodiment, and the repairing process is remotely controlled by a remote controller 6005.

The user remotely controls the repair process through the remote controller 6005, and the specific control process is as follows:

the remote controller 6005 sends a control signal to the signal transceiver 6006, the signal transceiver 6006 receives the control signal from the remote controller 6005 and sends the control signal to the transceiving antenna 6002, the transceiving antenna 6002 receives the control signal from the remote controller 6005 and sends the control signal to the controller 6007, and the controller 6007 receives the control signal from the transceiving antenna 6002 and controls the repair process.

Third embodiment, this embodiment is based on the above embodiment, and referring to fig. 1 and fig. 2, during the repairing process, the pre-cleaning assembly 2400 is arranged to pre-clean the road surface with large particles of debris such as stones.

Firstly, the user screws out the fixing bolt 2403 to enable the fixing bolt 2403 not to abut against the pre-cleaning annular plate 2402 any more, so that the pre-cleaning annular plate 2402 is changed from an abutted fixed state to a movable state, then the user pushes the pre-cleaning annular plate 2402 downwards along the pre-cleaning annular nesting plate 2401 until the bottom of the pre-cleaning annular plate 2402 is adjusted to be close to the ground but not contacted with the ground, and then the user screws up the fixing bolt 2403 to enable the fixing bolt 2403 to abut against the pre-cleaning annular plate 2402, so that the pre-cleaning annular plate 2402 is changed from the movable state to the abutted fixed state, thereby being convenient for blocking sundries such as stones on the road surface in the repairing process and avoiding the influence of the photographing process caused by large-particle sundries such as stones.

Fourth embodiment, this embodiment is based on the above embodiment, and referring to fig. 1, fig. 2, fig. 4, fig. 5, fig. 7, fig. 8, fig. 10, fig. 12, fig. 13, fig. 14 and fig. 17, the cleaning assembly 2300 and the atomizing cleaning recycling assembly 3000 are used to clean up dirt and small particles of debris on the floor.

The user starts cleaning driving motor 2305, cleaning driving motor 2305 drives primary driving wheel 2302 to rotate, primary driving wheel 2302 drives primary driven driving wheel 2303 to rotate through primary driving transmission belt 2304, primary driven driving wheel 2303 drives cleaning driving gear 2306 to rotate, cleaning driving gear 2306 drives cleaning driven gear 2307 to rotate through gear transmission, cleaning driving gear 2306 and cleaning driven gear 2307 drive two sets of secondary driving wheels 2308 coaxially and fixedly connected with cleaning driving gear 2306 and cleaning driven gear 2307 respectively to rotate, two sets of secondary driving wheels 2308 coaxially and fixedly connected with cleaning driving gear 2306 and cleaning driven gear 2307 respectively drive two sets of secondary driving wheels 2308 far away from cleaning driving gear 2306 and cleaning driven gear 2307 to rotate through secondary transmission belt 2309, rotating secondary driving wheel 2308 drives cleaning disc 2310 to rotate, cleaning disc 2310 drives brush layer 2311 to rotate, rotating brush layer 2311 rubs with the soil, thereby cleaning the soil on the ground and avoiding affecting the recognition process.

When cleaning the ground, the user starts the exhaust fan 3004 and rotates the exhaust fan 3004 at a high speed, the exhaust fan 3004 rotating at a high speed blows air in the collection box 3002 to the exhaust hood 3005, then the air flowing fast flows through the air flow inlet cavity 3016, the air flow compression cavity 3017 and the air flow outlet cavity 3018 in sequence through the flexible atomization injection pipeline 3007, when the air flow passes through the air flow compression cavity 3017 with the cross section area being reduced from thick to thin, the pressure of the air is reduced, the flow rate of the air is further accelerated, a negative pressure area is formed at one end of the air flow outlet cavity 3018 close to the air flow compression cavity 3017, under the action of negative pressure suction generated by the negative pressure area, the liquid water in the water storage tank 3001 enters the air flow outlet cavity 3018 along the liquid outlet pipeline 3008, the liquid water is impacted into water mist by the fast flowing air, and the mist water enters the arc-shaped atomization nozzle 3006 under the driving of the air, and finally, the cleaning assembly 2300 can clean the stains on the ground by spraying mist water, a large amount of heat can be generated when the brush layer 2311 rubs with the stains on the ground, when the heat is too high, the brush layer 2311 is easily damaged, the brush layer 2311 needs to be frequently replaced, in the scheme, the ground is wetted by spraying the mist water, the wetted ground can absorb the heat generated during friction, the condition that the brush layer 2311 is damaged due to too high heat is avoided, the service life of the brush layer 2311 is prolonged, the problem that the brush layer 2311 needs to be frequently replaced is solved, the cost is saved, and meanwhile, under the action of the exhaust fan blades 3004 rotating at high speed, air in the collecting box 3002 is sucked away quickly, so that negative pressure suction is generated on the collecting cover 3009, dirt on the ground, sewage and sludge in the cleaning process, fine impurities in cracks and the like are sucked into the collecting cover 3009, sequentially pass through the flexible and elastic collecting pipeline 3011 and the collecting cover 3010, and finally enter the collecting box 3002.

In the fifth embodiment, based on the above embodiments, referring to fig. 4, 18, 19, 20, 21 and 22, after the road surface is cleaned, the crack is identified through the image capturing camera 6001, the image preprocessing module 5100 and the crack extraction module 5200, so that the crack can be completely extracted, and the repairing work can be performed smoothly.

Firstly, a user acquires an original image through an image acquisition camera 6001, and sends the original image to an image blurring module 5101, the image blurring module 5101 processes the original image by using a gaussian function, and removes noise in the original image on the premise of keeping a crack characteristic to obtain an image two, the image blurring module 5101 sends the image two to an image enhancement module 5102, the image enhancement module 5102 is used for highlighting a brightness characteristic and an edge characteristic of the image two to reduce an influence of illumination to obtain an image three, the image enhancement module 5202 sends the image three to a threshold segmentation module 5103, the threshold segmentation module 5103 is used for distinguishing the crack characteristic and a background of the image three to obtain an image four, and sends the image four to a morphological calculation module 5104, the morphological calculation module 5204 is used for expanding or reducing a characteristic region in the image four to obtain an image five, and sends the image five to an image isolated point elimination module 5201, the image isolated point elimination module 5201 eliminates noise points in the image five to obtain an image six, and sends the image six crack extraction module 5102 to an isolated point elimination module as follows: (1) marking a connected domain; (2) eliminating isolated points; (3) splicing the crack fragments; the fracture skeleton extraction module 5202 performs skeleton extraction on the fracture of the image six to obtain an image seven, and by performing the above operation, the fracture can be completely extracted, thereby facilitating smooth performance of the repair work.

Sixth embodiment, the embodiment is based on the above-mentioned embodiment, and referring to fig. 1, fig. 2, fig. 6, fig. 10, fig. 11, fig. 15 and fig. 16, the crack on the surface of the bridge is repaired by the repairing mechanism 4000.

The user starts the transverse adjusting motor 4101, the longitudinal adjusting motor 4107, the vertical adjusting electric push rod 4111 and the delivery pump 4202, the transverse adjusting motor 4101 in a starting state drives a group of transverse adjusting screw 4102 coaxially and fixedly connected with the output end of the transverse adjusting motor 4101 to rotate, a group of transverse adjusting screw 4102 coaxially and fixedly connected with the output end of the transverse adjusting motor 4101 drives a group of transverse adjusting transmission wheel 4103 to rotate, the transverse adjusting transmission wheel 4103 drives two groups of transverse adjusting transmission wheels 4103 to synchronously rotate through the transmission of a transverse adjusting transmission belt 4104, so as to drive the two groups of transverse adjusting screw 4102 to synchronously rotate, and further drive the transverse adjusting seat 4105 to move left and right along the horizontal direction.

The longitudinal adjusting motor 4107 in a starting state drives a group of longitudinal adjusting screw rods 4106 coaxially and fixedly connected with the output end of the longitudinal adjusting motor 4107 to rotate, the group of longitudinal adjusting screw rods 4106 coaxially and fixedly connected with the output end of the longitudinal adjusting motor 4107 drives a group of longitudinal adjusting transmission wheels 4108 to rotate, the longitudinal adjusting transmission wheels 4108 drive two groups of longitudinal adjusting transmission wheels 4108 to synchronously rotate through a longitudinal adjusting transmission belt 4109, so that the two groups of longitudinal adjusting screw rods 4106 are driven to synchronously rotate, the longitudinal adjusting seat 4110 is driven to move back and forth along the horizontal direction, and the longitudinal adjusting seat 4110 drives the vertical adjusting electric push rod 4111 to move back and forth along the horizontal direction; the vertical adjusting electric push rod 4111 in a starting state drives the repairing head 4205 to move up and down along the vertical direction; the delivery pump 4202 in the activated state delivers the repairing agent in the storage cylinder 4201 into the repairing head 4205, and the repairing agent is made to enter a crack of the road surface along the repairing head 4205, so that a repairing function for a crack of the bridge floor is realized.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. The utility model provides a crack detection repair system for bridge construction, includes automobile body (1000), its characterized in that: the vehicle-mounted flaw detection and repairing system is characterized by further comprising a preprocessing mechanism (2000), an atomization cleaning recovery assembly (3000) and a repairing mechanism (4000), wherein the preprocessing mechanism (2000), the atomization cleaning recovery assembly (3000) and the repairing mechanism (4000) are sequentially arranged on a vehicle body (1000) from front to back, a controller (6007) is arranged on the vehicle body (1000), a flaw identification module (5000) is arranged in the controller (6007), an image acquisition camera (6001) is arranged at the bottom of the vehicle body (1000), the image acquisition camera (6001) is arranged between a preprocessing cover body (2200) and the repairing assembly (4200), the image acquisition camera (6001) is used for obtaining an original image, the flaw identification module (5000) comprises an image preprocessing module (5100) and a flaw extraction module (5200), the image preprocessing module (5100) comprises an image blurring module (5101), an image enhancement module (5102), a threshold segmentation module (5103) and a morphology calculation module (5104), the image preprocessing module (5101) comprises an image blurring module (5101), a threshold segmentation module (5102), a high-degree segmentation function is used for obtaining a high-degree of the original image by adopting a high-degree segmentation function, the gaussian function is calculated as:

in the formula, G (u, v) is a Gaussian function, (u, v) is the coordinate of a pixel point, and sigma is the standard deviation of a distribution function;

the image enhancement module (5102) is used for highlighting the brightness feature and the edge feature of the image two to reduce the influence of illumination and obtain an image three, the threshold segmentation module (5103) is used for distinguishing the crack feature and the background of the image three and obtaining an image four, the morphological operation module (5104) is used for expanding or reducing the feature area in the image four and obtaining an image five, the crack extraction module (5200) comprises an image isolated point elimination module (5201) and a crack skeleton extraction module (5202), the image isolated point elimination module (5201) is used for eliminating the noise point in the image five and obtaining an image six, and the crack skeleton extraction module (5202) is used for carrying out skeleton extraction on the crack of the image six and obtaining an image seven.

2. The crack detection and repair system for bridge construction according to claim 1, characterized in that: pretreatment mechanism (2000) is including adjusting part (2100), the preliminary treatment cover body (2200), clearance subassembly (2300) and preliminary clearance subassembly (2400), adjust adjusting part (2100) and locate the front end of automobile body (1000), adjust adjusting part (2100) including preliminary treatment regulation fixed plate (2101), preliminary treatment accommodate the lead screw (2102), preliminary treatment adjust drive wheel (2103), preliminary treatment adjust drive belt (2104) and preliminary treatment accommodate motor (2105), preliminary treatment adjust the front end of fixed plate (2101) symmetry in automobile body (1000), preliminary treatment accommodate the lead screw (2102) and rotate and locate on preliminary treatment adjust fixed plate (2101), preliminary treatment adjust drive wheel (2103) and preliminary treatment accommodate lead screw (2102) coaxial rigid coupling, preliminary treatment adjust drive wheel (2104) around locating on preliminary treatment adjust drive wheel (2101), preliminary treatment adjust motor (2105) locate on preliminary treatment adjust fixed plate (2101), preliminary treatment adjust drive wheel (2102) coaxial rigid coupling with preliminary treatment accommodate the output of lead screw (2102).

3. The crack detection and repair system for bridge construction as claimed in claim 2, wherein: the pretreatment cover body (2200) is in threaded connection with the pretreatment adjusting screw rod (2102), the pretreatment cover body (2200) is provided with an opening at the bottom, and a cleaning partition plate (2201) is arranged in the pretreatment cover body (2200).

4. The crack detection and repair system for bridge construction as claimed in claim 3, wherein: the cleaning assembly (2300) is arranged on the pretreatment cover body (2200), the cleaning assembly (2300) comprises a protective cover (2301), a primary driving transmission wheel (2302), a primary driven transmission wheel (2303), a primary driving transmission belt (2304), a cleaning driving motor (2305), a cleaning driving gear (2306), a cleaning driven gear (2307), a secondary transmission wheel (2308), a secondary transmission belt (2309), a cleaning disc (2310) and a brush layer (2311), the protective cover (2301) is arranged on the pretreatment cover body (2200), the primary driving transmission wheel (2302) is rotatably arranged on the pretreatment cover body (2200) and is arranged in the cleaning partition plate (2201), the primary driven transmission wheel (2303) is rotatably arranged on the pretreatment cover body (2200) and is arranged in the cleaning partition plate (2201), the primary driving transmission belt (2304) is wound on the primary driving transmission wheel (2302) and the primary driven transmission wheel (2303), the cleaning driving motor (2305) is arranged on the pretreatment cover body (2200) and is fixedly connected with the cleaning driving gear (2306) coaxially arranged above the pretreatment cover body (2200), and the cleaning driving gear (2306) is fixedly connected with the cleaning driving gear (2306), the cleaning driven gear (2307) is rotatably arranged in the pretreatment cover body (2200) and is arranged above the cleaning partition plate (2201), the cleaning driven gear (2307) and the cleaning driving gear (2306) are arranged in a meshed manner, the secondary driving gear (2308) is rotatably arranged in the pretreatment cover body (2200) and is arranged above the cleaning partition plate (2201), the secondary driving belt (2309) is wound on the secondary driving gear (2308), the cleaning driving gear (2306) is coaxially and fixedly connected with a group of secondary driving wheels (2308) close to the cleaning driving gear (2306), the cleaning driven gear (2307) is coaxially and fixedly connected with a group of secondary driving wheels (2308) close to the cleaning driven gear (2307), a plurality of groups of cleaning discs (2310) are rotatably arranged in the pretreatment cover body (2200) and are arranged below the cleaning partition plate (2201), the cleaning discs (2310) are coaxially and fixedly connected with the secondary driving wheels (2308), and the bristle layer (2311) is arranged at the bottom of the cleaning disc (2310).

5. The crack detection and repair system for bridge construction as claimed in claim 4, wherein: the cleaning assembly (2400) is arranged on the outer side wall of one side, away from the vehicle body (1000), of the pretreatment cover body (2200), the cleaning assembly (2400) comprises a cleaning annular embedded plate (2401), a cleaning annular plate (2402) and a fixing bolt (2403), the cleaning annular embedded plate (2401) is arranged on the outer side wall of one side, away from the vehicle body (1000), of the pretreatment cover body (2200), the cleaning annular plate (2402) is connected to the cleaning annular embedded plate (2401) in a sliding plugging mode, the fixing bolt (2403) is connected to the cleaning annular embedded plate (2401) in a threaded mode, and the fixing bolt (2403) is in contact with the cleaning annular plate (2402).

6. The crack detection and repair system for bridge construction as claimed in claim 5, wherein: the atomization cleaning recovery assembly (3000) comprises a water storage tank (3001), a collection box (3002), an air outlet through hole (3003), an exhaust fan blade (3004), an exhaust hood (3005), an arc-shaped atomization spray head (3006), a flexible elastic atomization spray pipeline (3007), a liquid outlet pipeline (3008), a collection hood (3009), a collection hood (3010) and a flexible elastic collection pipeline (3011), the water storage tank (3001) is arranged on a vehicle body (1000), a transparent visual window (3012) is arranged on the water storage tank (3001), the collection box (3002) is arranged on the vehicle body (1000), a filter screen plate (3013) is arranged in the collection box (3002), the air outlet through hole (3004) is arranged on the collection box (3002), the exhaust hood (3004) is rotatably arranged in the air outlet through hole (3003), the exhaust hood (3005) is covered on the air outlet through hole (3003) and is arranged outside the collection box (3002), the arc-shaped atomization spray head (3006) is arranged in the atomization treatment cover body (2200), one end of the atomization spray head (3006) is arranged on one side wall of the atomization spray nozzle (3006), and the atomization spray hole (3005) is arranged on one side wall (2201), the other end intercommunication of gentle elasticity atomizing spray tube way (3007) is located on arc atomizer (3006), the intercommunication is equipped with air current entering chamber (3016), air current compression chamber (3017) and air current play chamber (3018) in gentle elasticity atomizing spray tube way (3007) in proper order, air current entering chamber (3016) is the intercommunication setting with exhaust hood (3005), air current send out chamber (3018) and arc atomizer (3006) and be the intercommunication setting, air current compression chamber (3017) are from air current entering chamber (3016) to the cross-sectional area of air current send out chamber (3018) direction reduces gradually, the cross-sectional area that the air current got into chamber (3016) and air current compression chamber (3017) are close to the cross-sectional area that the air current got into chamber (3016) one end and equal, the cross-sectional area that the air current sent out chamber (3018) one end was close to air current send out chamber (3018) on air current compression chamber (3017) equals, the lower extreme intercommunication of play liquid pipeline (3008) is located on storage water tank (3001), the last end of last air current compression chamber (3018) is close to collecting hood (3019) collection cover (3009) collection chamber (3019) collect the one side wall (3009) collect the one side wall (3010) collect the last collection cover body (3009) collect the one side wall (3019), the other end of the flexible and elastic collecting pipeline (3011) is communicated with the collecting cover (3010).

7. The crack detection and repair system for bridge construction according to claim 6, wherein: the repairing mechanism (4000) comprises an adjusting component (4100) and a repairing component (4200), wherein the adjusting component (4100) is arranged at the bottom of the rear end of the vehicle body (1000), and the repairing component (4200) is arranged at the rear end of the vehicle body (1000).

8. The crack detection and repair system for bridge construction according to claim 7, wherein: the adjusting assembly (4100) comprises a transverse adjusting motor (4101), a transverse adjusting screw rod (4102), a transverse adjusting transmission wheel (4103), a transverse adjusting transmission belt (4104), a transverse adjusting seat (4105), a longitudinal adjusting screw rod (4106), a longitudinal adjusting motor (4107), a longitudinal adjusting transmission wheel (4108), a longitudinal adjusting transmission belt (4109), a longitudinal adjusting seat (4110) and a vertical adjusting electric push rod (4111), wherein the transverse adjusting screw rod (4102) is symmetrically and rotatably arranged at the bottom of the vehicle body (1000), the transverse adjusting motor (4101) is arranged at the bottom of the vehicle body (1000), the output end of the transverse adjusting motor (4101) is coaxially and fixedly connected with a group of transverse adjusting screw rods (4102) close to the transverse adjusting motor (4101), the transverse adjusting transmission wheel (4103) is symmetrically and rotatably arranged at the bottom of the vehicle body (1000), the transverse adjusting transmission belt (4103) is coaxially and fixedly connected with the transverse adjusting screw rod (4102), the transverse adjusting transmission belt (4104) is arranged on the transverse adjusting transmission wheel (4103) in a winding way, the transverse adjusting transmission wheel seat (4105) is arranged at the base (4106) in a way, the group of the transverse adjusting screw rod (4105) is connected with the longitudinal adjusting motor (4107) which is symmetrically and the group of the longitudinal adjusting screw rod (4107), the longitudinal adjusting screw rod (4105) close to the longitudinal adjusting motor (4107), the longitudinal adjusting motor (4105), the longitudinal adjusting screw rod (4105) and longitudinally adjusting motor (4105) is arranged at the bottom of the longitudinal adjusting motor (4105), the longitudinal adjusting motor (4105) and the longitudinal adjusting motor (4107) close to the transverse adjusting motor (4105) and the transverse adjusting motor (4105) base (4105) and the transverse adjusting motor (4105) and the longitudinal adjusting motor (4105) and fixedly arranged at the bottom of the transverse adjusting motor (4105) and the transverse adjusting motor (4105) is arranged at the bottom of the transverse adjusting motor (4105) The rod (4106) is coaxially and fixedly connected, the longitudinal adjusting driving wheel (4108) is symmetrically and rotatably arranged at the bottom of the transverse adjusting seat (4105), the longitudinal adjusting driving belt (4109) is wound on the longitudinal adjusting driving wheel (4108), the longitudinal adjusting seat (4110) is in threaded connection with the longitudinal adjusting screw rod (4106), and the vertical adjusting electric push rod (4111) is arranged at the bottom of the longitudinal adjusting seat (4110).

9. The crack detection and repair system for bridge construction according to claim 8, characterized in that: the repairing assembly (4200) comprises a storage cylinder body (4201), a delivery pump (4202), a communicating pipeline (4203) and a flexible delivery pipeline (4204), the storage cylinder body (4201) is arranged at the rear end of the vehicle body (1000), a liquid level observation window II (4206) is arranged on the storage cylinder body (4201), the delivery pump (4202) is arranged at the rear end of the vehicle body (1000), the communicating pipeline (4203) is communicated between the storage cylinder body (4201) and the delivery pump (4202), a repairing head (4205) is arranged at the lower end of the vertical adjusting electric push rod (4111), one end of the flexible delivery pipeline (4204) is communicated with the delivery pump (4202), and the other end of the flexible delivery pipeline (4204) is communicated with the repairing head (4205).

10. The crack detection and repair system for bridge construction according to claim 9, wherein: be equipped with receiving and dispatching antenna (6002) on automobile body (1000), be equipped with battery (6003) on automobile body (1000), the bilateral symmetry of automobile body (1000) is equipped with two liang of traveling wheel (6004) for a set of, controller (6007) wireless connection has remote controller (6005), be equipped with signal transceiver (6006) on remote controller (6005), battery (6003) and receiving and dispatching antenna (6002), image acquisition camera (6001), controller (6007), delivery pump (4202), horizontal accommodate motor (4101), vertical accommodate motor (4107), exhaust flabellum (3004), preliminary treatment accommodate motor (2105) and clearance driving motor (2305) electric connection, controller (6007) is the singlechip of STM32 model.

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