Underwater pier detection method and underwater robot

Abstract

The embodiment of the invention discloses an underwater pier detection method and an underwater robot, which are used for accurately detecting the underwater part of a pier. The underwater pier detection method comprises the following steps of determining a target position where the underwater robot performs pressure detection on the pier in a water body,controlling the underwater robot to move tothe target position, controllingthe flexible pressure sensing module to make contact with a pier so that the flexible pressure sensing module can conduct pressure detection on the surface area of thepier,and acquiring a pressure distribution image according to the result of pressure detection of the flexible pressure sensing module on the surface area.

Description

technical field [0001] The embodiment of the present application relates to the field of bridge detection, in particular to an underwater bridge pier detection method and an underwater robot. Background technique [0002] The bridge pier is the main load-bearing component of the bridge pier, and most of the load of the bridge structure is transmitted to the foundation through the pier. The loss of bearing capacity of any pier will lead to the overall instability and destruction of the pier. The underwater part of the bridge pier has been eroded and corroded by water flow for a long time, which may cause damage such as defects, cracks, and exposed ribs, which seriously affects the service life of the bridge and even reduces the bearing capacity of the bridge. In order to ensure the normal traffic of the bridge and prolong the service life of the bridge, it is necessary to regularly detect the damage of the bridge piers, such as checking whether there are abnormal deformation...

AI Technical Summary

Problems solved by technology

However, this detection method has high requirements for divers, and in turbid water, divers cannot clearly observe the damage of the pier

[0004] In recent years, there have also been proposals to use robots to carry high-definition cameras and high-illuminance light sources to detect bridge piers, but the effect is not ideal in complex water bodies with high turbidity and many foreign objects, and the detection images will still be affected by harsh water conditions. quality, resulting in large detection errors

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