Underwater pile foundation cleaning and detecting integrated device and pile climbing robot

Abstract

The invention discloses an underwater pile foundation cleaning and detecting integrated device and a pile climbing robot, the integrated device comprises a frame unit, a cleaning unit and a detecting unit, the bottom of the frame unit is fixed to the top of the pile climbing robot, the middle of the frame unit is provided with a connecting part, and the connecting part is arranged outside a pile foundation in a sleeving mode; the cleaning unit comprises at least one chemical reagent spray-washing assembly and at least one boiling water flushing assembly, and the chemical reagent spray-washing assembly and the boiling water flushing assembly are arranged at the top of the frame unit; the detection unit comprises at least one camera detection assembly and at least one impact echo detection assembly, and the camera detection assembly and the impact echo detection assembly are arranged on the top of the frame unit. The technical problems that in the prior art, the function is single, the adaptability is poor, the integration degree is low, the cleaning effect is poor, and the detection precision is insufficient are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater engineering structure maintenance, and particularly relates to a kind of underwater pile foundation cleaning, detection integrated device and pile climbing robot. BACKGROUND

[0002] With the rapid development of global infrastructure, bridge, port, offshore wind farm and offshore platform and other large engineering projects are increasing, the pile foundation of these structures as the core bearing element, long-term immersion in complex underwater environment, facing water scouring, biological attachment, chemical corrosion, saline-alkali erosion and mechanical damage and other threats, these factors lead to the surface of pile foundation easy to attach moss, algae, shellfish and dirt and other pollutants, while its internal may also appear steel corrosion, concrete cracks, cavities and strength reduction and other diseases, if not timely cleaning and detection of pile foundation, these diseases will seriously weaken the bearing capacity and durability of pile foundation, cause structural stability to decline, even lead to catastrophic accidents (such as bridge collapse or platform overturning), direct threat to public safety and economic operation.

[0003] However, the cleaning and detection of underwater pile foundation in the prior art are often performed by independent cleaning equipment and detection equipment, for example, using a high-pressure water jet cleaning system to clean the pile foundation and using a robot to detect the image of the pile foundation to identify the disease site. This way needs to switch equipment multiple times during operation, and the connection between each step is not smooth, the overall process is fragmented, resulting in low operation efficiency; in addition, the cleaning equipment and detection equipment used in the prior art often use single function structure, for example, only using chemical agent spray, X-ray detection or infrared camera, which has the disadvantages of poor cleaning effect and low detection precision.

[0004] In summary, although the existing underwater pile foundation cleaning and detection technology has achieved certain application effect in a specific field, the single function, low efficiency and high cost have become the industry pain point, so it is urgent to design an integrated device integrating cleaning and detection functions to solve the above technical problems. SUMMARY

[0005] The present application aims to provide an underwater pile foundation cleaning and detection integrated device and pile climbing robot to solve the technical problems of single function, low efficiency, poor cleaning effect and low detection precision of the existing independent equipment for underwater pile foundation cleaning and detection.

[0006] The technical solution adopted by the present application to solve the above technical problems is as follows: In a first aspect, the present application provides an underwater pile foundation cleaning and detection integrated device, comprising: a frame unit, a bottom of which is fixed to a top of the pile climbing robot, the frame unit having a connecting portion in the middle, the connecting portion being sleeved on the outside of the pile foundation to mount the integrated device on the outside of the pile foundation; a cleaning unit, comprising at least one chemical agent spraying assembly and at least one boiling water flushing assembly, the chemical agent spraying assembly and the boiling water flushing assembly being respectively arranged on the top of the frame unit; a detection unit, comprising at least one camera detection assembly and at least one impact echo detection assembly, the camera detection assembly and the impact echo detection assembly being respectively arranged on the top of the frame unit; wherein the plurality of camera detection assemblies, the plurality of impact echo detection assemblies, the plurality of chemical agent spraying assemblies and the plurality of boiling water flushing assemblies are staggered arranged.

[0007] In some embodiments, further comprising a control unit, the control unit being signal connected with the frame unit, the chemical agent spraying assembly, the boiling water flushing assembly, the camera detection assembly and the impact echo detection assembly respectively.

[0008] In some embodiments, the frame unit comprises a fan-shaped mounting seat, a telescopic beam, a telescopic track and a driving member, a plurality of the telescopic beams are respectively arranged between every two adjacent fan-shaped mounting seats and fixedly connected with the fan-shaped mounting seats at both ends, the telescopic track is arranged on the top of the plurality of fan-shaped mounting seats, an intermediate through hole formed by the telescopic track forms the connecting portion, the driving member is connected with the telescopic track and / or the telescopic beam to drive the telescopic beam and / or the telescopic track to move away from the center of the fan-shaped mounting seat or move towards the center of the fan-shaped mounting seat, so as to change the aperture of the connecting portion to adapt to different pile foundations.

[0009] In some embodiments, the frame unit further comprises a magnetic attachment, a plurality of the magnetic attachments are respectively arranged at the bottom of the plurality of fan-shaped mounting seats to connect the fan-shaped mounting seat with the pile climbing robot.

[0010] In some embodiments, the chemical agent spraying assembly comprises a liquid storage tank and a nozzle, the liquid storage tank is arranged on the top of the telescopic track, one side of the liquid storage tank is formed with a chemical agent adding port, the nozzle is communicated with the liquid storage tank through a pipeline.

[0011] In some embodiments, the chemical agent spraying assembly further comprises a bottom plate and a roller, the roller is connected with the telescopic track in a matching mode and arranged at the bottom of the bottom plate, the liquid storage tank is fixed on the top of the bottom plate, the liquid storage tank can move on the telescopic track under the driving of the roller.

[0012] In some embodiments, a water storage cavity is formed inside the fan-shaped mounting seat, and a water injection opening is formed on the outer side of the fan-shaped mounting seat and communicates with the water storage cavity. The boiling water flushing assembly comprises a boiling water nozzle and a brush, wherein the boiling water nozzle is installed on the top of the fan-shaped mounting seat and communicates with the water storage cavity through a pipeline, and the brush is installed on the telescopic track and located directly behind the boiling water nozzle.

[0013] In some embodiments, the camera detection assembly comprises a waterproof shell, an X-ray generator and an infrared camera, wherein the waterproof shell is installed on the top of the telescopic track, the X-ray generator and the infrared camera are arranged in the waterproof shell, the X-ray generator is aligned with the pile foundation, and the X-ray generator is arranged in parallel with the infrared camera.

[0014] In some embodiments, the impact echo detection assembly comprises a fixing plate, a power member, a transmission member, an impact hammer and a probe, wherein the fixing plate is slidably connected to the telescopic track, the power member is installed on the fixing plate, the impact hammer is connected to the power member through the transmission member, and the probe is arranged on the shell of the power member and faces the pile foundation.

[0015] In the second aspect, the application further provides a pile climbing robot comprising a robot main body and the underwater pile foundation cleaning and detecting integrated device of the first aspect of the application, wherein the underwater pile foundation cleaning and detecting integrated device is installed on the top of the robot main body.

[0016] Compared with the prior art, the application has the following beneficial effects: The underwater pile foundation cleaning and detecting integrated device provided by the application integrates the cleaning unit and the detecting unit on the frame unit, realizes the integration of the underwater pile foundation cleaning and detecting equipment, and realizes the seamless operation process of "positioning-cleaning-detecting" without replacing the equipment when the integrated device designed by the application is used to clean and detect the underwater pile foundation, thereby saving the operation time and significantly improving the operation efficiency.

[0017] The integrated device is fixed on the top of the pile climbing robot, and the integrated device is driven to move freely on the surface of the pile foundation by the movement of the pile climbing robot, so that the cleaning and detection of each part of the pile foundation can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1is the overall structural schematic view of the underwater pile foundation cleaning and detecting integrated device provided by the application; Figure 2 is Figure 1 the bottom view; Figure 3 is the structural schematic view of the chemical reagent spray cleaning assembly; Figure 4 is the structural schematic view of the boiling water flushing assembly; Figure 5 is the structural schematic view of the camera detecting assembly; Figure 6 is the structural schematic view of the impact echo detecting assembly.

[0019] Mark explanation: 100, frame unit, 110, fan-shaped mounting seat, 111, water injection port, 120, telescopic beam, 130, telescopic track, 140, driving piece, 150, magnetic attraction accessory; 200, cleaning unit, 210, chemical reagent spray cleaning assembly, 211, liquid storage tank, 2111, chemical reagent adding port, 212, nozzle, 213, bottom plate, 214, roller, 220, boiling water flushing assembly, 221, boiling water spray head, 222, brush; 300, detecting unit, 310, camera detecting assembly, 311, waterproof shell, 312, X-ray generator, 313, infrared camera, 320, impact echo detecting assembly, 321, fixing plate, 322, power piece, 323, transmission piece, 324, impact hammer, 325, probe. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the present application.

[0021] The present application provides an underwater pile foundation cleaning and detecting integrated device aiming at the problems of single function, low operation efficiency, high safety risk and high cost of the existing underwater pile foundation cleaning and detecting device. Through the integrated module design, telescopic track, electromagnetic attraction, double-mode cleaning and multi-sensor detection, the above-mentioned deficiencies of the prior art are overcome, and efficient, adaptable and environmentally friendly cleaning and detecting operation is realized.

[0022] As Figures 1-2As shown, in the first aspect, the present application provides an underwater pile foundation cleaning and detecting integrated device, which comprises a frame unit 100, a cleaning unit 200 and a detecting unit 300, the bottom of the frame unit 100 is fixed on the top of a pile climbing robot, the middle of the frame unit 100 has a connecting part, the connecting part is sleeved on the outside of the pile foundation to install the integrated device on the outside of the pile foundation to realize seamless integration with the pile climbing robot, the moving ability of the pile climbing robot is utilized to freely move on the surface of the outside of the pile foundation, and then the cleaning and detection of each part of the pile foundation are carried out; the cleaning unit 200 comprises at least one chemical agent spraying assembly 210 and at least one boiling water flushing assembly 220, the chemical agent spraying assembly 210 and the boiling water flushing assembly 220 are arranged on the top of the frame unit 100 respectively; the detecting unit 300 comprises at least one camera detecting assembly 310 and at least one impact echo detecting assembly 320, the camera detecting assembly 310 and the impact echo detecting assembly 320 are arranged on the top of the frame unit 100 respectively; and the plurality of camera detecting assemblies 310, the plurality of impact echo detecting assemblies 320, the plurality of chemical agent spraying assemblies 210 and the plurality of boiling water flushing assemblies 220 are staggered arranged on the top of the frame unit 100.

[0023] Thus, the underwater pile foundation cleaning and detecting integrated device provided by the present application is used to clean and detect the underwater pile foundation, since the cleaning unit 200 and the detecting unit 300 are integrated on the frame unit 100, the integration of the underwater pile foundation cleaning and detecting equipment is realized, so that the equipment does not need to be replaced, the operation time is saved, and the operation efficiency is significantly improved; at the same time, the cleaning unit 200 of the present application comprises at least one chemical agent spraying assembly 210 and at least one boiling water flushing assembly 220, and the detecting unit 300 comprises at least one camera detecting assembly 310 and at least one impact echo detecting assembly 320, and the top of the frame unit 100 is staggered with the chemical agent spraying assembly 210, the boiling water flushing assembly 220, the camera detecting assembly 310 and the impact echo detecting assembly 320, so that cleaning and detecting components are arranged on each part around the pile foundation, therefore, the cleaning quality and the thoroughness of cleaning are improved, and the detection accuracy and reliability are improved, thereby prolonging the service life of the pile foundation.

[0024] In addition, the underwater pile foundation cleaning and detecting integrated device provided by the present application further comprises a control unit, the control unit is signal connected with the frame unit 100, the chemical agent spraying assembly 210, the boiling water flushing assembly 220, the camera detecting assembly 310 and the impact echo detecting assembly 320 respectively, so as to realize the automatic operation of the device.

[0025] The structure of each component of the underwater pile foundation cleaning and detecting integrated device provided by the present application is described in detail below.

[0026] In one embodiment, the overall structure of the frame unit 100 adopts a ring-shaped or rectangular frame design, depending on the external shape of the pile foundation. The frame unit 100 includes a fan-shaped mounting base 110, a telescopic beam 120, a telescopic track 130, and a driving component 140. The multiple telescopic beams 120 are respectively arranged between every two adjacent fan-shaped mounting bases 110 and their two ends are fixedly connected to the fan-shaped mounting bases 110. The telescopic track 130 is arranged on the top of the multiple fan-shaped mounting bases 110. The central through hole formed by the telescopic track 120 forms the connecting part. The driving component 140 is connected to the telescopic track 130 and / or the telescopic beam 120 to drive the telescopic beam 120 and / or the telescopic track 130 to move away from the center of the fan-shaped mounting base 110 or towards the center of the fan-shaped mounting base 110, thereby changing the diameter of the connecting part to adapt to different pile foundations.

[0027] In one embodiment, the number of the sector-shaped mounting base 110 and the telescopic beam 120 is four. The four sector-shaped mounting bases 110 are connected by the four telescopic beams 120 to form a ring. The telescopic track 130 is composed of multiple track segments. The driving component 140 can drive the telescopic track 130 and the telescopic beam 120, or drive the telescopic track 130 and the telescopic beam 120 simultaneously, so as to change the size of the connection part to adapt to pile foundations of different sizes. Therefore, the integrated device of the present invention can adapt to pile foundations of different sizes, and compared with the prior art, the adaptability of the device is improved.

[0028] In one embodiment, the fan-shaped mounting base 110, the telescopic beam 120, and the telescopic track 130 are made of corrosion-resistant aluminum alloy or titanium alloy, with a waterproof rating of IP68, a working depth of 50-100 meters, and a total weight of 20-30 kg, making them easy to transport and install.

[0029] In one embodiment, the telescopic beam 120 can be in the form of a telescopic sleeve or a linear motor.

[0030] In one embodiment, the telescopic track 130 preferably consists of two parallel telescopic arms, each arm adopting a multi-section sleeve structure (similar to a telescopic ladder, made of stainless steel or carbon fiber composite pipe). Driven by an electric push rod, one end of the telescopic track 130 is fixed to the top of the fan-shaped mounting base 110 and connected by a bearing. The other end can be connected to the moving platform of the chemical reagent spraying assembly 210 and the impact echo detection assembly 320. The telescopic track 130 can move away from the center of the fan-shaped mounting base 110 or move closer to the center of the fan-shaped mounting base 110, thereby changing the diameter of the connecting part to adapt to different pile foundations and improving the coverage of the pile foundation application range. The moving platform carries the chemical reagent spraying assembly 210 and the impact echo detection assembly 320 along the track to achieve 360° operation without blind spots.

[0031] In one embodiment, the frame unit 100 further includes magnetic adsorption components 150, and a plurality of magnetic adsorption components 150 are respectively disposed at the bottom of a plurality of fan-shaped mounting bases 110 for connecting the fan-shaped mounting bases 110 and the climbing robot.

[0032] In one embodiment, the magnetic adsorption component 150 is an electromagnet, such as an industrial-grade DC electromagnet with a diameter between 10-15cm and an adsorption force between 500-1000N. The electromagnet is connected to a power source and generates a magnetic field to adsorb onto the metal surface on the top of the climbing robot after being powered on.

[0033] In one embodiment, such as Figure 3 As shown, the chemical reagent spraying assembly 210 includes a storage tank 211 and a nozzle 212. The storage tank 211 is located on the top of the telescopic track 130. A chemical reagent adding port 2111 is formed on one side of the storage tank 211. The nozzle 212 is connected to the outlet tank 211 through a pipeline. A high-pressure pump is also installed on the pipeline.

[0034] In one embodiment, the chemical reagent spraying assembly 210 further includes a base plate 213 and rollers 214. The rollers 214 are connected to the telescopic track 130 and are disposed at the bottom of the base plate 213. The liquid storage tank 211 is fixed to the top of the base plate 213 and can move on the telescopic track 130 under the drive of the rollers 214.

[0035] In the above technical solution, chemical reagents can be injected into the storage tank 211 through the chemical reagent addition port 2111. Under the action of the high-pressure pump, the chemical reagents are sprayed out to the outside of the pile foundation through the nozzle 212 via the pipeline to clean it. The purpose of setting rollers 214 under the base plate 213 is to enable the chemical reagent spraying assembly 210 to move on the telescopic track 130 to clean the pile foundation 360 degrees without dead angles, so as to achieve the purpose of thorough cleaning.

[0036] In this embodiment, there are two chemical reagent spray washing components 210 arranged symmetrically. The storage tank 211 has a capacity of 5-10L, is cylindrical, and is made of acid and alkali resistant polyethylene. The high-pressure pump installed on the tank is a miniature diaphragm pump with a power of 50-100W and a pressure of 0.5-2MPa. The high-pressure pump is connected to the control unit. The nozzle 212 is a conical nozzle with an adjustable spray angle of 0-90°.

[0037] In one embodiment, such as Figure 4 As shown, the fan-shaped mounting base 110 has a water storage cavity inside, and the outer side of the fan-shaped mounting base 110 has a water inlet 111 that communicates with the water storage cavity; the boiling water flushing assembly 220 includes a boiling water nozzle 221 and a brush 222. The boiling water nozzle 221 is mounted on the top of the fan-shaped mounting base 110 and communicates with the water storage cavity through a pipe. The brush 222 is mounted on the telescopic track 130 and is located directly behind the boiling water nozzle 221.

[0038] In one embodiment, a water tank (rectangular, made of stainless steel) can be installed on the side of the fan-shaped mounting base 110. The water tank contains heating wires to heat the water in the storage chamber. Two brushes 222, each 5-10 cm in diameter, are spirally arranged steel wires, 2-5 mm in length. In this embodiment, heating the water to boiling (95-100℃) and spraying it from the boiling water nozzle 221 softens the adhering substances. Then, the brushes 222 are used to rotate and scrub away the residue, ensuring a surface cleanliness of >95% for the pile foundation.

[0039] In the above technical solution, ultrasonic cleaning can also be used to replace the boiling water rinsing component 220 of the present invention. Ultrasonic cleaning is suitable for low temperature environments. In the detection process, a laser scanner is used to replace X-rays to reduce radiation.

[0040] Furthermore, the above technical solution can also retain only chemical cleaning and X-ray detection; this structural composition is suitable for shallow water. If the water is turbid, sonar can be added. The above illustrates that the structure of this invention can be flexibly adjusted according to actual needs, while the frame unit 100 is an essential structural element.

[0041] In one embodiment, such as Figure 5As shown, the camera detection assembly 310 includes a waterproof housing 311, an X-ray generator 312, and an infrared camera 313. The waterproof housing 311 is mounted on top of the telescopic track 130. The X-ray generator 312 and the infrared camera 313 are housed within the waterproof housing 311. The X-ray generator 312 is aligned with the pile foundation, and the X-ray generator 312 and the infrared camera 313 are arranged parallel to each other. The X-ray generator 312 is portable, with a power of 100-200W and a radiation dose <1mSv / h. The infrared camera 313 has a resolution of 640x480 and a wavelength of 8-14μm. The waterproof housing 311 is made of aluminum alloy with a thickness of 5mm. The X-ray generator 312 can emit X-rays to penetrate the pile body to image and detect steel bar fractures, and uses infrared thermal imaging to identify cracks.

[0042] In one embodiment, such as Figure 6 As shown, the impact echo detection assembly 320 includes a fixed plate 321, a power component 322, a transmission component 323, an impact hammer 324, and a probe 325. The fixed plate 321 is slidably connected to the telescopic track 130. The power component 322 is mounted on the fixed plate 321. The impact hammer 324 is connected to the power component 322 through the transmission component 323. The probe 325 is disposed on the housing of the power component 322 and faces the pile foundation. The impact echo detection assembly 320 is used to assess damage inside the pile foundation.

[0043] Secondly, the present invention provides a pile-climbing robot, including a robot body and the integrated underwater pile foundation cleaning and inspection device described in the first aspect of the present invention, wherein the integrated underwater pile foundation cleaning and inspection device is installed on the top of the robot body.

[0044] The integrated device provided by this invention is applied to a deep-water bridge pile foundation maintenance scenario. The scenario is assumed to be the maintenance of a cross-river bridge pile foundation in deep water, approximately 20 meters deep, with piles 1.5 meters in diameter, covered with moss and algae, and suspected internal steel reinforcement corrosion and cracks. A pile-climbing robot has been deployed to the pile foundation location, and the integrated device of this invention is operated via a shore-based remote control system. The following is a complete example of the device's operation process, demonstrating its work step-by-step, including preparation, installation, cleaning, inspection, and completion stages. The entire process is expected to take 30-45 minutes, which is 2-3 times shorter than traditional manual diving operations. 1. Preparation phase (onshore operation, lasting 5-10 minutes): Operator checks device status: confirms electromagnet power supply is normal, liquid tank 211 is filled with environmentally friendly chemical reagent (5L, concentration 8%, pH 7.5, for dissolving moss), water tank is filled with clean water (4L), heating wire and motor are fault-free; detection unit 300 (such as X-ray generator 312 and infrared camera 313) is calibrated, and ensures waterproof housing is sealed intact (IP68 rating). Input the following parameters into the control unit: diameter 1.5 meters, cylindrical shape, expected damage type is surface adhesion and internal cracks, device weight 25 kg, easy to manually place on top of the climbing robot; The climbing robot is lowered into the water to the pile foundation location, and the device is submerged underwater along with the robot (deployment is assisted by a sling). 2. Installation and positioning phase (initial underwater fixation, taking 3-5 minutes): The device is placed on top of the climbing robot, aligned with the metal adsorption surface. The operator remotely powers the electromagnet (current 8A) to generate an 800N adsorption force. The module is firmly fixed within 2 seconds to avoid interference from water flow (flow velocity 1m / s). After fixing, the built-in sensor feeds back the adsorption stability signal to the shore-based screen. Activate telescopic track 130: Adjust telescopic track 130 and telescopic beam 120 to a length of 1.8 meters (adapting to the pile diameter) according to the input parameters, and the track will be parallel and locked; the base plate 213 slides along the telescopic track 130 and is initially positioned to the lower attachment area of ​​the pile (positioning accuracy 0.5cm, controlled by a stepper motor at a speed of 100rpm). At this time, the device has adapted to the curved surface of the pile, ensuring full coverage without blind spots; 3. Cleaning stage (removal of surface contaminants, taking 10-15 minutes): Step 1: Chemical reagent spraying. With the base plate 213 pointing the nozzle 212 at the dense moss area (spray angle 45°, distance 15cm), start the high-pressure pump (power 80W, pressure 1MPa) and spray the reagent (flow rate 0.7L / min, continuous for 20 seconds). The reagent is evenly atomized and distributed, dissolving the algae attachments. The surface begins to soften. Let it stand for 1 minute to allow the chemical reaction to be complete (avoid overspraying and control pollution). Step 2: Cleaning with a combination of boiling water nozzles and stainless steel brushes. The water tank is heated to boiling by an electric heating wire (power 400W, heating time 3 minutes, temperature 98℃). The solenoid valve is opened, and boiling water nozzle 221 sprays boiling water (pressure 0.3MPa, flow rate 0.4L / min, duration 10 seconds) to further soften residual dirt. Then, brush 222 is activated (speed 200rpm, contact force 15N), and the spiral steel wire brushes the surface (the moving platform circles the pile body, optimizing the path to achieve 100% coverage). After brushing, the residue is rinsed off with the remaining clean water to ensure a surface cleanliness of 97% and no damage (intact coating). During the cleaning process, real-time monitoring is possible: high-definition cameras feed back images to the shore, and operators adjust the nozzle direction (increasing spray time in stubborn areas). After cleaning, pollutants do not spread into the water (closed system design), and environmental protection meets standards. 4. Detection Phase (Internal Disease Assessment, 8-10 minutes): Step 1: X-ray and infrared camera scanning, fixing plate 321 is repositioned to the suspected crack area (track sliding time 5 seconds), X-ray generator 312 is activated (power 150W, exposure 2 seconds) to penetrate the pile body and image, identifying the location of the steel bar fracture (rust signs at a depth of 15cm); at the same time, infrared camera 313 captures thermal difference images (frame rate 30fps) to detect cement cracks (width 0.5mm, thermal anomaly area protruding), and the data is transmitted to the processor through a waterproof cable. Preliminary analysis shows that the degree of damage is moderate. Step 2: Impact echo detection confirmation. The impact hammer 324 is driven by the power component 322 to fall (stroke 15cm, force 80N, frequency 3Hz), and the hammer hits the surface of the pile body 3 times to generate an echo. The lower sensing device (sensitivity 150mV / g) collects the signal (sampling rate 1kHz), and the processor software algorithm analyzes the waveform, quantifies the depth of the internal cavity (about 20cm) and the cement damage rate (strength reduction of 15%), and fuses data from multiple sensors (X-ray provides position, infrared thermogram, echo depth), with an accuracy of 96% and an error of <3cm. Real-time feedback: Detection data is uploaded to the shore base in real time (delay <1s). Operators can view the 3D damage model. If secondary cleaning is required (e.g., hidden dirt is detected), step 3 can be retraced. 5. Conclusion and Recovery Phase (Data Summary and Evacuation, 2-5 minutes): After the module completes its task, the telescopic track 130 retracts to its initial state, the electromagnet is de-energized and releases its adsorption, and the climbing robot carries the module to the surface for recovery. The shore-based system generates a report including before-and-after image comparisons, detection data charts (such as echo waveforms and X-ray images), and recommendations for subsequent repairs (such as grouting). The entire process is conducted without manual intervention in the water, reducing safety risks to zero. The total energy consumption is less than 1 kWh, resulting in a 40% cost saving.

[0045] The above examples demonstrate the integrated workflow of the integrated device of the present invention, which, with the support of the pile climbing robot, completes the entire process from fixing to cleaning and inspection in one go, efficiently treating deep-water pile foundation defects, and is applicable to actual projects such as bridges and docks.

[0046] In summary, the integrated underwater pile foundation cleaning and inspection device provided by this invention not only solves the pain points of existing technologies, but also performs excellently in terms of productivity, quality, accuracy, efficiency, energy saving, ease of operation, and environmental protection. It provides an efficient and intelligent solution for deep-water pile foundation maintenance, specifically including the following points: 1. Significantly improves work efficiency and saves processes and time: Existing technologies require multiple deployments of independent equipment for cleaning and inspection, resulting in a total operation time increase of over 50%. This invention, through an integrated modular design, combines chemical spraying, boiling water washing, X-ray inspection, infrared cameras, and shock echo detection into a single frame, achieving a seamless "positioning-cleaning-inspection" process; electromagnets quickly adhere to the top of the climbing robot, and telescopic tracks drive some cleaning and inspection components to move freely along the surface of the pile, avoiding equipment switching; dual cleaning modes and multi-sensor parallel operation enable a single operation to cover the entire surface, improving efficiency by 30-50%. 2. Improved cleaning quality and thoroughness, reducing surface damage: Existing high-pressure water jet or single brushing methods achieve only 80% cleaning thoroughness, easily causing 5-10% damage to the pile coating. This invention employs a dual-mode cleaning mechanism: chemical reagent spraying (for dissolving algae) combined with boiling water nozzles (95-100℃ to soften deposits) and stainless steel brushes (for physical removal), achieving complementary effects. The chemical reagent is first atomized and evenly distributed to dissolve moss, and then the boiling water, after heating, is used for spiral brushing to thoroughly remove residue, ensuring a removal rate of over 95%. The spray distance and pressure are adjustable, avoiding high-pressure damage to the surface, improving quality by 20%. This not only improves cleaning durability but also reduces the risk of secondary corrosion, extending the service life of the pile foundation. 3. Improved detection accuracy and reliability, reduced false positive rate: Existing optical or acoustic detection methods have an accuracy of only 60-70% in low visibility environments, with an error of 10-20cm. This invention integrates an X-ray generator (penetrating and imaging steel bar fractures), an infrared camera (thermal difference identification of cracks), and an impact echo detection component (assessing internal damage). Through real-time analysis by a data processor combined with scanning along a track by some cleaning and detection components, the accuracy can be improved to 95%, and the error reduced to within 5%. The waterproof shell and anti-interference design ensure stable data acquisition in turbid water, reducing false positives caused by environmental interference and resulting in better quality control. 4. Enhanced adaptability and versatility, suitable for various pile sizes: Existing equipment with fixed frames struggles to handle piles with varying diameters, resulting in blind spots of 20-30%. This invention's telescopic track system can adapt to cylindrical or square piles with diameters of 0.5-3m, improving the equipment's applicability in complex scenarios such as bridges and docks, saving on customized raw materials and processes, and increasing versatility by 40%. 5. Reduced energy consumption and costs, improved economic efficiency: Existing heavy-duty ROVs have high energy consumption (power > 500W) and cost over one million US dollars. This invention features a lightweight frame (aluminum alloy material) and low-power components (50-100W pump, 20-50W motor), reducing overall energy consumption by 20%. Modular interfaces simplify maintenance (quick connector disassembly), and electromagnet adsorption reduces the need for auxiliary equipment. Dual cleaning modes optimize resource utilization (reagent concentration 5-10%, water tank 3-5L), saving 30% on raw materials and reducing total costs to 70% of existing equipment, making it suitable for small and medium-sized projects. 6. Simplified operation, control, and use, improving safety and convenience: Existing technologies rely on manual remote control, which is complex and risky. This invention supports semi-autonomous control (automatic track positioning via parameter input through the control unit) and one-button electromagnet attraction; 7. Improved environmental performance and reduced pollution and ecological impact: Existing chemical spraying is prone to diffusion and residue, polluting water bodies and increasing biological mortality by 15%. This invention uses environmentally friendly reagents and a closed spraying system, combined with physical scrubbing to reduce the amount of chemicals used.

[0047] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An underwater pile foundation cleaning and detecting integrated device, characterized in that, The utility model relates to a pile climbing robot integrated device, comprising: a frame unit fixed at the top of the pile climbing robot, the frame unit having a connecting part in the middle, the connecting part being sleeved on the outside of the pile foundation to mount the integrated device on the outside of the pile foundation; a cleaning unit comprising at least one chemical agent spraying assembly and at least one boiling water flushing assembly, the chemical agent spraying assembly and the boiling water flushing assembly being respectively arranged at the top of the frame unit; a detection unit comprising at least one camera detection assembly and at least one impact echo detection assembly, the camera detection assembly and the impact echo detection assembly being respectively arranged at the top of the frame unit; wherein the plurality of camera detection assemblies, the plurality of impact echo detection assemblies, the plurality of chemical agent spraying assemblies and the plurality of boiling water flushing assemblies are staggered.

2. The integrated pile washing and inspecting apparatus according to claim 1, wherein The utility model further comprises a control unit, which is signal connected with the frame unit, the chemical agent spraying assembly, the boiling water flushing assembly, the camera detection assembly and the impact echo detection assembly respectively.

3. The integrated pile washing and testing apparatus according to claim 1, wherein The frame unit comprises a fan-shaped mounting seat, a telescopic beam, a telescopic track and a driving member, a plurality of telescopic beams are respectively arranged between every two adjacent fan-shaped mounting seats and are fixedly connected with the fan-shaped mounting seats at both ends, the telescopic track is arranged at the top of the plurality of fan-shaped mounting seats, the middle through hole surrounded by the telescopic track forms the connecting part, the driving member is connected with the telescopic track and / or the telescopic beam to drive the telescopic beam and / or the telescopic track to move in the direction away from the center of the fan-shaped mounting seat or in the direction close to the center of the fan-shaped mounting seat, so as to change the aperture of the connecting part to adapt to different pile foundations.

4. The integrated pile foundation cleaning and inspecting apparatus according to claim 3, wherein The frame unit further comprises magnetic accessories, a plurality of magnetic accessories are respectively arranged at the bottom of the plurality of fan-shaped mounting seats to connect the fan-shaped mounting seat with the pile climbing robot.

5. The integrated pile washing and testing apparatus according to claim 3, wherein The chemical agent spraying assembly comprises a liquid storage tank and a nozzle, the liquid storage tank is arranged at the top of the telescopic track, one side of the liquid storage tank is formed with a chemical agent adding port, and the nozzle is communicated with the liquid storage tank through a pipeline.

6. The integrated pile foundation cleaning and inspecting apparatus according to claim 5, wherein The chemical agent spraying assembly further comprises a bottom plate and a roller, the roller is connected with the telescopic track in a matched mode and is arranged at the bottom of the bottom plate, the liquid storage tank is fixed at the top of the bottom plate, and the liquid storage tank can move on the telescopic track under the driving of the roller.

7. The integrated pile washing and testing apparatus according to claim 3, wherein A water storage cavity is formed in the inside of the fan-shaped mounting seat, and a water injection port communicated with the water storage cavity is formed on the outside of the fan-shaped mounting seat. The boiling water flushing assembly comprises a boiling water nozzle and a brush, the boiling water nozzle is mounted at the top of the fan-shaped mounting seat and is communicated with the water storage cavity through a pipeline, and the brush is mounted on the telescopic track and located directly behind the boiling water nozzle.

8. The integrated pile foundation cleaning and inspecting apparatus according to claim 3, wherein The camera detection assembly comprises a waterproof shell, an X-ray generator and an infrared camera, the waterproof shell is mounted at the top of the telescopic track, the X-ray generator and the infrared camera are arranged in the waterproof shell, the X-ray generator is aligned with the pile foundation, and the X-ray generator is arranged in parallel with the infrared camera.

9. The integrated pile foundation cleaning and inspecting apparatus according to claim 3, wherein The impact echo detection assembly comprises a fixed plate, a power element, a transmission element, an impact hammer and a probe, the fixed plate is slidably connected to the telescopic rail, the power element is installed on the fixed plate, the impact hammer is connected with the power element through the transmission element, the probe is arranged on the shell of the power element, and the probe faces the pile foundation.

10. A pole climbing robot characterized by, Comprise: A robot body, and; The underwater pile foundation cleaning and detecting integrated device as claimed in any one of claims 1-9 is installed on the top of the robot body.

Images