An immersion moving ultrasonic testing method and apparatus

Abstract

The present application relates to a kind of immersion mobile ultrasonic detection method and device, and detection device includes the ultrasonic detector forming water cushion between structure surface, mobile detection platform and detection chamber, ultrasonic detector and detection chamber are respectively fixed to mobile detection platform, detection chamber is covered in the outside of ultrasonic detector and is sealedly connected to structure surface, detection chamber is connected with water injection control system, vacuum liquid suction device for recycling the leakage water of detection chamber is arranged in the outer ring of detection chamber, and the leakage water recycled by vacuum liquid suction device is used to backflow to water injection control system.Can form stable water cushion between ultrasonic detector and structure surface, ultrasonic detector is fixed to mobile detection platform and is completely immersed in water, and can continuously move detection under the driving of mobile detection platform.Because the leakage water recycled by vacuum liquid suction device is used to backflow to water injection control system for reuse, it will not cause the excessive detection water consumption in detection process, improves the detection effective time length and mileage.

Description

An immersion-type mobile ultrasonic testing method and device Technical Field

[0001] This invention relates to the field of ultrasonic detection technology, specifically to an immersion-type mobile ultrasonic detection method and apparatus. Background Technology

[0002] Existing mobile ultrasonic testing devices can achieve high-precision and rapid acquisition of internal defect information of rock masses, structures or their composites. The key technical problem is to form a stable thickness water cushion layer between the ultrasonic testing device and the surface of the structure to continuously acquire ultrasonic reflection signals in a non-contact manner.

[0003] Therefore, ultrasonic receivers are typically housed within a water-filled ultrasonic receiving device (water-filled casing) to create a water cushion layer that facilitates the transmission of ultrasonic echo signals. However, during the operation of mobile ultrasonic testing devices, leakage inevitably occurs from the gap between the ultrasonic receiver and the structural surface. This necessitates a continuous water supply to the ultrasonic receiver, leading to high water consumption during testing and limitations on effective testing time and range due to water usage. Therefore, improving the efficiency of water usage during mobile ultrasonic testing becomes a core technical challenge for enhancing the practicality of mobile ultrasonic testing methods and devices. Summary of the Invention

[0004] To address the problems existing in the prior art, one of the objectives of this invention is to provide an immersion-type mobile ultrasonic testing device that can reduce the amount of water used in the testing process and increase the effective testing time and mileage.

[0005] In view of the problems existing in the prior art, the second objective of the present invention is to provide an immersion-type mobile ultrasonic detection method.

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

[0007] An immersion-type mobile ultrasonic testing device includes an ultrasonic detector forming a water cushion layer between itself and a structural surface, a mobile testing platform, and a testing chamber. The ultrasonic detector and the testing chamber are respectively fixed to the mobile testing platform. The testing chamber is covered by the ultrasonic detector and sealed to the structural surface. The testing chamber is connected to a water injection control system. A vacuum liquid suction device for recovering leaked water from the testing chamber is provided on the outer ring of the testing chamber. The leaked water recovered by the vacuum liquid suction device is returned to the water injection control system.

[0008] Furthermore, the vacuum liquid suction device includes a liquid suction chamber, a liquid collection chamber, a perforated partition, and a liquid suction capillary. The perforated partition is located between the liquid suction chamber and the liquid collection chamber. The two ends of the liquid suction chamber are respectively connected to the structural surface and the perforated partition. The liquid suction chamber is filled with a high-density liquid-absorbing sponge. The liquid suction capillary is inserted into the perforated partition and the liquid-absorbing sponge. The liquid collection chamber is connected to the vacuum liquid suction device.

[0009] Furthermore, both the detection chamber and the vacuum suction device are equipped with rubber sealing skirts for tightly adhering to the surface of the structure, forming a sealed space between the detection chamber and the vacuum suction device.

[0010] Furthermore, a water level sensor is installed in the detection chamber to detect whether the chamber is saturated with water, thereby controlling the water injection control system and the vacuum suction device to perform water injection and suction actions respectively.

[0011] Furthermore, the ultrasonic detector includes an ultrasonic transmitting sensor and an ultrasonic receiving sensor. The mobile detection platform is connected to an ultrasonic transmitting roller, which is in close contact with the surface of the structure. The ultrasonic transmitting sensor is built into the ultrasonic transmitting roller. The ultrasonic receiving sensor is covered with a receiving tube, which is located in the detection chamber. The receiving tube is sealed to the surface of the structure and connected to the water injection control system.

[0012] Furthermore, a lotus-shaped partition is provided inside the receiving tube, which is located between the water injection control system and the ultrasonic receiving sensor. High-density sponge is provided between the lotus-shaped partition and the ultrasonic receiving sensor.

[0013] An immersion-type moving ultrasonic testing method, employing an immersion-type moving ultrasonic testing device, includes the following steps.

[0014] The detection chamber is covered and sealed to the surface of the structure. Water is injected into the detection chamber through the water injection control system, so that the ultrasonic detector is submerged in the water inside the detection chamber, forming a stable water cushion layer between the ultrasonic detector and the surface of the structure.

[0015] A mobile inspection platform is used to drive an ultrasonic detector to perform continuous moving inspections on the surface of a structure.

[0016] A vacuum liquid suction device located outside the detection chamber is used to recover the leaked water in the detection chamber, and the recovered leaked water is returned to the water injection control system.

[0017] Furthermore, when using a vacuum liquid suction device to recover leaked water from the detection chamber, it also includes...

[0018] When inspecting the sidewalls of the structure, the water recovery hopper located below the vacuum suction device is used to re-recover the leaking water by closely adhering to the sidewalls of the structure.

[0019] When inspecting the top surface of the structure, a secondary water recovery ring set around the vacuum liquid suction device is used to closely adhere to the top surface of the structure to recover the leaking water.

[0020] All recovered leaked water is returned to the water injection control system for reuse.

[0021] Furthermore, a water level sensor installed in the detection chamber is used to detect the water level within the chamber.

[0022] When it is detected that the detection chamber is not full of water, the vacuum liquid suction device is controlled to stop sucking water, and the water injection control system is controlled to inject water until the detection chamber is full of water.

[0023] When the detection chamber is found to be saturated with water, the vacuum liquid suction device is controlled to start suctioning water, and the water injection control system is controlled to stop injecting water.

[0024] Furthermore, a receiving cylinder is installed in the detection chamber, closely attached to the surface of the structure, and submerged in water within the chamber. An ultrasonic receiving sensor is installed inside the receiving cylinder, and water is added to the cylinder to form a water cushion layer between the ultrasonic receiving sensor and the surface of the structure. The water pressure within the detection chamber is used to suppress leakage of the water cushion layer. Based on the water filling status of the receiving cylinder and the detection chamber, the water supply pressure and flow rate are reasonably controlled to reduce the impact of leakage of the water cushion layer on the stability of the water cushion layer and improve the formation quality of the stable water cushion layer.

[0025] In summary, the present invention has the following advantages:

[0026] Because the detection chamber is fitted over the ultrasonic detector and sealed to the structural surface, a stable water cushion layer can be formed between the ultrasonic detector and the structural surface after the detection chamber is filled with water using the water injection control system. The ultrasonic detector is fixed to the mobile detection platform and completely submerged in water, allowing it to move continuously for detection under the movement of the platform. Since the leakage water recovered by the vacuum suction device is returned to the water injection control system for reuse, there is no need to continuously supply water to the water cushion layer through jetting water during the detection process. This prevents excessive water consumption during detection, thus improving the effective detection time and mileage. Attached Figure Description

[0027] Figure 1 is a schematic diagram of the working state of the present invention.

[0028] Figure 2 is a cross-sectional view of AA in Figure 1.

[0029] Figure 3 is a cross-sectional view of BB in Figure 2.

[0030] Figure 4 is a schematic diagram of the planar structure of the buffer mechanism of the present invention.

[0031] Figure 5 is a schematic diagram of the planar structure of the ultrasonic receiving device of the present invention.

[0032] Figure 6 is a schematic diagram of the vacuum liquid suction device of the present invention.

[0033] Figure 7 is a cross-sectional view of AA in Figure 6.

[0034] Figure 8 is a cross-sectional view of BB in Figure 6.

[0035] Figure 9 is a schematic diagram of the installation positions of each water level sensor in this invention.

[0036] Figure 10 is a cross-sectional view of AA in Figure 9.

[0037] Figure 11 is a schematic diagram of the switching circuit of the vacuum liquid suction control system of the present invention.

[0038] Figure 12 is a schematic diagram of the top-down working condition of the present invention.

[0039] Figure 13 is a schematic diagram of the wall measurement working condition of the present invention.

[0040] Figure 14 is a schematic diagram of the overhead measurement working condition of the present invention.

[0041] Figure 15 is a schematic diagram of the water circulation system of the present invention.

[0042] In the picture:

[0043] 1-Mobile detection platform, 2-Guide wheel, 3-Ultrasonic emitting roller, 4-Ultrasonic emitting sensor, 5-Media oil, 6-Buffer mechanism, 601-Wheel axle slide bar, 602-Sleeve, 603-Compression spring, 7-Ultrasonic receiving device, 701-Receiving cylinder, 702-Ultrasonic receiving sensor, 703-Clamping block, 704-Lotus-shaped partition, 705-High-density sponge, 706-Local water supply pipe, 707-Compression spring, 708-Adjustable limit block, 709-Flexible washer, 9-Detection chamber, 10-Recovery chamber, 11-Vacuum suction device, 1 201-Recoverer outer casing, 1202-Recovery vacuum tube, 1203-Perforated baffle, 1204-Liquid suction capillary, 1205-Liquid suction sponge, 12-Detection sealing skirt, 13-Recovery sealing skirt, 14-Secondary water recovery ring, 15-Detection water supply pipe, 17-Secondary water recovery pipe, 18-Water injection control system, 19-Vacuum liquid suction control system, 20-Structural surface, 21-Ultrasonic detection wave, 22-Ultrasonic echo, 23-Internal structural defect, 24-First water level sensor, 25-Second water level sensor, 26-Third water level sensor, 27-Water recovery hopper. Detailed Implementation

[0044] The present invention will now be described in further detail.

[0045] Referring to Figures 1-3, an immersion-type mobile ultrasonic testing device includes an ultrasonic detector forming a water cushion layer between itself and a structural surface 20, a mobile testing platform 1, and a testing chamber 9. The ultrasonic detector and the testing chamber 9 are respectively fixed to the mobile testing platform 1. The testing chamber 9 covers the ultrasonic detector and is sealed to the structural surface 20. The testing chamber 9 is connected to a water injection control system 18. A vacuum suction device 11 for recovering leaked water from the testing chamber 9 is provided around the outer ring of the testing chamber 9. The leaked water recovered by the vacuum suction device 11 is returned to the water injection control system 18.

[0046] Since the detection chamber 9 is enclosed by the ultrasonic detector and sealed to the structural surface 20, after the detection chamber 9 is filled with water through the detection water supply pipe 15 using the water injection control system 18, a stable water cushion layer can be formed between the ultrasonic detector and the structural surface 20. The ultrasonic detector is fixed to the mobile detection platform 1 and completely submerged in water, enabling it to continuously move and detect under the drive of the mobile detection platform 1. Since the leakage water recovered by the vacuum liquid suction device 11 is returned to the water injection control system 18 for reuse, there is no need to continuously supply water to the water cushion layer through jet water during the detection process, which will not lead to excessive water consumption during the detection process, thus improving the effective detection time and mileage.

[0047] Specifically, an immersion-type mobile ultrasonic testing device includes a mobile testing platform 1 equipped with guide wheels 2, an ultrasonic transmitting roller 3, an ultrasonic receiving device 7, a vacuum liquid suction device 11, a water recovery hopper 27, and a secondary water recovery ring 14.

[0048] In this embodiment, the detection chamber 9 is cylindrical, and multiple ultrasonic receiving devices 7 are provided. These multiple ultrasonic receiving devices 7, facing the structural surface 20, are installed in the cylindrical detection chamber 9 and arranged in a ring array around the ultrasonic transmitting roller 3. The immersion-type mobile ultrasonic detection device moves close to the structural surface 20 via a traction-pressure mechanism on a mobile carrier. During movement, a water injection control system 18 provides dual water supply to the detection chamber 9 and the ultrasonic receiving devices 7 to ensure that the ultrasonic receiving sensor 702 inside the ultrasonic receiving device 7 is completely submerged in water, thereby forming a stable thickness water cushion layer with the structural surface 20. This allows for non-contact acquisition of ultrasonic echoes 22 generated by internal defects 23 within the structure, thus achieving continuous mobile detection.

[0049] A water level sensor is installed inside the detection chamber 9. During mobile detection, the water level sensor detects the water level inside the detection chamber 9 and drives the vacuum liquid suction device 11 arranged in a ring array outside the detection chamber 9 to recover the leakage water from the gap between the detection chamber 9 and the structural surface 20. For both wall-mounted and overhead detection conditions, the immersion-type mobile ultrasonic detection device is equipped with a water recovery wall hopper 27 and a secondary water recovery ring 14 to perform secondary recovery of the detection leakage water under both detection conditions, thereby greatly improving the water recovery efficiency during mobile detection. The detection leakage water collected by the vacuum liquid suction device 11, water recovery wall hopper 27, and secondary water recovery ring 14 is filtered and then returned to the water injection control system 18 for reuse in mobile detection water supply, thereby greatly reducing the water consumption during the detection process and improving the efficiency of water resource utilization. This can increase the effective detection time and mileage of the mobile ultrasonic detection device.

[0050] Referring to Figures 1 and 4, the ultrasonic emitting roller 3, which houses the ultrasonic emitting sensor 4 and is filled with medium oil 5, is mounted on the bottom surface of the mobile detection platform 1 (facing the structural surface 20) via a buffer mechanism 6. Under the clamping force applied by the buffer mechanism 6, it remains in close contact with the structural surface 20, thus enabling the ultrasonic detection wave 21 to be effectively transmitted through the structural surface 20. The buffer mechanism 6 includes a wheel axle slide 601, a sleeve 602, and a compression spring 603. The sleeve 602 is connected to the mobile detection platform 1, the wheel axle slide 601 is connected to the wheel axle of the ultrasonic emitting roller 3, and the compression spring 603 is positioned between the sleeve 602 and the wheel axle slide 601 and is subjected to appropriate clamping force. The spring force of the compression spring 603 is applied to the wheel axle of the ultrasonic emitting roller 3 through the wheel axle slide 601, ensuring that the ultrasonic emitting roller 3 remains in close contact with the structural surface 20, thus adapting to various complex application scenarios.

[0051] Referring to Figure 5, the annular array of ultrasonic receivers 7 includes a receiver cylinder 701, an ultrasonic receiver sensor 702, a clamping block 703, a lotus-shaped partition 704, a high-density sponge 705, a local water supply pipe 706, a compression spring 707, an adjustable limiting block 708, and a flexible washer 709. Inside the receiver cylinder 701, the perforated lotus-shaped partition 704 and the high-density sponge 705 are sequentially installed along the direction towards the structural surface 20 to reduce the disturbance of the pressurized water flow on the ultrasonic receiver sensor 702 itself and the water cushion layer formed between the ultrasonic receiver sensor 702 and the structural surface 20, thereby improving detection accuracy. The receiver cylinder 701 is connected to the mobile detection platform 1 via the local water supply pipe 706. The adjustable limiting block 708, located on the local water supply pipe 706, is used to adjust the initial installation height of the receiver cylinder 701 and the preload of the compression spring 707. The spring force applied by the compression spring 707 acts on the receiving cylinder 701, ensuring that the flexible gasket 709 on the bottom surface of the receiving cylinder 701 remains in close contact with the structural surface 20. This ensures good sealing between the ultrasonic receiving device 7 and the structural surface 20 under complex testing conditions, improving the water storage capacity inside the receiving cylinder 701 and creating favorable conditions for the stable formation of the water cushion layer. During mobile testing, since the ultrasonic receiving device 7 is completely submerged in the water in the detection chamber 9, the water pressure in the detection chamber 9 can suppress water leakage from the receiving cylinder 701, thus helping to maintain a stable water cushion layer. The water injection control system 18 can reasonably regulate the water supply pressure and flow rate of the detection chamber 9 and the local water supply of the ultrasonic receiving device 7 according to the water filling status inside and outside the ultrasonic receiving device 7. This further reduces the impact of water leakage at the flexible gasket 709 and the structural surface 20 on the stable water cushion layer, thereby improving the formation quality of the stable water cushion layer between the ultrasonic receiving sensor 702 and the structural surface 20.

[0052] Referring to Figures 6-8, the vacuum liquid suction device 11 has a fan-shaped double-layer box structure, including a collector cover 1201, a perforated partition 1203, a liquid suction capillary 1204, and a liquid suction sponge 1205. The perforated partition 1203 divides the vacuum liquid suction device 11 into a suction chamber and a collection chamber. The suction chamber facing the structural surface 20 is filled with a high-density liquid suction sponge 1205. The liquid suction capillary 1204, with circular holes in its wall, is installed corresponding to the holes in the perforated partition 1203 and inserted into the liquid suction sponge 1205, forming a vacuum recovery channel connecting the suction chamber and the collection chamber. The vacuum liquid suction control system 19 creates a certain vacuum in the vacuum liquid suction device 11 through the recovery vacuum tube 1202. The leaking water detected at the structural surface 20 is absorbed by the liquid suction sponge 1205 and the liquid suction capillary 1204 and collected in the collection chamber before being discharged through the recovery vacuum tube 1202. Multiple vacuum liquid suction devices 11 arranged in a circular array around the periphery of the detection chamber 9 form a ring-shaped vacuum liquid suction system, which recovers and reuses the water that leaks from the detection chamber 9 to the structural surface 20 during ultrasonic mobile detection.

[0053] Referring to Figures 1 and 2, the outer cover 1201 of the detector chamber 9 and the vacuum liquid suction device 11 has rubber sealing skirts on the side facing the structural surface 20, namely the detector sealing skirt 12 and the recovery sealing skirt 13. These rubber sealing skirts are tightly attached to the structural surface 20 under the clamping force applied by the traction-pressurization mechanism on the moving vehicle. This ensures the airtightness of the detector chamber 9, reducing leakage of detection water and improving the efficiency of detection water use. Furthermore, a well-sealed vacuum liquid suction zone is formed between the two rubber sealing skirts, improving the water recovery efficiency of the vacuum liquid suction device 11.

[0054] Referring to Figures 3, 9, and 10, water level sensors are installed at different heights on the two orthogonal symmetrical planes of the detection chamber 9. These sensors are installed at the lowest, middle, and highest positions inside the detection chamber 9, including a first water level sensor 24 installed near the structural surface 20, a second water level sensor 25 installed in the middle of the detection chamber 9, and a third water level sensor 26 installed on the top surface of the detection chamber 9. It should be noted that the terms "first," "second," and "third" here do not indicate the use or importance of the water level sensors, but only distinguish their different installation locations.

[0055] Referring to Figure 11, the first water level sensor 24, the second water level sensor 25, the third water level sensor 26, the microcontroller unit, and the intermediate relay constitute the switch of the vacuum liquid suction control system 19. When all water level sensors in the detection chamber 9 detect water and output corresponding signals, it indicates that the detection chamber 9 is saturated with water, and a stable thickness water cushion layer can be formed between the ultrasonic receiver and the structural surface 20. At this time, the vacuum liquid suction control system 19 is driven, and the ultrasonic detection device performs water recovery. When any water level sensor detects no water, it indicates that the detection chamber 9 is not saturated with water, and some ultrasonic receivers may be suspended from the structural surface 20 and unable to receive ultrasonic signals. At this time, the vacuum liquid suction control system 19 is not activated, and the detection chamber 9 continues to fill with water until it is saturated. The driving logic of the vacuum liquid suction control system 19 avoids the vacuum liquid suction device 11 from prematurely performing water recovery, ensuring that the detection chamber 9 is always saturated with water during the movement of the detection device, and that a stable thickness water cushion layer conducive to ultrasonic signal transmission can be formed between the ultrasonic receiver and the structural surface 20.

[0056] Figures 12-14 illustrate the working status of each water level sensor under different operating conditions of the immersion-type mobile ultrasonic testing device: When performing a downward test using the immersion-type mobile ultrasonic testing device, the first water level sensor 24 and the second water level sensor 25 output water signals successively during the water filling process of the detection chamber 9, and the third water level sensor 26 finally detects the water saturation state of the detection chamber 9; when testing the side wall of the structure, the first water level sensor 24, the second water level sensor 25, and the third water level sensor 26 at the low water level output water signals successively, and the first water level sensor 24 and the second water level sensor 25 at the high water level perform the final water saturation state detection; when performing a downward test on the surface 20 of the structure, the detection chamber 9 is filled with water until the first water level sensor 24 installed near the surface 20 of the structure outputs a water signal. When all water level sensors in the detection chamber 9 output water signals, the vacuum liquid suction control system 19 is driven to activate the water recovery function.

[0057] To further improve the efficiency of water recovery during detection, the immersion ultrasonic testing device is additionally equipped with different secondary water recovery devices for both wall-mounted and overhead detection conditions. Referring to Figure 13, when the immersion ultrasonic testing device detects the sidewall of a structure, a water recovery hopper 27 is simultaneously installed on the traction-pressurization mechanism of the mobile carrier connected to the testing device. The water recovery hopper 27 is a lightweight, shovel-shaped structure with a width sufficient to cover the testing device. Under the pressure applied by the traction-pressurization mechanism, it adheres tightly to the surface of the structural sidewall through a flexible rubber lip, thereby collecting detection leakage water that the vacuum suction device 11 cannot effectively recover during the detection process. Referring to Figure 14, when the immersion ultrasonic testing device detects the top surface of a structure, the secondary water recovery ring 14 installed in the matching recovery chamber 10 collects the detection water that overflows due to the vacuum suction device 11's inability to effectively recover through the secondary water recovery pipe 17. By setting up a water recovery hopper 27 and a secondary water recovery ring 14, the detection water used by the immersion ultrasonic detection device in complex mobile detection conditions can be effectively recovered and reused together with the recovered water from the vacuum liquid suction device 11 for detection water supply, greatly improving the efficiency of detection water use.

[0058] Referring to Figure 15, the water injection control system 18 includes a water storage tank, a variable displacement pump, a pressure-stabilized water supply system, and a flow controller. Through the water injection control system 18, the overall water supply pressure and flow rate of the mobile ultrasonic detection device's detection chamber 9 and the local water supply of the ultrasonic receiving device 7 can be rationally controlled, achieving a balanced state of water filling inside and outside the ultrasonic receiving device 7 in the detection chamber 9, thereby forming a stable water cushion layer conducive to the transmission of ultrasonic echo 22 signals. The vacuum suction control system 19 includes a recovery water tank, a vacuum pump, a water level sensor control switch, a flow controller, and a filter. When the water level sensor control switch drives the vacuum pump to work, the vacuum suction device 11 absorbs the detected leakage water. Together with the leakage water collected by the water recovery hopper 27 and the secondary water recovery ring 14, the leakage water is filtered and flow controlled before being collected in the recovery water tank. It should be noted that components such as pressure gauges, check valves, and overflow valves, which are included in the water injection control system 18 and the vacuum suction control system 19 as conventional flow control systems, will not be described in detail here. The water recycling tank is connected to the water storage tank through an overflow hole, so the recycled water is reused for the water supply control system 18, forming a water circulation system of detection water supply - vacuum recycling - detection water supply, which can greatly reduce the water consumption of the mobile ultrasonic detection device and increase the effective working time and detection mileage of the detection device.

[0059] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An immersion-type mobile ultrasonic testing device, characterized in that: It includes an ultrasonic detector that forms a water cushion layer between itself and the structural surface, a mobile detection platform, and a detection chamber. The ultrasonic detector and the detection chamber are respectively fixed to the mobile detection platform. The detection chamber is covered by the ultrasonic detector and sealed to the structural surface. The detection chamber is connected to a water injection control system. A vacuum liquid suction device for recovering leaked water from the detection chamber is provided on the outer ring of the detection chamber. The leaked water recovered by the vacuum liquid suction device is returned to the water injection control system.

2. The immersion-type mobile ultrasonic testing device according to claim 1, characterized in that: The vacuum liquid suction device includes a suction chamber, a collection chamber, a perforated partition, and a suction capillary. The perforated partition is located between the suction chamber and the collection chamber. The two ends of the suction chamber are connected to the structural surface and the perforated partition, respectively. The suction chamber is filled with a high-density absorbent sponge. The suction capillary is inserted between the perforated partition and the absorbent sponge. The collection chamber is connected to the vacuum liquid suction device.

3. The immersion-type mobile ultrasonic testing device according to claim 1, characterized in that: Both the detection chamber and the vacuum suction device are equipped with rubber sealing skirts for close contact with the structural surface, forming a sealed space between the detection chamber and the vacuum suction device.

4. The immersion-type mobile ultrasonic testing device according to claim 1, characterized in that: The detection chamber is equipped with a water level sensor to detect whether the chamber is saturated with water, so as to control the water injection control system and the vacuum liquid suction device to perform water injection and suction actions respectively.

5. The immersion-type mobile ultrasonic testing device according to claim 1, characterized in that: The ultrasonic detector includes an ultrasonic transmitting sensor and an ultrasonic receiving sensor. The mobile detection platform is connected to an ultrasonic transmitting roller, which is in close contact with the surface of the structure. The ultrasonic transmitting sensor is built into the ultrasonic transmitting roller. The ultrasonic receiving sensor is covered with a receiving tube, which is located in the detection chamber. The receiving tube is sealed to the surface of the structure and connected to the water injection control system.

6. The immersion-type mobile ultrasonic testing device according to claim 5, characterized in that: The receiving tube is equipped with a lotus-shaped partition, which is located between the water injection control system and the ultrasonic receiving sensor. High-density sponge is placed between the lotus-shaped partition and the ultrasonic receiving sensor.

7. An immersion-type mobile ultrasonic testing method, characterized in that: An immersion-type mobile ultrasonic testing device according to any one of claims 1-6 includes the following steps: a detection chamber is fitted over an ultrasonic detector and sealed to the surface of a structure; water is injected into the detection chamber through a water injection control system, immersing the ultrasonic detector in the water within the detection chamber, forming a stable water cushion layer between the ultrasonic detector and the surface of the structure; a mobile detection platform is used to drive the ultrasonic detector to continuously move and detect the surface of the structure; a vacuum liquid suction device surrounding the outside of the detection chamber is used to recover leaked water from the detection chamber, and the recovered leaked water is returned to the water injection control system.

8. The immersion-type moving ultrasonic testing method according to claim 7, characterized in that: When using the vacuum liquid suction device to recover leaking water in the detection chamber, the method also includes: when detecting the side wall of the structure surface, using a water recovery wall hopper located below the vacuum liquid suction device to closely adhere to the side wall surface of the structure for secondary recovery of leaking water; when detecting the top surface of the structure surface, using a secondary water recovery ring located around the vacuum liquid suction device to closely adhere to the top surface of the structure for secondary recovery of leaking water; all recovered leaking water is returned to the water injection control system for reuse.

9. The immersion-type mobile ultrasonic testing method according to claim 7, characterized in that: The water level sensor installed in the detection chamber is used to detect the water level in the detection chamber. When the detection chamber is not full, the vacuum liquid suction device is controlled to stop sucking water, and the water injection control system is controlled to inject water until the detection chamber is full. When the detection chamber is full, the vacuum liquid suction device is controlled to start sucking water, and the water injection control system is controlled to stop injecting water.

10. The immersion-type moving ultrasonic testing method according to claim 7, characterized in that: A receiving cylinder is installed in close contact with the structural surface inside the detection chamber, and the receiving cylinder is immersed in water inside the detection chamber. An ultrasonic receiving sensor is installed inside the receiving cylinder, and water is filled into the receiving cylinder to form a water cushion layer between the ultrasonic receiving sensor and the structural surface. The water pressure inside the detection chamber is used to suppress the leakage of the water cushion layer. The water supply pressure and flow rate of the receiving cylinder and the detection chamber are reasonably controlled according to the water filling status of the receiving cylinder and the detection chamber to reduce the impact of the leakage of the water cushion layer on the stability of the water cushion layer and improve the formation quality of the stable water cushion layer.

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