A thickness detector for underwater concrete steel bar protective layer and a detection method thereof

Abstract

The present application discloses a thickness detector for underwater concrete steel bar protective layer and a detection method thereof. The detector includes an instrument bottom plate, a waterproof shell, an ultrasonic detection system, an electromagnetic system, a data storage module and an electromagnetic isolation module. The ultrasonic detection system, the electromagnetic system, the data storage module and the electromagnetic isolation module are integrated on the instrument bottom plate. The ultrasonic detection system and the electromagnetic system are electrically connected to the data storage module respectively, the electromagnetic isolation module is electrically connected to the electromagnetic system, and the waterproof shell is waterproofly connected to the instrument bottom plate seam. The method includes obtaining the acoustic wave data information of the underwater concrete steel bar protective layer through the ultrasonic detection system; according to the acoustic wave data information, the thickness of the underwater concrete steel bar protective layer is detected and processed by the electromagnetic system to obtain the thickness information. The embodiments of the present application can be applicable to complex and changeable water environments and improve the thickness detection accuracy of the underwater concrete steel bar protective layer. The present application can be widely used in the field of concrete structure detection technology.

Description

Technical Field

[0001] The present application relates to the technical field of concrete structure detection, and in particular to an underwater concrete steel bar protective layer thickness detector and a detection method thereof. Background Art

[0002] The thickness of the steel bar protective layer refers to the vertical distance between the outer edge of the outermost steel bar in the concrete structure and the surface of the component. In concrete structures, the thickness of the steel bar protective layer is an important parameter that determines the strength and durability of the structure. Since invasive detection methods will damage the structure and materials and reduce the bearing capacity and performance of structural components, existing detection technical means mostly use non-destructive detection methods. The existing non-destructive detection methods of concrete steel bar protective layers mainly include electromagnetic induction method and radar method. Traditional concrete steel bar protective layer detection methods are limited by various factors such as water quality, water flow, and visibility in underwater environments. Concrete steel bar protective layer detection instruments that have been widely used on land are difficult to use underwater and achieve efficient and accurate underwater concrete steel bar protective layer thickness detection. Manual detection is expensive and inefficient, and traditional optical equipment is difficult to achieve clear imaging of underwater concrete structures, resulting in unsatisfactory final detection results.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to propose an underwater concrete steel bar protective layer thickness detector and a detection method thereof, which can be applicable to complex and changeable water environments and improve the thickness detection accuracy of the underwater concrete steel bar protective layer.

[0005] To achieve the above-mentioned purpose, an embodiment of the present application provides an underwater concrete steel bar protective layer thickness detector, the thickness detector comprising an instrument bottom plate, a waterproof shell, an ultrasonic detection system, an electromagnetic system, a data storage module and an electromagnetic isolation module, the instrument bottom plate is integrated with the ultrasonic detection system, the electromagnetic system, the data storage module and the electromagnetic isolation module, the ultrasonic detection system and the electromagnetic system are electrically connected to the data storage module respectively, the electromagnetic isolation module is electrically connected to the electromagnetic system, the waterproof shell is waterproofly connected to the instrument bottom plate seam, wherein:

[0006] The instrument base plate is used to carry the ultrasonic detection system, the electromagnetic system, the data storage module and the electromagnetic isolation module;

[0007] The waterproof housing is used to protect the ultrasonic detection system, the electromagnetic system, the data storage module and the electromagnetic isolation module;

[0008] The ultrasonic detection system is used to obtain the acoustic wave data information of the underwater concrete steel bar protective layer;

[0009] The electromagnetic system is used to obtain the thickness information of the underwater concrete reinforcement protective layer;

[0010] The data storage module is used to store the acoustic wave data information and the thickness information;

[0011] The electromagnetic isolation module is used to suppress electromagnetic interference.

[0012] In some embodiments, the ultrasonic detection system includes an ultrasonic probe and an acoustic wave signal processor, wherein the ultrasonic probe is electrically connected to the acoustic wave signal processor, wherein:

[0013] The ultrasonic probe is used to transmit and receive sound wave signals;

[0014] The acoustic wave signal processor is used to image the underwater concrete component according to the acoustic wave digital signal, process and output the distribution trend data of the underwater concrete steel bars and the surface distance between the end face of the ultrasonic probe and the underwater concrete steel bar protective layer, and obtain the acoustic wave data information.

[0015] In some embodiments, the ultrasonic probe comprises an ultrasonic probe housing, a transducer excitation circuit and an ultrasonic transducer, the transducer excitation circuit is electrically connected to the ultrasonic transducer, and the ultrasonic probe housing is disposed on the outer surface of the transducer excitation circuit and the ultrasonic transducer, wherein:

[0016] The ultrasonic probe housing is used to protect the transducer excitation circuit and the ultrasonic transducer;

[0017] The transducer excitation circuit is used to output a pulse excitation signal to drive the ultrasonic transducer;

[0018] The ultrasonic transducer is used to transmit underwater ultrasonic signals and perform signal conversion processing on the received underwater ultrasonic signals to generate the sound wave signals.

[0019] In some embodiments, the acoustic wave signal processor includes an acoustic wave signal gain circuit, an analog front-end circuit, an analog-to-digital converter, and an acoustic wave signal processing module, wherein the acoustic wave signal gain circuit, the analog front-end circuit, the analog-to-digital converter, and the acoustic wave signal processing module are electrically connected in sequence, wherein:

[0020] The acoustic wave signal gain circuit is used to perform gain processing on the acoustic wave signal to generate a gained acoustic wave signal;

[0021] The analog front-end circuit is used to perform loss compensation processing on the amplified sound wave signal to obtain a compensated sound wave signal;

[0022] The analog-to-digital converter is used to perform digital-to-analog conversion processing on the compensated sound wave signal to obtain a converted sound wave digital signal;

[0023] The sound wave signal processing module is used to analyze and process the converted sound wave digital signal to obtain the sound wave data information.

[0024] In some embodiments, the electromagnetic system includes an electromagnetic probe and an electromagnetic induction signal processor, and the electromagnetic probe is electrically connected to the electromagnetic induction signal processor, wherein:

[0025] The electromagnetic probe is used to transmit and receive electromagnetic signals;

[0026] The electromagnetic induction signal processor is used to detect and process the thickness of the underwater concrete steel bar protective layer according to the electromagnetic signal to generate the thickness information.

[0027] In some embodiments, the electromagnetic probe includes an electromagnetic probe housing, a coil drive circuit, a transmitting coil and a receiving coil, wherein the coil drive circuit, the transmitting coil and the receiving coil are electrically connected in sequence, and the electromagnetic probe housing is disposed on the outer surfaces of the coil drive circuit, the transmitting coil and the receiving coil, wherein:

[0028] The electromagnetic probe housing is used to protect the coil drive circuit, the transmitting coil and the receiving coil;

[0029] The coil driving circuit is used to generate an electromagnetic excitation signal current;

[0030] The transmitting coil is used to generate an alternating magnetic field according to the electromagnetic excitation signal current;

[0031] The receiving coil is used to receive the electromagnetic signal of the alternating magnetic field affected by the magnetic field of the metal steel bar and convert it into an electromagnetic analog signal.

[0032] In some embodiments, the electromagnetic induction signal processor includes a preamplifier circuit, a phase-sensitive filter circuit, a balanced filter circuit, an A / D conversion circuit, and an electromagnetic signal processing module, wherein the preamplifier circuit, the phase-sensitive filter circuit, the balanced filter circuit, the A / D conversion circuit, and the electromagnetic signal processing module are electrically connected in sequence, wherein:

[0033] The preamplifier circuit is used to perform denoising and amplifying processing on the electromagnetic analog signal to obtain the denoised and amplified electromagnetic analog signal;

[0034] The phase-sensitive filter circuit is used to perform phase modulation processing on the de-noised and amplified electromagnetic analog signal to generate a modulated electromagnetic analog signal;

[0035] The balanced filter circuit is used to perform clutter signal removal processing on the modulated electromagnetic analog signal to obtain a removed electromagnetic analog signal;

[0036] The A / D conversion circuit is used to perform signal conversion processing on the electromagnetic analog signal after elimination to obtain an electromagnetic digital signal;

[0037] The electromagnetic signal processing module is used to perform thickness detection processing according to the electromagnetic digital signal to generate the thickness information.

[0038] In some embodiments, the electromagnetic isolation module includes an electromagnetic interference filter, a fixing hole and an external circuit interface, wherein the fixing hole and the external circuit interface are arranged on the outer surface of the electromagnetic interference filter, wherein:

[0039] The electromagnetic interference filter is used to suppress electromagnetic interference;

[0040] The fixing hole is used to fix the electromagnetic interference filter;

[0041] The external circuit interface is used to be electrically connected to the electromagnetic probe.

[0042] To achieve the above-mentioned purpose, another aspect of the embodiment of the present application provides a detection method of a thickness detector of an underwater concrete steel bar protective layer, the method comprising:

[0043] Acquiring the acoustic wave data information of the underwater concrete reinforcement protective layer through the ultrasonic detection system, wherein the acoustic wave data information includes the acoustic wave image of the underwater concrete component, the distribution trend data of the underwater concrete reinforcement, and the surface distance between the end face of the ultrasonic probe and the underwater concrete reinforcement protective layer;

[0044] According to the acoustic wave data information, the thickness of the underwater concrete steel bar protective layer is detected and processed by the electromagnetic system to obtain the thickness information of the underwater concrete steel bar protective layer.

[0045] In some embodiments, the calculation formula of the thickness information of the underwater concrete reinforcement protective layer is specifically as follows:

[0046]

[0047] In the above formula, c represents the thickness information of the underwater concrete steel bar protective layer, v represents the propagation speed of electromagnetic waves in the medium, t represents the time from the emission of electromagnetic waves to the reception of electromagnetic waves by the electromagnetic probe, ε represents the dielectric constant of underwater concrete, s represents the electrical conductivity of underwater concrete, and m represents the magnetic permeability of underwater concrete.

[0048] The embodiments of the present application include at least the following beneficial effects: The present application provides an underwater concrete steel bar protective layer thickness detector and a detection method thereof. The scheme combines an ultrasonic detection system with an electromagnetic system, and obtains the sound wave data information of the underwater concrete steel bar protective layer through the ultrasonic detection system. It can be applicable to complex and changeable water environments, and then obtains the thickness information of the concrete steel bar protective layer through the electromagnetic system based on the sound wave data information of the underwater concrete steel bar protective layer, which can reduce the cost of manual intervention and thus improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a structural schematic diagram of an underwater concrete steel bar protective layer thickness detector provided in an embodiment of the present application;

[0050] Figure 2 is a schematic diagram of the structure of an ultrasonic probe provided in an embodiment of the present application;

[0051] Figure 3 is a schematic diagram of the structure of the electromagnetic probe provided in an embodiment of the present application;

[0052] Figure 4 It is a schematic diagram of the steps of a detection method of an underwater concrete steel bar protective layer thickness detector provided in an embodiment of the present application;

[0053] Figure 5 is a flow chart of the working process of the ultrasonic detection system provided in the embodiment of the present application;

[0054] Figure 6 is a flow chart of the working process of the electromagnetic system provided in the embodiment of the present application;

[0055] Figure 7 It is a flow chart of the working process of the data storage module provided in the embodiment of the present application.

[0056] Figure numerals: 1. Instrument base plate; 2. Waterproof housing; 3. Ultrasonic probe; 31. Ultrasonic probe housing; 32. Transducer excitation circuit; 33. Ultrasonic transducer; 4. Sound wave signal processor; 41. Sound wave signal gain circuit; 42. Analog front-end circuit; 43. Analog-to-digital converter; 5. Electromagnetic probe; 51. Electromagnetic probe housing; 52. Coil drive circuit; 53. Transmitting coil; 54. Receiving coil; 6. Electromagnetic induction signal processor; 61. Preamplifier circuit; 62. Phase-sensitive filter circuit; 63. Balanced filter circuit; 64. A / D conversion circuit; 7. Data storage module; 8. Electromagnetic isolation module; 81. Electromagnetic interference filter; 9. Signal processing module. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of detectors and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0058] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0059] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0061] In the related art, the principle of underwater measurement of the thickness of the concrete reinforcement layer of the bridge pier by electromagnetic induction is based on the interaction between the induced electromagnetic field and the metal reinforcement. When the electromagnetic field passes through the reinforced concrete components of the underwater bridge pier, the metal reinforcement in the concrete will cause electromagnetic induction and generate an induced current, thereby forming an induced electromagnetic field. By measuring the changes in the induced electromagnetic field, the position and properties of the metal reinforcement can be inferred, and then the thickness of the concrete reinforcement layer of the underwater bridge pier can be calculated. The ultrasonic detector is an electronic device that uses the propagation characteristics of sound waves underwater and completes underwater detection through electroacoustic conversion and information processing. However, it has some shortcomings, such as the traditional concrete reinforcement layer detection method is limited by various factors such as water quality, water flow, visibility, etc. in the underwater environment, and the concrete reinforcement layer detection instrument that has been widely used on land is difficult to use underwater and realize efficient and accurate underwater bridge pier concrete reinforcement layer thickness detection. Manual detection is expensive and inefficient, and traditional optical equipment is difficult to achieve clear imaging of the concrete structure of the bridge pier.

[0062] However, the propagation attenuation of ultrasonic sound waves in water is very small, so it is possible to image the reinforced concrete components of underwater bridge piers, display the approximate distribution and direction of the steel bars, and effectively improve the detection accuracy. In underwater environments, waterproof technology is essential to the stability and long-term use of the instrument. The specially designed waterproof shell and sealing structure are the key to ensuring the reliable operation of the instrument. As a carrier, the underwater robot provides a controllable platform for underwater structure detection, and the underwater robot's endurance system, positioning system, anti-disturbance technology, real-time data transmission technology, etc. can be used to achieve efficient detection of the thickness of the protective layer of the concrete steel bars of underwater bridge piers, thereby improving detection accuracy and economic benefits.

[0063] In view of this, an underwater concrete steel bar protective layer thickness detector is provided in an embodiment of the present application. The detector is suitable for being mounted on an underwater robot in an underwater environment to detect the thickness of the underwater bridge pier concrete steel bar protective layer, thereby improving the detection accuracy, efficiency and economic benefits, eliminating the need for manual underwater operations and reducing risks.

[0064] Reference Figure 1 , Figure 1 A schematic diagram of a thickness detector for underwater concrete reinforcement protective layer provided by an embodiment of the present invention, referring to Figure 1 The thickness detector comprises an instrument bottom plate 1, a waterproof shell 2, an ultrasonic detection system, an electromagnetic system, a data storage module 7 and an electromagnetic isolation module 8. The instrument bottom plate is integrated with the ultrasonic detection system, the electromagnetic system, the data storage module and the electromagnetic isolation module. The ultrasonic detection system and the electromagnetic system are electrically connected to the data storage module respectively, the electromagnetic isolation module is electrically connected to the electromagnetic system, and the waterproof shell is waterproofly connected to the instrument bottom plate, wherein:

[0065] The instrument base plate is used to carry the ultrasonic detection system, electromagnetic system, data storage module and electromagnetic isolation module;

[0066] The waterproof housing is used to protect the ultrasonic detection system, electromagnetic system, data storage module and electromagnetic isolation module;

[0067] It should be noted that the interior of the waterproof shell is hollow, and an instrument bottom plate is provided with waterproof seams to facilitate installation of various modules of the detector and mounting on an underwater robot, thereby ensuring stable operation of the instrument in an underwater environment.

[0068] The ultrasonic detection system is used to obtain the acoustic wave data information of the underwater concrete reinforcement protection layer;

[0069] The signal processing module 9 includes an acoustic signal processing module and an electromagnetic signal processing module.

[0070] Furthermore, it should be noted that if Figure 2 As shown, the ultrasonic detection system includes an ultrasonic probe 3 and an acoustic signal processor 4, wherein the ultrasonic probe is electrically connected to the acoustic signal processor, wherein the ultrasonic probe is used to transmit and receive acoustic signals; the acoustic signal processor is used to image the underwater pier components according to the acoustic signals, process and output the distribution and trend data of the underwater concrete steel bars and the surface distance between the end face of the ultrasonic probe and the protective layer of the underwater concrete steel bars, and obtain the acoustic data information.

[0071] Furthermore, the ultrasonic detection system includes an ultrasonic probe and an acoustic signal processor. The ultrasonic probe includes an ultrasonic probe housing 31, a transducer excitation circuit 32 and an ultrasonic transducer 33; the transducer excitation circuit is used to receive the control signal transmitted by the acoustic signal processor and output a pulse excitation signal to drive the ultrasonic transducer; the ultrasonic transducer adopts a cross-structured transducer array, which can be used to transmit and receive underwater ultrasonic waves and convert them into acoustic signals. When receiving, the received acoustic signals are coherently superimposed through a vertical array, and the preset angle direction signals are received one by one, and finally a time-azimuth diagram within the range of the underwater bridge pier reinforced concrete components is obtained. The acoustic signal processor can be used to process the received acoustic signals, image the underwater bridge pier reinforced concrete components, calculate the distance between the probe end face and the underwater bridge pier concrete surface, and display the approximate distribution and direction of the steel bars.

[0072] Specifically, the ultrasonic probe includes an ultrasonic probe housing, a transducer excitation circuit and an ultrasonic transducer. The transducer excitation circuit is electrically connected to the ultrasonic transducer, and the ultrasonic probe housing is arranged on the outer surface of the transducer excitation circuit and the ultrasonic transducer, wherein the ultrasonic probe housing is used to protect the transducer excitation circuit and the ultrasonic transducer; the transducer excitation circuit is used to output a pulse excitation signal to drive the ultrasonic transducer; the ultrasonic transducer is used to transmit underwater ultrasonic signals and perform signal conversion processing on the received and returned underwater ultrasonic signals to generate sound wave signals.

[0073] Specifically, the acoustic wave signal processor includes an acoustic wave signal gain circuit 41, an analog front-end circuit 42, an analog-to-digital converter 43 and an acoustic wave signal processing module, wherein the acoustic wave signal gain circuit, the analog front-end circuit, the analog-to-digital converter and the acoustic wave signal processing module are electrically connected in sequence, wherein the acoustic wave signal gain circuit is used to perform gain processing on the acoustic wave signal to generate a gained acoustic wave signal; the analog front-end circuit is used to perform loss compensation processing on the gained acoustic wave signal to obtain a compensated acoustic wave signal; the analog-to-digital converter is used to perform digital-to-analog conversion processing on the compensated acoustic wave signal to obtain a converted acoustic wave digital signal; the acoustic wave signal processing module is used to analyze and process the converted acoustic wave digital signal to obtain acoustic wave data information.

[0074] It should be noted that the acoustic signal processor receives the control command of the computer, encodes it into a command packet according to the protocol format and sends it to the ultrasonic probe, and receives the data packet transmitted by the ultrasonic probe through the cable, and transmits it to the underwater robot and computer display after processing; it includes an acoustic signal gain circuit, an analog front-end circuit, an analog-to-digital converter, and an acoustic signal processing module; the acoustic signal processing module includes different processing chips, which transmits the control signal to the ultrasonic transducer through the transducer excitation circuit, analyzes the data through a special algorithm, removes interference waves, and obtains useful data, which is then transmitted to the underwater robot and the data storage module through the data transmission interface; the acoustic signal gain circuit receives the analog signal transmitted back by the ultrasonic transducer, and adjusts the signal gain change by adjusting the potentiometer; the analog front-end circuit first conditions the signal to compensate for the signal loss during transmission; the analog-to-digital converter converts the analog signal into a digital signal.

[0075] The ultrasonic transducer receives the control signal transmitted by the acoustic signal processor through the transducer excitation circuit, and transmits and receives the acoustic wave and converts it into an analog signal; the acoustic signal gain circuit processes the analog signal transmitted back by the ultrasonic transducer, and transmits it to the analog front-end circuit after adjusting the signal gain change by adjusting the potentiometer; the analog front-end circuit conditions the analog signal to compensate for the signal loss during transmission; and then transmits it to the analog-to-digital converter in a differential manner to convert the analog signal into a digital signal; the acoustic signal processing module includes different processing chips, which perform echo signal acquisition and spectrum line extraction, extracts multiple digital signals for transmitting frequency spectrum lines, and further performs a series of data processing to calculate the distance d between the end face of the ultrasonic probe and the concrete surface of the underwater pier, and identify and extract key information of ultrasonic detection, and obtains the acoustic wave image and displays the approximate distribution and direction of the steel bars through special technology and algorithms; outputs d, the acoustic wave image and displays the approximate distribution and direction of the steel bars, and transmits the output data to the data storage module and the underwater robot.

[0076] The electromagnetic system is used to obtain the thickness information of the underwater concrete reinforcement protection layer;

[0077] Furthermore, it should be noted that if Figure 3 As shown, the electromagnetic system includes an electromagnetic probe 5 and an electromagnetic induction signal processor 6, and the electromagnetic probe is electrically connected to the electromagnetic induction signal processor, wherein the electromagnetic probe is used to transmit electromagnetic analog signals; the electromagnetic induction signal processor is used to detect and process the thickness of the underwater concrete steel bar protective layer according to the electromagnetic signal to generate thickness information.

[0078] Furthermore, the electromagnetic system includes an electromagnetic probe and an electromagnetic induction signal processor, which are used to detect the thickness of the protective layer of the underwater bridge pier concrete reinforcement and output a thickness detection signal accordingly. The electromagnetic probe includes an electromagnetic probe housing 51, a coil drive circuit 52, a transmitting coil 53 and a receiving coil 54; the coil drive circuit generates a high-power excitation current in a voltage excitation manner to enable the transmitting coil to generate an electromagnetic field; the transmitting coil and the receiving coil are composed of 80 turns of coils with a radius of 20mm, which are used to generate an electromagnetic field within the range of the underwater bridge pier reinforced concrete components and receive electromagnetic signals of the underwater bridge pier reinforcement on the electromagnetic field; the electromagnetic induction signal processor can be used to process the electromagnetic signal of the receiving coil and calculate the thickness of the protective layer of the underwater bridge pier concrete reinforcement.

[0079] Specifically, the electromagnetic probe includes an electromagnetic probe housing, a coil driving circuit, a transmitting coil and a receiving coil. The coil driving circuit, the transmitting coil and the receiving coil are electrically connected in sequence. The electromagnetic probe housing is arranged on the outer surface of the coil driving circuit, the transmitting coil and the receiving coil, wherein the electromagnetic probe housing is used to protect the coil driving circuit, the transmitting coil and the receiving coil; the coil driving circuit is used to generate an electromagnetic excitation signal current; the transmitting coil is used to generate an alternating magnetic field according to the electromagnetic excitation signal current; the receiving coil is used to receive the electromagnetic signal of the alternating magnetic field affected by the magnetic field of the metal steel bar and convert it into an electromagnetic simulation signal.

[0080] Specifically, the electromagnetic induction signal processor includes a preamplifier circuit 61, a phase-sensitive filter circuit 62, a balanced filter circuit 63, an A / D conversion circuit 64 and an electromagnetic signal processing module, wherein the preamplifier circuit, the phase-sensitive filter circuit, the balanced filter circuit, the A / D conversion circuit and the electromagnetic signal processing module are electrically connected in sequence, wherein the preamplifier circuit is used to perform denoising and amplification processing on the electromagnetic analog signal to obtain the denoised and amplified electromagnetic analog signal; the phase-sensitive filter circuit is used to perform phase modulation processing on the denoised and amplified electromagnetic analog signal to generate a modulated electromagnetic analog signal; the balanced filter circuit is used to perform noise signal removal processing on the modulated electromagnetic analog signal to obtain the removed electromagnetic analog signal; the A / D conversion circuit is used to perform signal conversion processing on the removed electromagnetic analog signal to obtain an electromagnetic digital signal; the electromagnetic signal processing module is used to perform thickness detection processing according to the electromagnetic digital signal to generate thickness information.

[0081] It should be noted that the electromagnetic induction signal processor includes a preamplifier circuit, a phase-sensitive detection circuit, a balanced filter circuit, an A / D conversion circuit, and an electromagnetic signal processing module; the electromagnetic signal processing module contains different processing chips, which process the digital signal, and after obtaining useful data, transmit it to the underwater robot and the data storage module through the data transmission interface; the preamplifier circuit denoises and amplifies the analog signal; the phase-sensitive detection circuit is used to identify the signal phase and frequency and modulate the signal; the balanced filter circuit is used to reduce the interference of clutter signals on the required signal; the A / D conversion circuit converts the analog signal into a digital signal.

[0082] According to the acoustic wave image of underwater pier concrete, the approximate distribution and direction of steel bars, and the distance d between the end face of the ultrasonic probe and the surface of underwater pier concrete, the underwater robot is controlled to reach the specific underwater pier target area; the transmitting coil is driven by the coil driving circuit in a voltage excitation mode to generate a high-power excitation current, thereby generating an electromagnetic field. According to the law of electromagnetic induction, the energized coil will generate an electromagnetic field within the range of the underwater pier reinforced concrete component; the receiving coil receives the electromagnetic signal of the underwater pier steel bars on the electromagnetic field and converts it into an electromagnetic analog signal; the preamplifier circuit denoises and amplifies the analog signal to improve the signal-to-noise ratio; the phase-sensitive detection circuit identifies, modulates the signal phase and selects the frequency to improve the anti-interference ability; the balanced filter circuit reduces the interference of the clutter signal on the required signal; the A / D conversion circuit converts the input analog signal into an output digital signal; the electromagnetic signal processing module processes the digital signal, calculates the thickness c of the protective layer of the underwater pier concrete steel bars, and transmits the output data to the data storage module and the underwater robot.

[0083] The data storage module is used to store the acoustic wave data information and thickness information;

[0084] Furthermore, the data storage module includes a data storage unit, which can store the data results output by the electromagnetic induction signal processor and the acoustic signal processor; the data storage module is designed to have a high capacity, receiving and storing data for subsequent analysis and report generation.

[0085] The electromagnetic isolation module is used to suppress electromagnetic interference.

[0086] Specifically, the electromagnetic isolation module includes an electromagnetic interference filter 81, a fixing hole and an external circuit interface, which are arranged on the outer surface of the electromagnetic interference filter, wherein the electromagnetic interference filter is used to suppress electromagnetic interference; the fixing hole is used to fix the electromagnetic interference filter; and the external circuit interface is used to electrically connect to the electromagnetic probe.

[0087] More specifically, the electromagnetic isolation module includes an electromagnetic interference filter, a fixing hole, and an external line interface; the electromagnetic interference filter is used to suppress electromagnetic interference, reduce noise in the power supply line or the control signal line, and ensure the accuracy of the measurement results. It can reduce the magnetic field contained in the complex underwater environment and the electromagnetic interference generated by the underwater robot's power generation equipment.

[0088] See also Figure 4 The embodiment of the present application also provides a detection method of an underwater concrete steel bar protective layer thickness detector, which can realize the above-mentioned underwater concrete steel bar protective layer thickness detector, and the method includes:

[0089] S100, obtaining acoustic wave data information of the underwater concrete steel bar protective layer through an ultrasonic detection system, wherein the acoustic wave data information includes an acoustic wave image of the underwater concrete component, distribution and trend data of the underwater concrete steel bars, and a distance between the end face of the ultrasonic probe and the surface of the underwater concrete steel bar protective layer;

[0090] In some specific embodiments, Figure 5 As shown, the ultrasonic transducer receives the control signal transmitted by the acoustic signal processor through the transducer excitation circuit and transmits and receives the acoustic wave, which is converted into an electronic analog signal; the acoustic signal gain circuit processes the analog signal transmitted back by the ultrasonic transducer, and transmits it to the analog front-end circuit after adjusting the signal gain change by adjusting the potentiometer; the analog front-end circuit conditions the transmitted analog signal to compensate for the signal loss of the transmission; after conditioning, the analog signal is transmitted to the analog-to-digital converter in a differential manner for conversion, and the analog signal is converted into a digital signal; the acoustic signal processing module processes the digital signal, and the acoustic signal processing module includes different processing chips, performs echo signal acquisition and spectrum line extraction, extracts multiple digital signals for transmitting frequency spectrum lines, and further performs a series of data processing; calculates the distance d between the end face of the ultrasonic probe and the concrete surface of the underwater pier; identifies and extracts key information of ultrasonic detection, and obtains the acoustic wave image and displays the approximate distribution and direction of the steel bars through special technology and algorithms; outputs d, the acoustic wave image and displays the approximate distribution and direction of the steel bars, and transmits the output data to the data storage module and the underwater robot.

[0091] The calculation formula of the distance d between the end face of the ultrasonic probe and the concrete surface of the underwater pier is as follows:

[0092]

[0093] In the above formula, d represents the distance between the end face of the ultrasonic probe and the surface of the underwater bridge pier concrete, v represents the propagation speed of sound waves in water, which is measured before detection, and t represents the propagation time of the ultrasonic detection signal, that is, the propagation time for the ultrasonic transducer to emit sound waves, reach the underwater bridge pier concrete, reflect back, and finally return to the ultrasonic transducer. In specific applications, these parameters need to be accurately measured or known standard values ​​need to be used.

[0094] S200, performing thickness detection processing on the underwater concrete steel bar protective layer through an electromagnetic system according to the acoustic wave data information to obtain thickness information of the underwater concrete steel bar protective layer;

[0095] In some specific embodiments, Figure 6As shown, according to the acoustic wave image of underwater pier concrete, the approximate distribution and direction of steel bars, and the distance d between the end face of the ultrasonic probe and the surface of underwater pier concrete, the underwater robot is controlled to reach the specific underwater pier target area; the transmitting coil is driven by the coil driving circuit in a voltage excitation mode to generate a high-power excitation current, thereby generating an electromagnetic field. According to the law of electromagnetic induction, the energized coil will generate an electromagnetic field within the range of the underwater pier reinforced concrete component; the receiving coil receives the electromagnetic signal of the underwater pier steel bars on the electromagnetic field and converts it into an electromagnetic analog signal; the preamplifier circuit denoises and amplifies the analog signal to improve the signal-to-noise ratio; the phase-sensitive detection circuit identifies and modulates the signal phase and selects the frequency to improve the anti-interference ability; the balanced filter circuit reduces the interference of the clutter signal on the required signal; the A / D conversion circuit converts the input analog signal into an output digital signal; the electromagnetic signal processing module processes the digital signal; the thickness c of the underwater pier concrete steel bar protective layer is calculated, and the output data is transmitted to the data storage module and the underwater robot.

[0096] The calculation formula for the thickness of the underwater concrete reinforcement protection layer is as follows:

[0097]

[0098] In the above formula, c represents the thickness information of the underwater concrete steel bar protective layer, v represents the propagation speed of electromagnetic waves in the medium, t represents the time from the emission of electromagnetic waves to the reception of electromagnetic waves by the electromagnetic probe, ε represents the dielectric constant of underwater concrete, s represents the electrical conductivity of underwater concrete, and m represents the magnetic permeability of underwater concrete.

[0099] like Figure 7 As shown, the data signals of the distance d between the end face of the ultrasonic probe and the surface of the underwater pier concrete, the sound wave image and the approximate distribution and trend diagram of the steel bars, and the thickness c of the protective layer of the underwater pier concrete steel bars are input, and the data storage unit stores the data signals.

[0100] In summary, the instrument is calibrated using existing standard test blocks. When the underwater robot carrying the underwater bridge pier concrete steel bar protective layer thickness detector arrives at the target detection position, the ultrasonic transducer transmits and receives the ultrasonic beam to the target area and converts it into an analog signal. After the signal processing of the acoustic signal processor, the distance d between the end face of the ultrasonic probe and the underwater bridge pier concrete surface and the approximate distribution and direction of the steel bars are displayed. The electromagnetic probe is used to detect the concrete steel bar protective layer thickness of the specific underwater bridge pier target area, and the detection electromagnetic signal is transmitted to the electromagnetic induction signal processor for processing, and the underwater bridge pier concrete steel bar protective layer thickness c is calculated, and the output data is transmitted to the data storage module and the underwater robot; the underwater robot moves to the next designated target detection position to obtain the underwater bridge pier concrete steel bar protective layer thickness at the next detection position. By being mounted on an underwater robot and providing waterproof measures, the underwater pier concrete steel bar protective layer thickness detector of the embodiment of the present invention can efficiently and accurately measure the thickness of the underwater pier concrete steel bar protective layer in an underwater environment, effectively reducing the cost, risk, inaccuracy and subjectivity of manual underwater detection, improving the detection accuracy, efficiency and economic benefits, and is suitable for underwater pier concrete steel bar protective layer thickness detection in complex underwater environments.

[0101] It can be understood that the contents of the above method embodiments are all applicable to the present detector embodiment, the functions specifically implemented by the present detector embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0102] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. An underwater concrete reinforcement protective layer thickness detector, characterized in that: The thickness detector comprises an instrument bottom plate, a waterproof shell, an ultrasonic detection system, an electromagnetic system, a data storage module and an electromagnetic isolation module. The ultrasonic detection system, the electromagnetic system, the data storage module and the electromagnetic isolation module are integrated on the instrument bottom plate. The ultrasonic detection system and the electromagnetic system are electrically connected to the data storage module respectively, the electromagnetic isolation module is electrically connected to the electromagnetic system, and the waterproof shell is waterproofly connected to the instrument bottom plate, wherein: The instrument base plate is used to carry the ultrasonic detection system, the electromagnetic system, the data storage module and the electromagnetic isolation module; The waterproof housing is used to protect the ultrasonic detection system, the electromagnetic system, the data storage module and the electromagnetic isolation module; The ultrasonic detection system is used to obtain the acoustic wave data information of the underwater concrete steel bar protective layer; Wherein, the ultrasonic detection system comprises an ultrasonic probe and an acoustic wave signal processor, and the ultrasonic probe is electrically connected to the acoustic wave signal processor; The ultrasonic probe is used to transmit and receive sound wave signals; The ultrasonic probe comprises an ultrasonic probe housing, a transducer excitation circuit and an ultrasonic transducer, the transducer excitation circuit is electrically connected to the ultrasonic transducer, and the ultrasonic probe housing is arranged on the outer surface of the transducer excitation circuit and the ultrasonic transducer; The ultrasonic probe housing is used to protect the transducer excitation circuit and the ultrasonic transducer; The transducer excitation circuit is used to output a pulse excitation signal to drive the ultrasonic transducer; The ultrasonic transducer is used to transmit underwater ultrasonic signals and perform signal conversion processing on the received underwater ultrasonic signals to generate the sound wave signals; The acoustic wave signal processor is used to image the underwater concrete component according to the acoustic wave digital signal, process and output the distribution trend data of the underwater concrete steel bars and the surface distance between the end face of the ultrasonic probe and the protective layer of the underwater concrete steel bars, and obtain the acoustic wave data information; The acoustic signal processor includes an acoustic signal gain circuit, an analog front-end circuit, an analog-to-digital converter and an acoustic signal processing module, and the acoustic signal gain circuit, the analog front-end circuit, the analog-to-digital converter and the acoustic signal processing module are electrically connected in sequence; The acoustic wave signal gain circuit is used to perform gain processing on the acoustic wave signal to generate a gained acoustic wave signal; The analog front-end circuit is used to perform loss compensation processing on the amplified sound wave signal to obtain a compensated sound wave signal; The analog-to-digital converter is used to perform digital-to-analog conversion processing on the compensated sound wave signal to obtain a converted sound wave digital signal; The acoustic wave signal processing module is used to analyze and process the converted acoustic wave digital signal to obtain the acoustic wave data information; The electromagnetic system is used to obtain the thickness information of the underwater concrete reinforcement protective layer; The data storage module is used to store the acoustic wave data information and the thickness information; The electromagnetic isolation module is used to suppress electromagnetic interference.

2. The thickness detector according to claim 1, characterized in that: The electromagnetic system includes an electromagnetic probe and an electromagnetic induction signal processor, wherein the electromagnetic probe is electrically connected to the electromagnetic induction signal processor, wherein: The electromagnetic probe is used to transmit and receive electromagnetic signals; The electromagnetic induction signal processor is used to detect and process the thickness of the underwater concrete steel bar protective layer according to the electromagnetic signal to generate the thickness information.

3. The thickness detector according to claim 2, characterized in that: The electromagnetic probe comprises an electromagnetic probe housing, a coil drive circuit, a transmitting coil and a receiving coil, wherein the coil drive circuit, the transmitting coil and the receiving coil are electrically connected in sequence, and the electromagnetic probe housing is arranged on the outer surfaces of the coil drive circuit, the transmitting coil and the receiving coil, wherein: The electromagnetic probe housing is used to protect the coil drive circuit, the transmitting coil and the receiving coil; The coil driving circuit is used to generate an electromagnetic excitation signal current; The transmitting coil is used to generate an alternating magnetic field according to the electromagnetic excitation signal current; The receiving coil is used to receive the electromagnetic signal of the alternating magnetic field affected by the magnetic field of the metal steel bar and convert it into an electromagnetic analog signal.

4. The thickness detector according to claim 3, characterized in that: The electromagnetic induction signal processor includes a preamplifier circuit, a phase-sensitive filter circuit, a balanced filter circuit, an A / D conversion circuit and an electromagnetic signal processing module, wherein the preamplifier circuit, the phase-sensitive filter circuit, the balanced filter circuit, the A / D conversion circuit and the electromagnetic signal processing module are electrically connected in sequence, wherein: The preamplifier circuit is used to perform denoising and amplifying processing on the electromagnetic analog signal to obtain the denoised and amplified electromagnetic analog signal; The phase-sensitive filter circuit is used to perform phase modulation processing on the de-noised and amplified electromagnetic analog signal to generate a modulated electromagnetic analog signal; The balanced filter circuit is used to perform clutter signal removal processing on the modulated electromagnetic analog signal to obtain a removed electromagnetic analog signal; The A / D conversion circuit is used to perform signal conversion processing on the electromagnetic analog signal after elimination to obtain an electromagnetic digital signal; The electromagnetic signal processing module is used to perform thickness detection processing according to the electromagnetic digital signal to generate the thickness information.

5. The thickness detector according to claim 4, characterized in that: The electromagnetic isolation module includes an electromagnetic interference filter, a fixing hole and an external circuit interface, wherein the fixing hole and the external circuit interface are arranged on the outer surface of the electromagnetic interference filter, wherein: The electromagnetic interference filter is used to suppress electromagnetic interference; The fixing hole is used to fix the electromagnetic interference filter; The external circuit interface is used to be electrically connected to the electromagnetic probe.

6. The detection method of the underwater concrete reinforcement protective layer thickness detector according to claim 5 is characterized in that: The method comprises: Acquiring the acoustic wave data information of the underwater concrete reinforcement protective layer through the ultrasonic detection system, wherein the acoustic wave data information includes the acoustic wave image of the underwater concrete component, the distribution trend data of the underwater concrete reinforcement, and the surface distance between the end face of the ultrasonic probe and the underwater concrete reinforcement protective layer; According to the acoustic wave data information, the thickness of the underwater concrete steel bar protective layer is detected and processed by the electromagnetic system to obtain the thickness information of the underwater concrete steel bar protective layer.

7. The method according to claim 6, characterized in that The calculation formula of the thickness information of the underwater concrete reinforcement protective layer is specifically as follows: In the above formula, Indicates the thickness information of underwater concrete reinforcement protection layer. It represents the propagation speed of electromagnetic waves in the medium. It indicates the time from the electromagnetic wave being emitted to being received by the electromagnetic probe. represents the dielectric constant of underwater concrete, represents the electrical conductivity of underwater concrete, Represents the magnetic permeability of underwater concrete.

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