An underwater structural defect detection device and detection method based on image recognition

Abstract

The present invention discloses an underwater structural defect detection device and a detection method based on image recognition, which specifically relates to the field of detection technology, including an underwater robot, a detection unit, which is arranged on the underwater robot to realize underwater structural defect detection, and the underwater robot controls the detection unit to move to complete mobile detection at different positions. The present invention controls the processing mechanism so that the cleaning end can fit with the underwater structure. Under the design of the cleaning belt, it can fit with underwater structures of different shapes, provide friction cleaning, and avoid the accumulation of debris affecting the detection accuracy. Under the control of the control end, it can complete auxiliary support for the cleaning belt, and can complete the cleaning operation of the cleaning belt itself, so that the processing mechanism can maintain a good cleaning state. The processing mechanism can be folded under the underwater robot through the adjustment mechanism to avoid interference with the detection work, and the detection range can be expanded.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to an underwater structure defect detection device and a detection method based on image recognition. Background Art

[0002] Traditional underwater inspection of hydraulic structures mainly involves pumping water out of cofferdams to form dry land or emptying reservoirs, combined with manual inspections to identify underwater structural defects. This method is common in early underwater structure inspections. The main disadvantage is that the emptying of the reservoir takes a long inspection cycle and is prone to waste water resources.

[0003] A marine engineering underwater structure defect detection device disclosed in a patent application with reference publication number CN118169040A controls a camera to reciprocate along a slide groove, and multi-directionally arranged sliding components and cameras surround the circumference of the marine engineering underwater pile foundation structure and cooperate with each other, thereby achieving all-round detection of the defects of the marine engineering underwater pile foundation structure and effectively shortening the inspection time.

[0004] The above-mentioned detection device adopts a sliding component to quickly complete the defect detection of the underwater structure. However, the above-mentioned detection device cannot actively clean the underwater structure detection area during the detection process. Therefore, in the actual detection process, the detection area is easily blocked and covered by various debris. The detection device cannot obtain the overall picture of the underwater structure and cannot complete the detailed detection of the underwater structure, which makes it impossible to carry out the detection work in an orderly manner, easily causes detection and recognition errors, and there is a problem of reduced imaging quality, which reduces the overall detection accuracy. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater structure defect detection device and detection method based on image recognition to solve the above technical problems.

[0006] To solve the above technical problems, the present invention is implemented through the following technical solutions.

[0007] The present invention is an underwater structural defect detection device based on image recognition, comprising an underwater robot and a detection unit, which is arranged on the underwater robot to realize underwater structural defect detection, and the underwater robot controls the movement of the detection unit to complete mobile detection at different positions, and fill light units are installed on both sides of the detection unit on the underwater robot;

[0008] The processing mechanism is arranged at the bottom of the underwater robot to realize active cleaning of the underwater structure. The processing mechanism completes the cleaning of the underwater structure to compensate the detection unit. The processing mechanism is divided into a control end and a cleaning end. The control end is used to complete the adaptation and adjustment of the shape of the cleaning end. The cleaning end contacts the underwater structure to complete the active cleaning. At the same time, the control end can control the cleaning end to complete its own cleaning action;

[0009] The adjusting mechanism is arranged between the underwater robot and the processing mechanism. The position of the processing mechanism is adjusted by the adjusting mechanism. Meanwhile, the adjusting mechanism can control the processing mechanism to fold under the underwater robot to avoid the underwater robot.

[0010] Furthermore, the control terminal includes:

[0011] A fixed seat is arranged on the adjustment mechanism, a control chamber is arranged on one side of the fixed seat, an oil storage chamber is arranged in the control chamber, a push piece is slidably installed on one side of the oil storage chamber, an electric cylinder connected to the push piece is installed on one side of the fixed seat, and a guide port is opened at the front end of the control chamber;

[0012] The switching chamber is sealed and arranged at the front end of the control chamber and is connected with the guide port. Pipe No. 1 and pipe No. 2 are respectively connected and installed at the bottom of the switching chamber. Switching plate No. 1 and switching plate No. 2 are slidingly arranged at the bottom of the switching chamber. Block No. 1 and block No. 2 are respectively integrally installed on one side of the upper surface of switching plate No. 1 and switching plate No. 2. Under normal circumstances, switching plate No. 1 is separated from pipe No. 1 and is in an open state, and switching plate No. 2 blocks pipe No. 2 and is in a closed state.

[0013] Furthermore, the control terminal also includes:

[0014] A switching seat is arranged at one side of the switching room, a No. 1 zone is provided on the switching seat, a sliding seat is slidably installed in the No. 1 zone, a No. 1 micro electric push rod connected to the sliding seat is installed on one side of the No. 1 zone, a No. 2 zone is provided on the slide seat, a sliding block is slidably installed in the No. 2 zone, a No. 2 micro electric push rod connected to the sliding block is installed on one side of the No. 2 zone;

[0015] The sensing shaft is arranged on the switching seat, and active control of the No. 1 switching plate and the No. 2 switching plate is completed through the sensing shaft.

[0016] Furthermore, the sensing shaft is divided into a hollow shaft and a central shaft. One end of the hollow shaft is fixedly connected to one side of the sliding seat, and the other end of the hollow shaft is fixedly passed through block No. 1 and contacts the side wall of block No. 2. The central shaft is slidably inserted into the hollow shaft, one end of the central shaft is fixedly connected to one side of the sliding seat, and the other end of the central shaft is fixedly connected to the side wall of block No. 2.

[0017] Further, the cleaning end comprises:

[0018] A fixed frame is arranged at the front end of the control room, and limiting wheels are symmetrically installed on both sides of the front end of the fixed frame. A sliding frame is installed in the middle of the lower surface of the fixed frame, and a moving platform is slidably engaged in the sliding frame. A tension spring is installed between the moving platform and the sliding frame, and a guide wheel is rotatably installed on one side of the upper surface of the moving platform;

[0019] The cleaning belt is arranged between the guide wheel and the two limiting wheel parts. The guide wheel and the two limiting wheel parts are used to open and limit the cleaning belt, and the cleaning belt is scraped and cleaned by contacting the underwater structure.

[0020] Furthermore, each limiting wheel component includes a concave seat fixed at the front end of the fixing frame, and a No. 1 sensing area is opened through the top and bottom of the front end of the concave seat. A limiting pulley is installed in the two No. 1 sensing areas through a bracket for joint rotation, and a No. 1 pressure sensor for detecting the limiting pulley is installed in one of the sensing areas.

[0021] Further, the cleaning end comprises:

[0022] A No. 1 extrusion chamber is arranged on the lower surface of the slide frame, and a No. 1 piston member is installed in the No. 1 extrusion chamber in a sliding and sealing manner;

[0023] The extrusion wheel is arranged on the No. 1 piston member, and provides pressure by contacting the inner side of the cleaning belt with the extrusion wheel. A No. 1 spring is installed between the No. 1 piston member and the No. 1 extrusion chamber, and the No. 1 extrusion chamber is connected with the No. 1 pipe through a pipeline.

[0024] Furthermore, the cleaning end also includes:

[0025] An adjustment area is provided on the upper surface of the moving platform, a receiving seat is slidably installed in the adjustment area, a second sensing area is provided on the receiving seat, a mounting seat is slidably installed in the second sensing area, and a second pressure sensor in contact with the mounting seat is installed on one side of the second sensing area;

[0026] The switching shaft is arranged on a mounting seat, a switching motor connected to the switching shaft is hidden in the mounting seat, a plurality of assembly seats are arranged in a circular array around the switching shaft, and a cleaning scraper can be detachably mounted on each of the plurality of assembly seats;

[0027] The No. 2 extrusion chamber is arranged on the movable platform. A No. 2 piston component is installed in the No. 2 extrusion chamber in a sliding seal. The front end of the No. 2 piston component is connected to one side of the receiving seat. A No. 2 spring is installed between the No. 2 piston component and the No. 2 extrusion chamber, and one side of the No. 2 extrusion chamber is connected to the No. 2 pipe through a pipeline.

[0028] Furthermore, the regulating mechanism comprises:

[0029] A connecting seat is fixedly arranged at the bottom of the underwater robot, a motor seat is detachably installed at the bottom of the connecting seat, a swing arm is rotatably installed at the bottom of the motor seat, and an adjusting motor connected to the swing arm is arranged in the motor seat;

[0030] The telescopic arm is arranged on one side of the swing arm. The telescopic arm is composed of a telescopic frame, a telescopic rod and an electric push rod. One end of the telescopic frame is fixedly connected to one side of the swing arm. The telescopic rod is slidably arranged in the telescopic frame. The electric push rod is arranged on one side of the telescopic frame to adjust the position of the telescopic rod.

[0031] The electric slide is arranged at the front end of the telescopic rod, and the output end of the electric slide is connected with the processing mechanism.

[0032] The present invention also provides an underwater structure defect detection method based on image recognition, which specifically comprises the following steps:

[0033] Step 1: First, place the underwater robot into the inspection waters, and control the underwater robot and the inspection unit to dive synchronously until the underwater structure area is waiting for inspection;

[0034] Step 2: Then control the underwater robot to move along the predetermined route, and collect, analyze and feedback the status of the underwater structure in real time through the detection unit, so that the operator can obtain the detection information in time;

[0035] Step 3: By controlling the processing mechanism, it can fit with underwater structures of different shapes and provide friction cleaning to maintain the cleanliness of the detection area;

[0036] Step 4: By providing an adjustment mechanism, the cleaning position of the processing mechanism is controlled and adjusted in all directions. After the cleaning is completed, the processing mechanism is controlled to complete the reset and folding.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention is provided with a processing mechanism, which enables the cleaning end to fit with the underwater structure under the control of the operator. Under the design of the cleaning belt, the cleaning belt is located between the two limiting pulleys and can actively deform to complete adaptive fitting with the underwater structure, and can quickly adapt to the curved and flat underwater structures to complete cleaning, and can complete fitting with underwater structures of different shapes, and provide friction cleaning to avoid the accumulation of debris affecting the detection accuracy;

[0039] The present invention can stably support and limit the cleaning belt under the control of the control end, so that the weak area in the middle area of ​​the cleaning belt can still fit with the underwater structure, which is used to improve the cleaning effect, and can complete the cleaning operation of the cleaning belt itself, so that the processing mechanism can maintain a good cleaning state, and the cleaning scraper can be switched, and the damaged cleaning scraper can be replaced, avoiding the problem of reduced cleaning effect;

[0040] The present invention is provided with an adjustment mechanism, so that the cleaning position of the processing mechanism can be adjusted, the angle of the processing mechanism can be fine-tuned, and it can adapt to cleaning work in different environments, thereby expanding the cleaning range. At the same time, the processing mechanism can be folded under the underwater robot to avoid interference with the detection work.

[0041] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is the overall front view of the present invention;

[0043] Figure 2 This is a schematic diagram of installing the detection unit of the present invention on an underwater robot;

[0044] Figure 3 A schematic diagram of installing the processing mechanism of the present invention on an underwater robot;

[0045] Figure 4 It is a schematic diagram of the connection between the regulating mechanism and the processing mechanism of the present invention;

[0046] Figure 5 It is a schematic diagram of the processing mechanism of the present invention;

[0047] Figure 6 It is a schematic diagram of the distribution of the control terminal and the fixing frame of the present invention;

[0048] Figure 7 It is a schematic diagram of installing the limiting wheel member of the present invention on a fixing frame;

[0049] Figure 8 This is a schematic diagram of the distribution of the control room and the slide frame of the present invention;

[0050] Fig. 9 It is a schematic diagram of the distribution of the guide wheel and the extrusion wheel of the present invention;

[0051] Fig.10 A schematic diagram of a switching shaft of the present invention;

[0052] Fig.11 It is a schematic diagram of the oil storage cavity of the present invention;

[0053] Fig.12 It is a schematic diagram of the distribution of the switching chamber and the oil storage cavity of the present invention;

[0054] Fig.13 A schematic diagram of a switching room of the present invention;

[0055] Fig.14 It is a schematic diagram of the control terminal structure of the present invention;

[0056] Fig.15 It is a schematic diagram of the sensing shaft structure of the present invention.

[0057] In the figure: 1. underwater robot; 2. detection unit; 3. fill light unit; 4. fixed seat; 5. control room; 6. oil storage chamber; 7. push piece; 8. electric cylinder; 9. diversion port; 10. switching room; 11. No. 1 pipe; 12. No. 2 pipe; 13. No. 1 switching board; 14. No. 2 switching board; 15. switching seat; 16. sliding seat; 17. No. 1 micro electric push rod; 18. sliding block; 19. No. 2 micro electric push rod; 20. sensing shaft; 201. hollow shaft; 202. central shaft; 21. fixed frame; 22. limiting wheel; 221. concave seat; 222. limiting pulley; 223. No. 1 pressure Force sensor; 224, limit wheel; 23, slide frame; 24, moving table; 25, tension spring; 26, guide wheel; 27, cleaning belt; 28, No. 1 extrusion chamber; 29, No. 1 piston; 30, extrusion wheel; 31, No. 1 spring; 32, adjustment area; 33, receiving seat; 34, mounting seat; 35, No. 2 pressure sensor; 36, switching shaft; 37, cleaning scraper; 38, No. 2 extrusion chamber; 39, No. 2 piston; 40, No. 2 spring; 41, connecting seat; 42, motor seat; 43, swing arm; 44, telescopic frame; 45, telescopic rod; 46, electric push rod; 47, electric slide. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0059] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0060] Embodiment 1: The present invention provides a technical solution: Figure 1 , Figure 2 and Figure 3As shown, an underwater structural defect detection device based on image recognition includes an underwater robot 1, which can complete free movement underwater, and a pull ring is installed on one side of the top of the underwater robot 1, and the underwater robot 1 is controlled by connecting the pull ring with a pull rope. At the same time, the underwater robot 1 can complete communication and power supply requirements through a harness, etc., and a detection unit 2 is arranged on the underwater robot 1 to realize underwater structural defect detection. The underwater robot 1 controls the detection unit 2 to move to complete mobile detection at different positions. The detection unit 2 is specifically one or more acoustic and optical detectors such as underwater cameras and sonars. , which can complete accurate defect detection of underwater structures. A protective cover is arranged at the front end of the detection unit 2. The protective cover is made of transparent material. The protective cover is connected to the underwater robot 1. The detection unit 2 is isolated and protected by the protective cover. The detection unit 2 is connected to the outside world for communication. The collected data is subjected to image preprocessing, feature extraction, pattern matching and classification processing through the image recognition algorithm, and the detection result is output. Filling light units 3 are installed on both sides of the detection unit 2 on the underwater robot 1. The filling light unit 3 adopts one of a diving flashlight and an underwater filling light. At the same time, the filling light unit 3 can be replaced by other filling light structures;

[0061] The processing mechanism is arranged at the bottom of the underwater robot 1 to realize active cleaning of the underwater structure. The processing mechanism completes the cleaning of the underwater structure to compensate the detection unit 2 and improve the detection accuracy. The processing mechanism is divided into a control end and a cleaning end. The control end is used to complete the adaptation and adjustment of the shape of the cleaning end. The cleaning end contacts the underwater structure to complete the active cleaning. At the same time, the control end can control the cleaning end to complete its own cleaning action;

[0062] The adjusting mechanism is arranged between the underwater robot 1 and the processing mechanism. The position of the processing mechanism is adjusted by the adjusting mechanism. Meanwhile, the adjusting mechanism can control the processing mechanism to fold under the underwater robot 1 to avoid the underwater robot 1.

[0063] Among them, the electric cylinder 8, the detection unit 2, the No. 1 micro electric push rod 17, the No. 2 micro electric push rod 19, the adjusting motor, the switching motor and other electrical components are all connected to the switch through wires, and the switch is electrically connected to the controller. The specific structure of the controller is not limited. At the same time, the electrical components of the detection device are all waterproof and can adapt to underwater operations. Absolute encoders are installed on the switching motor and the adjusting motor for accurate positioning.

[0064] Embodiment 2: Based on the processing mechanism provided in Embodiment 1, this embodiment provides a further technical solution of the processing mechanism.

[0065] like Fig.11 , Fig.12 and Fig.13 As shown, the control terminal includes:

[0066] A fixed seat 4 is arranged on the adjustment mechanism, a control chamber 5 is arranged on one side of the fixed seat 4, an oil storage chamber 6 is arranged in the control chamber 5, an oil filling port is arranged on one side of the top of the oil storage chamber 6, the oil filling port is kept closed under normal conditions, a certain amount of oil is injected into the oil storage chamber 6, and a push piece 7 is slidably installed on one side of the oil storage chamber 6, the push piece 7 is in sliding and sealing contact with the oil storage chamber 6, an electric cylinder 8 connected to the push piece 7 is installed on one side of the fixed seat 4, the position of the push piece 7 in the oil storage chamber 6 is adjusted by the electric cylinder 8, and a guide port 9 is opened at the front end of the control chamber 5;

[0067] The switch chamber 10 is sealed and arranged at the front end of the control chamber 5 and communicated with the guide port 9. The No. 1 pipe 11 and the No. 2 pipe 12 are respectively connected and installed at the bottom of the switch chamber 10, and manual valves for controlling the on-off of the No. 1 pipe 11 and the No. 2 pipe 12 are installed at the ends. Slideways are symmetrically provided on both sides of the bottom of the switch chamber 10. The No. 1 switch plate 13 and the No. 2 switch plate 14 are slidably arranged at the bottom of the switch chamber 10. The No. 1 block and the No. 2 block are respectively integrally installed on one side of the upper surface of the No. 1 switch plate 13 and the No. 2 switch plate 14. The No. 1 switch plate 13 and the No. 2 switch plate 14 are both slidably engaged with the slideways. The No. 1 switch plate 13 and the No. 2 switch plate 14 respectively complete the blocking of the No. 1 pipe 11 and the No. 2 pipe 12. Under normal conditions, the No. 1 switch plate 13 is separated from the No. 1 pipe 11 and is in an open state, and the No. 2 switch plate 14 blocks the No. 2 pipe 12 and is in a closed state;

[0068] It is worth noting that when cleaning the underwater structure: a processing mechanism is provided to control the movement of the underwater robot 1 so that the cleaning belt 27 is close to the cleaning area of ​​the underwater structure. Since the cleaning belt 27 is of flexible design, under the propulsion of the underwater robot 1, the cleaning belt 27 between the two limiting pulleys 222 will actively deform and adaptively fit with the underwater structure, and can quickly adapt to the curved and flat underwater structures to complete the cleaning. During the deformation of the cleaning belt 27, the position of the guide wheel 26 can be automatically adapted and adjusted by the tension spring 25 and the moving platform 24, so that the cleaning belt 27 maintains a predetermined tension and can be freely adjusted within a predetermined range. Then, the driving motor is controlled to drive the limiting pulley 222 to rotate, so that the cleaning belt 27 completes the follow-up rotation, and the cleaning work is completed by the reciprocating friction between the cleaning belt 27 and the underwater structure.

[0069] In order to ensure the stable fit between the cleaning belt 27 and the underwater structure, a No. 1 sensing area is provided, and the limiting pulley 222 contacts the No. 1 pressure sensor 223 in the No. 1 sensing area, so that the pressure between the limiting pulley 222 and the underwater structure can be detected, and the contact pressure provided by the cleaning belt 27 to the underwater structure can be accurately known, so that the operator can control the cleaning force.

[0070] like Fig.14 As shown, the control terminal also includes:

[0071] A switching seat 15 is arranged at one side of the switching chamber 10, and a No. 1 zone is provided on the switching seat 15, a sliding seat 16 is slidably installed in the No. 1 zone, a No. 1 micro electric push rod 17 connected to the sliding seat 16 is installed on one side of the No. 1 zone, a No. 2 zone is provided on the sliding seat 16, a sliding block 18 is slidably installed in the No. 2 zone, and a No. 2 micro electric push rod 19 connected to the sliding block 18 is installed on one side of the No. 2 zone;

[0072] It should be noted that when controlling the opening and closing states of the No. 1 pipe 11 and the No. 2 pipe 12: in normal state, the No. 1 pipe 11 is open and the No. 2 pipe 12 is closed, and the priority of the No. 1 extrusion chamber 28 is maintained. There are two modes for opening the No. 2 pipe 12:

[0073] In the first mode, the No. 1 micro electric push rod 17 is controlled to push the slide 16 and the sensing shaft 20 to move, so that the No. 1 switching plate 13 and the No. 2 switching plate 14 move simultaneously. In this state, the No. 1 tube 11 is closed and the No. 2 tube 12 is opened, so that the No. 2 extrusion chamber 38 can be controlled under the interference of the No. 1 extrusion chamber 28. After the No. 1 tube 11 is closed, the extrusion wheel 30 maintains the working position, which improves the stability and prevents the subsequent oil flow from interfering with the position of the extrusion wheel 30.

[0074] In the second mode, in the initial state, the second micro electric push rod 19 is controlled to push the slider 18 to slide in the second zone, and the central shaft 202 is controlled to move. Since the central shaft 202 slides in the hollow shaft 201, the position of the hollow shaft 201 is not affected. The movement of the central shaft 202 pushes the second block and the second switching plate 14 to move, and the second tube 12 is opened. In the initial state, the first tube 11 and the second tube 12 can be opened, which is convenient for the operator to control according to the needs;

[0075] like Fig.15 As shown, the sensing shaft 20 is arranged on the switching seat 15, and the No. 1 switching plate 13 and the No. 2 switching plate 14 are actively controlled by the sensing shaft 20; the sensing shaft 20 is divided into a hollow shaft 201 and a central shaft 202, one end of the hollow shaft 201 is fixedly connected to one side of the sliding seat 16, and the other end of the hollow shaft 201 is fixedly passed through the No. 1 block of the No. 1 switching plate 13 and contacts the side wall of the No. 2 block on the No. 2 switching plate 14, a through hole matching with the hollow shaft 201 is opened through the front end of the switching seat 15, the central shaft 202 is slidably penetrated in the hollow shaft 201, one end of the central shaft 202 is fixedly connected to one side of the slider 18, and the other end of the central shaft 202 is fixedly connected to the side wall of the No. 2 block on the No. 2 switching plate 14, and a through hole matching with the central shaft 202 is opened through the front end of the sliding seat 16;

[0076] like Figure 4 , Figure 5 , Figure 6 and Figure 8 As shown, in an embodiment of the present invention, the cleaning end includes:

[0077] The fixing frame 21 is arranged at the front end of the control room 5. Specifically, the fixing frame 21 is detachably fixed to the control room 5 through a connecting piece. The fixing frame 21 is in a concave shape as a whole. The size of the fixing frame 21 can be replaced according to the detection environment. Limiting wheel members 22 are symmetrically installed on both sides of the front end of the fixing frame 21. A sliding frame 23 is installed in the middle position of the lower surface of the fixing frame 21. A moving platform 24 is slidably engaged in the sliding frame 23. A tension spring 25 is installed between the moving platform 24 and the sliding frame 23. A guide wheel 26 is rotatably installed on one side of the upper surface of the moving platform 24.

[0078] The cleaning belt 27 is made of a friction material or a flexible metal material, which can be freely replaced according to actual cleaning needs. The cleaning belt 27 is arranged between the guide wheel 26 and the two limiting wheel members 22. The guide wheel 26 and the two limiting wheel members 22 are used to open and limit the cleaning belt 27, and the cleaning belt 27 is used to contact the underwater structure to complete the scraping cleaning.

[0079] like Figure 7 As shown, each limiting wheel member 22 includes a concave seat 221 fixed to the front end of the fixing frame 21, and a No. 1 sensing area is provided at the top and bottom of the front end of the concave seat 221. A limiting pulley 222 is installed in the two No. 1 sensing areas through a bracket for common rotation. The limiting pulley 222 contacts and drives the cleaning belt 27, and a driving motor connected to the limiting pulley 222 is installed on one of the concave seats 221 through a bracket, which can control the cleaning belt 27 to rotate to complete the cleaning action. The limiting pulley 222 can rotate in one The first sensing area moves in the first sensing area. Specifically, the first sensing block is slidably installed in the two first sensing areas. The first sensing block is rotatably connected with the limiting pulley 222, and the first sensing block is in contact with the first pressure sensor 223. A first pressure sensor 223 for detecting the limiting pulley 222 is installed in one of the sensing areas, and a limiting wheel 224 is installed in the concave seat 221 at one side of the limiting pulley 222 for rotation at intervals. Specifically, the cleaning belt 27 correspondingly bypasses the two limiting pulleys 222 and the guide wheel 26 to complete the restriction;

[0080] like Fig. 9 As shown, the cleaning end includes:

[0081] A first extrusion chamber 28 is provided on the lower surface of the slide frame 23. A first piston member 29 is installed in the first extrusion chamber 28 in a sliding and sealing manner. A limit block is installed on one side of the lower surface of the slide frame 23. The front end of the first piston member 29 slides through the limit block to complete the limit.

[0082] The extrusion wheel 30 is arranged on the No. 1 piston member 29. Specifically, the extrusion wheel 30 is rotatably mounted on the front end of the No. 1 piston member 29 through a bracket. The extrusion wheel 30 provides pressure by contacting the inner side of the cleaning belt 27. A No. 1 spring 31 is installed between the No. 1 piston member 29 and the No. 1 extrusion chamber 28. The No. 1 spring 31 is used to pull the No. 1 piston member 29 to return to the No. 1 extrusion chamber 28. The No. 1 extrusion chamber 28 is connected with the No. 1 pipe 11 through a pipe. Specifically, the connecting pipe between the No. 1 extrusion chamber 28 and the No. 1 pipe 11 can be one of a metal pipe, a flexible pipe and a spring pipe.

[0083] It is worth noting that when the cleaning belt 27 is assisted in supporting: under normal conditions, the No. 1 pipe 11 is in an open state and communicates with the oil storage chamber 6, and then the electric cylinder 8 is controlled to extend and retract, so that the push piece 7 moves in the oil storage chamber 6, and the oil therein is pushed into the No. 1 pipe 11 through the guide port 9, and then sent into the No. 1 extrusion chamber 28 through the pipeline, pushing the No. 1 piston piece 29 to overcome the No. 2 spring 40 to extend, so that the extrusion wheel 30 moves forward and contacts the inner side of the cleaning belt 27, which can stably support and limit the cleaning belt 27, so that the weak area in the middle area of ​​the cleaning belt 27 can still fit the underwater structure, further improving the cleaning effect, and at the same time, the position of the extrusion wheel 30 can be adaptively adjusted according to the shape of the cleaning belt 27. After the subsequent use is completed, the electric cylinder 8 is controlled to reset, and the extrusion wheel 30 is pulled to reset by the No. 1 spring 31;

[0084] like Fig.10 As shown, the cleaning end also includes:

[0085] An adjustment area 32 is provided on the upper surface of the moving platform 24, a receiving seat 33 is slidably installed in the adjustment area 32, a second sensing area is provided on the receiving seat 33, a mounting seat 34 is slidably installed in the second sensing area, and a second pressure sensor 35 in contact with the mounting seat 34 is installed on one side of the second sensing area;

[0086] The switching shaft 36 is arranged on the mounting seat 34. Specifically, the switching shaft 36 is rotatably mounted on the upper surface of the mounting seat 34. A switching motor drivingly connected to the switching shaft 36 is hidden in the mounting seat 34. A plurality of assembly seats are arranged in a circular array around the switching shaft 36. A cleaning scraper 37 can be detachably mounted on each of the plurality of assembly seats. The cleaning scraper 37 can be made of metal material, plastic material or the like. The cleaning scraper 37 is contacted with the cleaning belt 27 to complete the scraping and cleaning.

[0087] The second extrusion chamber 38 is arranged on the moving platform 24. Specifically, the second extrusion chamber 38 is arranged on one side of the adjustment area 32. A second piston member 39 is installed in the second extrusion chamber 38 in a sliding seal. The front end of the second piston member 39 is connected to one side of the receiving seat 33. A second spring 40 is installed between the second piston member 39 and the second extrusion chamber 38. The second spring 40 is used to pull the second piston member 39 to reset toward the second extrusion chamber 38. One side of the second extrusion chamber 38 is connected to the second pipe 12 through a pipe. Specifically, the connecting pipe between the second extrusion chamber 38 and the second pipe 12 can be a metal pipe, a flexible pipe and a spring pipe.

[0088] It is worth noting that when the cleaning belt 27 is self-cleaned: after the No. 2 pipe 12 is opened, the oil in the oil storage chamber 6 enters the No. 2 pipe 12, and at this time, the electric cylinder 8 is controlled to retract and expand again, and the oil is injected into the No. 2 extrusion chamber 38, so that the No. 2 piston member 39 overcomes the No. 2 spring 40 and extends, pushing the receiving seat 33 to move, and at this time, the cleaning scraper 37 on the switching shaft 36 moves to contact the cleaning belt 27, completing the scraping and cleaning of the cleaning belt 27, ensuring the good cleaning state of the cleaning belt 27, reducing the subsequent maintenance cost, and a plurality of cleaning scrapers 37 are arranged on the switching shaft 36, and the station conversion of the cleaning scraper 37 is completed by switching the motor, and the damaged cleaning scraper 37 can be replaced to avoid the problem of reduced cleaning effect;

[0089] In order to ensure the stable fit between the cleaning scraper 37 and the cleaning belt 27, a No. 2 sensing area is provided. The mounting seat 34 contacts the No. 2 pressure sensor 35 in the No. 2 sensing area, so as to detect the pressure between the cleaning scraper 37 and the cleaning belt 27 and accurately know the contact pressure between the cleaning scraper 37 and the cleaning belt 27, so as to facilitate the operator to control the cleaning force.

[0090] Embodiment 3: Based on the adjustment mechanism provided in Embodiment 1, this embodiment provides a further technical solution of the adjustment mechanism.

[0091] like Figure 4 and Figure 5 As shown, the regulating mechanism includes:

[0092] A connecting seat 41 is fixedly arranged at the bottom of the underwater robot 1, a motor seat 42 is detachably installed at the bottom of the connecting seat 41, a swing arm 43 is rotatably installed at the bottom of the motor seat 42, and an adjusting motor connected to the swing arm 43 is arranged in the motor seat 42, and the position of the swing arm 43 is switched by adjusting the motor;

[0093] The telescopic arm is arranged on one side of the swing arm 43. The telescopic arm is composed of a telescopic frame 44, a telescopic rod 45 and an electric push rod 46. One end of the telescopic frame 44 is fixedly connected to one side of the swing arm 43. The telescopic rod 45 is slidably arranged in the telescopic frame 44, and the front end of the telescopic rod 45 slides through the telescopic frame 44. The electric push rod 46 is arranged on one side of the telescopic frame 44 to adjust the position of the telescopic rod 45.

[0094] The electric slide 47 is arranged at the front end of the telescopic rod 45, and the electric slide 47 and the telescopic rod 45 are relatively fixed by adopting a detachable structure. The output end of the electric slide 47 is connected to the processing mechanism. Specifically, the output end of the electric slide 47 is detachably fixed to the fixing seat 4;

[0095] It is worth noting that when adjusting the position of the processing mechanism: by providing an adjustment mechanism, the adjustment motor is controlled to drive the swing arm 43 and the telescopic arm to rotate, and the processing mechanism is moved out to the cleaning station. At the same time, the angle of the processing mechanism can be fine-tuned, which can adapt to the cleaning work in different environments, and the cleaning height of the processing mechanism can be controlled by the electric slide 47, which further expands the cleaning range and facilitates the operator to control it freely. At the same time, under the design of the telescopic arm, the electric push rod 46 is controlled to drive the telescopic rod 45 to complete the extension and retraction in the telescopic frame 44, so as to complete the control of the extension length of the processing mechanism, which can be adjusted for use in different environments.

[0096] Embodiment 4: A method for detecting underwater structural defects based on image recognition, the method specifically comprising the following steps:

[0097] Step 1: First, the underwater robot 1 is put into the detection water area, and the underwater robot 1 and the detection unit 2 are controlled to dive synchronously until the underwater structure area is waiting for detection;

[0098] Step 2: Then control the underwater robot 1 to move along the predetermined route, and collect, analyze and feedback the status of the underwater structure in real time through the detection unit 2, so that the operator can obtain the detection information in time;

[0099] Step 3: By controlling the processing mechanism, it can fit with underwater structures of different shapes and provide friction cleaning to maintain the cleanliness of the detection area;

[0100] Step 4: By providing an adjustment mechanism, the cleaning position of the processing mechanism is controlled and adjusted in all directions. After the cleaning is completed, the processing mechanism is controlled to complete the reset and folding.

[0101] The present invention provides an underwater structure defect detection device and detection method based on image recognition, and the specific working principle is as follows: first, an underwater robot 1 is put into the detection water area, and the underwater robot 1 and the detection unit 2 are controlled to dive synchronously until the underwater structure area is waiting for detection, and then the underwater robot 1 is controlled to move according to a predetermined route, and the detection unit 2 collects and analyzes the status of the underwater structure in real time, so that the operator can obtain the detection information in time. During the detection process, the fill light unit 3 can provide sufficient light underwater, which can improve the collection accuracy of the detection unit 2. By adding a processing mechanism to the underwater robot 1, the processing mechanism is under the control of the operator. Under control, the cleaning end can fit with the underwater structure. Under the design of the cleaning belt 27, it can fit with underwater structures of different shapes and provide friction cleaning, ensuring the cleanliness of the detection area and avoiding the accumulation of debris affecting the detection accuracy. At the same time, under the control of the control end, the cleaning belt 27 can be provided with auxiliary support to improve the cleaning effect, and the cleaning operation of the cleaning belt 27 itself can be completed, so that the processing mechanism can maintain a good cleaning state. By providing an adjustment mechanism, the cleaning position of the processing mechanism can be adjusted to expand the cleaning range. At the same time, the processing mechanism can be folded under the underwater robot 1 to avoid interference with the detection work.

[0102] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0103] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An underwater structural defect detection device based on image recognition, comprising an underwater robot, characterized in that: Also includes: The detection unit is arranged on the underwater robot to realize underwater structural defect detection. The underwater robot controls the movement of the detection unit to complete mobile detection at different positions. Filling light units are installed on both sides of the detection unit on the underwater robot. The processing mechanism is arranged at the bottom of the underwater robot to realize active cleaning of the underwater structure. The processing mechanism completes the cleaning of the underwater structure to compensate the detection unit. The processing mechanism is divided into a control end and a cleaning end. The control end is used to complete the adaptation and adjustment of the shape of the cleaning end. The cleaning end contacts the underwater structure to complete the active cleaning. At the same time, the control end can control the cleaning end to complete its own cleaning action; The adjusting mechanism is arranged between the underwater robot and the processing mechanism, and the position of the processing mechanism is adjusted by the adjusting mechanism. At the same time, the adjusting mechanism can control the processing mechanism to fold under the underwater robot to avoid the underwater robot; The control terminal includes: A fixed seat is arranged on the adjustment mechanism, a control chamber is arranged on one side of the fixed seat, an oil storage chamber is arranged in the control chamber, a push piece is slidably installed on one side of the oil storage chamber, an electric cylinder connected to the push piece is installed on one side of the fixed seat, and a guide port is opened at the front end of the control chamber; The switch room is sealed and connected with the guide port at the front end of the control room. The No. 1 pipe and the No. 2 pipe are connected and installed at the bottom of the switch room. The No. 1 switch board and the No. 2 switch board are slidably arranged at the bottom of the switch room. The No. 1 block and the No. 2 block are respectively installed on one side of the upper surface of the No. 1 switch board and the No. 2 switch board. Under normal conditions, the No. 1 switch board is separated from the No. 1 pipe and is in an open state, and the No. 2 switch board is closed to block the No. 2 pipe; The control terminal also includes: A switching seat is arranged at one side of the switching room, a No. 1 zone is provided on the switching seat, a sliding seat is slidably installed in the No. 1 zone, a No. 1 micro electric push rod connected to the sliding seat is installed on one side of the No. 1 zone, a No. 2 zone is provided on the slide seat, a sliding block is slidably installed in the No. 2 zone, a No. 2 micro electric push rod connected to the sliding block is installed on one side of the No. 2 zone; A sensing shaft is arranged on the switching seat, and actively controls the No. 1 switching plate and the No. 2 switching plate through the sensing shaft; The cleaning end includes: A fixed frame is arranged at the front end of the control room, and limiting wheels are symmetrically installed on both sides of the front end of the fixed frame. A sliding frame is installed in the middle of the lower surface of the fixed frame, and a moving platform is slidably engaged in the sliding frame. A tension spring is installed between the moving platform and the sliding frame, and a guide wheel is rotatably installed on one side of the upper surface of the moving platform; The cleaning belt is arranged between the guide wheel and the two limiting wheel members, and the guide wheel and the two limiting wheel members are used to open and limit the cleaning belt, and the cleaning belt is contacted with the underwater structure to complete the scraping and cleaning; The cleaning end includes: A No. 1 extrusion chamber is arranged on the lower surface of the slide frame, and a No. 1 piston member is installed in the No. 1 extrusion chamber in a sliding and sealing manner; The extrusion wheel is arranged on the No. 1 piston member, and provides pressure by contacting the inner side of the cleaning belt with the extrusion wheel. A No. 1 spring is installed between the No. 1 piston member and the No. 1 extrusion chamber, and the No. 1 extrusion chamber is connected with the No. 1 pipe through a pipeline.

2. The underwater structure defect detection device based on image recognition according to claim 1 is characterized in that: The sensing shaft is divided into a hollow shaft and a central shaft. One end of the hollow shaft is fixedly connected to one side of the sliding seat, and the other end of the hollow shaft is fixedly passed through block No. 1 and contacts the side wall of block No.

2. The central shaft is slidably inserted into the hollow shaft, one end of the central shaft is fixedly connected to one side of the sliding seat, and the other end of the central shaft is fixedly connected to the side wall of block No.

2.

3. The underwater structure defect detection device based on image recognition according to claim 2 is characterized in that: Each limiting wheel component includes a concave seat fixed at the front end of the fixing frame, and a No. 1 sensing area is opened through the top and bottom of the front end of the concave seat. Limiting pulleys are installed in the two No. 1 sensing areas through brackets for common rotation, and a No. 1 pressure sensor for detecting the limiting pulley is installed in one of the sensing areas.

4. The underwater structure defect detection device based on image recognition according to claim 3 is characterized in that: The cleaning end also includes: An adjustment area is provided on the upper surface of the moving platform, a receiving seat is slidably installed in the adjustment area, a second sensing area is provided on the receiving seat, a mounting seat is slidably installed in the second sensing area, and a second pressure sensor in contact with the mounting seat is installed on one side of the second sensing area; The switching shaft is arranged on a mounting seat, a switching motor connected to the switching shaft is hidden in the mounting seat, a plurality of assembly seats are arranged in a circular array around the switching shaft, and a cleaning scraper can be detachably mounted on each of the plurality of assembly seats; The No. 2 extrusion chamber is arranged on the movable platform. A No. 2 piston component is installed in the No. 2 extrusion chamber in a sliding seal. The front end of the No. 2 piston component is connected to one side of the receiving seat. A No. 2 spring is installed between the No. 2 piston component and the No. 2 extrusion chamber, and one side of the No. 2 extrusion chamber is connected to the No. 2 pipe through a pipeline.

5. The underwater structure defect detection device based on image recognition according to claim 4 is characterized in that: The regulating mechanism includes: A connecting seat is fixedly arranged at the bottom of the underwater robot, a motor seat is detachably installed at the bottom of the connecting seat, a swing arm is rotatably installed at the bottom of the motor seat, and an adjusting motor connected to the swing arm is arranged in the motor seat; The telescopic arm is arranged on one side of the swing arm. The telescopic arm is composed of a telescopic frame, a telescopic rod and an electric push rod. One end of the telescopic frame is fixedly connected to one side of the swing arm. The telescopic rod is slidably arranged in the telescopic frame. The electric push rod is arranged on one side of the telescopic frame to adjust the position of the telescopic rod. The electric slide is arranged at the front end of the telescopic rod, and the output end of the electric slide is connected with the processing mechanism.

6. A method for detecting underwater structural defects based on image recognition, using an underwater structural defect detection device based on image recognition as claimed in any one of claims 1 to 5, characterized in that: The detection method specifically comprises the following steps: Step 1: First, place the underwater robot into the inspection waters, and control the underwater robot and the inspection unit to dive synchronously until the underwater structure area is waiting for inspection; Step 2: Then control the underwater robot to move along the predetermined route, and collect, analyze and feedback the status of the underwater structure in real time through the detection unit, so that the operator can obtain the detection information in time; Step 3: By controlling the processing mechanism, it can fit with underwater structures of different shapes and provide friction cleaning to maintain the cleanliness of the detection area; Step 4: By providing an adjustment mechanism, the cleaning position of the processing mechanism is controlled and adjusted in all directions. After the cleaning is completed, the processing mechanism is controlled to complete the reset and folding.

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