Steel pipe arch deformation detection device and method

Abstract

The invention discloses a steel pipe arch deformation detection device and method.The device comprises a walking track and a detection robot, the walking track is formed by fixing an upper L-shaped steel sheet and a lower L-shaped steel sheet on a steel pipe arch, the detection robot moves on the track through driving rollers, and the robot is composed of a walking mechanism, a disengagement detection mechanism and a deformation detection mechanism; the walking mechanism comprises an annular disc, a telescopic frame and a driving roller, the driving roller makes contact with the track through a second spring, the disengaging detection mechanism collects sounds generated by knocking the surface of a steel pipe through a knocking unit, the position of a disengaging point is recognized through a recording unit and an analysis unit, and the deformation detection mechanism generates three-dimensional point cloud after collecting ground distance and track data. And fitting an ideal curve by adopting a quadric surface, calculating the deviation between the actual curve and the ideal curve, finally visually outputting void and deformation results through deformation quantity statistics and a thermodynamic diagram, generating a report and triggering an alarm. According to the invention, accurate detection of arch deformation and void of the steel pipe can be realized, and the detection efficiency and safety are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of steel tube concrete arch bridge detection, and particularly relates to a steel tube arch deformation detection device and method. Background Art

[0002] A steel tube concrete arch bridge is a composite structure bridge that combines steel and concrete. It is made by filling the steel tube with concrete and using the radial constraint of the steel tube to limit the expansion of the compressed concrete, so that the concrete is in a three-dimensional compression state, thereby significantly improving its compressive strength. The main feature of the steel tube concrete arch bridge is its arch rib structure, which usually includes a single-limb circular tube, a double-limb dumbbell-shaped section, and a four-limb arch rib structure. These structural forms can be selected according to the design requirements and span size of the bridge to meet different engineering needs. In terms of construction, the steel tube concrete arch bridge has the advantages of light hoisting weight and simple construction. The steel tube can be used as a rigid load-bearing skeleton to simplify the construction process and shorten the construction period. At the same time, due to the presence of the steel tube, concrete pouring can also be conveniently carried out, avoiding the complex formwork work in the construction of traditional concrete bridges.

[0003] Monitoring items for steel tube concrete arch bridges include void detection and deformation detection. Void detection can be carried out by ultrasonic and manual detection. Ultrasonic detection has accurate detection accuracy and can also achieve non-destructive detection. However, ultrasonic detection requires the application of coupling agent and the installation of equipment on both sides of the steel tube. The detection operation is relatively complicated, and it is more troublesome for personnel to perform inspections at high altitudes. Manual detection is carried out by manually knocking on the surface of the steel tube and judging voids by listening to the knocking sound. It relies heavily on the experience of personnel. Deformation detection of steel tube arch bridges is a long process. The degree of deformation of the steel tube arch ribs needs to be tested every once in a while, and the detection method is relatively troublesome. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a steel pipe arch deformation detection device and method which can realize accurate detection of steel pipe arch deformation and voiding and can improve detection efficiency and safety.

[0005] The technical solution of the present invention is:

[0006] A steel pipe arch deformation detection device, comprising: a walking track and a detection robot, wherein the walking track is arranged on the steel pipe arch of the steel pipe, the walking track comprises two upper and lower L-shaped steel sheets, the steel sheets are fixedly connected to the steel pipe arch, and the two steel sheets are connected to the steel pipe arch to form a walking track; the detection robot moves on the walking track, the detection robot comprises a walking mechanism, a gap detection mechanism and a deformation detection mechanism, the walking mechanism moves on the walking track, the walking mechanism comprises two rotating frames, the rotating frame comprises an annular disk and four telescopic frames, the four telescopic frames are distributed in pairs on the side of the annular disk, the four telescopic frames are combined to form an X-shaped structure, one end of the telescopic frame is slidably connected to the annular disk, the other end of the telescopic frame is provided with a driving roller, the driving roller contacts the steel sheet of the walking track, a second spring is provided between two adjacent telescopic frames, a connecting shaft is provided between the two annular disks, the two annular disks are rotatably connected with the connecting shaft, and a spring is provided on the annular disk facing the outside of the steel pipe arch on the walking mechanism A detection mechanism connecting device is provided, on which a void detection mechanism and a deformation detection mechanism are fixedly connected, the detection mechanism connecting device comprises a fixed connection unit and a movable connection unit, the fixed connection unit is respectively connected to the annular disk and the void detection mechanism, the movable connection unit is connected to the deformation detection mechanism, the movable connection unit comprises a hollow column and a movable shaft rotating in the hollow column, the hollow column is sleeved with the fixed connection unit, the deformation detection mechanism is arranged at the bottom of the movable shaft, the deformation detection mechanism comprises an infrared rangefinder and a path recorder, the void detection mechanism comprises a frame, a knocking unit, a recording unit and an analysis unit, the frame is fixedly connected to the fixed connection unit, a first cylinder is arranged in the frame, the telescopic end of the first cylinder is connected to the knocking unit, the knocking unit comprises a knocking plate and a knocking hammer, the bottom of the knocking plate is fixedly connected to the telescopic end of the first cylinder, a plurality of the knocking hammers are fixedly connected to the top of the knocking plate, the recording unit and the analysis unit are both arranged in the frame.

[0007] Furthermore, a groove-shaped slide rail is provided on the side surface of the annular disk, and a slide plate is provided at one end of the telescopic frame, and the slide plate slides on the groove-shaped slide rail.

[0008] Furthermore, the fixing unit is a circular sleeve structure, one end of the fixing unit is sleeved with a hollow column, and the other end of the fixing unit is rotatably connected to the annular disk through a plurality of support rods, one end of the support rod is connected to the inner wall of the fixing unit, and the other end of the support rod is fixedly connected to the disk surface of the annular disk.

[0009] Furthermore, the recording unit includes a microphone and a low-noise amplifier, and the analysis unit is an STM32 series microcontroller.

[0010] Furthermore, the infrared rangefinder is a ToF infrared rangefinder, and the path recorder includes an optical rotary encoder and an inertial measurement unit.

[0011] Furthermore, a driving motor is provided on the driving roller, and the driving motor is connected to the driving roller via a transmission gear.

[0012] A deformation detection method of a steel pipe arch deformation detection device comprises the following steps:

[0013] Step 1: Robot walking and path recording, including the following steps:

[0014] Step 1.1, placing the inspection robot: placing the walking mechanism of the inspection robot in the track composed of steel sheets, ensuring that the driving roller is pressed against the inner wall of the steel sheet under the action of the second spring;

[0015] Step 1.2, start the walking mechanism: start the driving roller, the detection robot starts to move along the walking track, and the path recorder records the walking track data (x i ,y i ), record a position point every fixed time interval Δt;

[0016] Step 2: Starting the tapping unit and collecting sound data, including the following steps:

[0017] Step 2.1, start the percussion unit: start the first cylinder, drive the percussion hammer at a fixed frequency f c Hit the surface of the steel pipe with a fixed force;

[0018] Step 2.2, the recording unit records the sound: the recording unit records the knocking sound s(t);

[0019] Step 2.3, sound frequency analysis: The analysis unit performs Fourier transform on the knocking sound s(t) to obtain a frequency domain signal:

[0020]

[0021] Where S(f) represents the amplitude in the frequency domain, which is used to identify the frequency characteristics of the knocking sound, s(t) represents the knocking sound signal, and f represents the frequency;

[0022] Analyze frequency characteristics and compare actual frequency peak f measured With the preset threshold f threshold :

[0023] If |f measured -f ideal |>f threshold , then it is determined that there is a gap at this point;

[0024] Record the position of the escape point P i=(x i ,y i , z i );

[0025] Step 3: Fusion of infrared ranging and 3D data, including the following steps:

[0026] Step 3.1, Collect ground distance: The infrared rangefinder synchronously records the ground distance z of each walking point i ;

[0027] Step 3.2, generate 3D point cloud: transform the walking trajectory data (x i ,y i ) and the infrared rangefinder provides z i Combine data to generate 3D point cloud:

[0028] P i =(x i ,y i , z i ),

[0029] Among them, P i Indicates the three-dimensional coordinate point of a certain position of the detection robot on the surface of the steel pipe arch;

[0030] Step 4: steel tube arch curve fitting, including the following steps:

[0031] Step 4.1, fitting the ideal curve: Assume that the ideal shape of the steel tube arch is a quadratic surface, and the model is:

[0032] z(x,y)=a 0 +a 1 x+a 2 y+a 3 x 2 +a 4 y 2 +a 5 xy,

[0033] Among them, z(x, y) represents the ideal fitting height of the steel tube arch, x and y represent the horizontal and vertical coordinates provided by the path recorder, respectively, and a 0 , a 1 , a 2 , a 3 , a 4 , a 5 represents the fitting coefficient, which is solved by the least squares method;

[0034] Step 4.2: Solve the fitting parameters: Minimize the error function by the least squares method: Right now:

[0035]

[0036] Where J represents the error function, (x i ,y i , z i ) represents the data points collected by the path recorder and the infrared range finder, and n represents the number of samples;

[0037] By minimizing the error function J, the optimal fitting coefficient a can be obtained. 0 , a 1 , a 2 , a 3 , a 4 , a 5 , and then obtain the surface formula of the ideal steel tube arch;

[0038] Step 5: Calculation of steel pipe arch deformation, including the following steps:

[0039] Step 5.1, shape variable calculation: for each point P i , calculate the deviation between the actual value and the ideal value of the fit: Δz i =z i -z(x i ,y i ),

[0040] Among them, z i Indicates the actual measurement value of the infrared rangefinder, z(x i ,y i ) represents the ideal value of the fit, Δz i represents the deformation of point i;

[0041] Step 5.2: Count the deformation data, including the maximum deformation variable and the average deformation variable. The expression of the maximum deformation variable is:

[0042]

[0043] Where Δz max represents the maximum deformation, Δz i represents the deformation of point i;

[0044] The expression of the average deformation is:

[0045]

[0046] Where Δz mean represents the average deformation, Δz i represents the shape variable of point i, and n represents the number of samples;

[0047] Step 6: Combined analysis of degassing and deformation, including the following steps:

[0048] Step 6.1, empty point marking: for all empty points (x i,y i , z i ) to mark and count the deformation of the empty position separately;

[0049] Step 6.2, deformation heat map: according to the deformation variable Δz i The distribution of the deformation thermodynamic map of the steel tube arch is generated, and the void point and the maximum deformation area are marked;

[0050] Step 7: System output, including the following steps:

[0051] Step 7.1, Generate report: Output the empty point and its specific location information (x i ,y i , z i ), output deformation data, including maximum deformation and average deformation;

[0052] Step 7.2, visualization: Use the 3D visualization tool Matlab or ROS or OpenGL to generate a 3D morphology diagram of the steel tube arch, display the deformation thermal map and mark the void point and the maximum deformation area;

[0053] Step 7.3, feedback report: set a threshold value according to the deformation amount, trigger the alarm mechanism, and prompt the operator to handle it in time.

[0054] Beneficial effects of the present invention:

[0055] 1. High-precision detection: The present invention can accurately identify the empty points on the surface of the steel tube arch and their specific positions by combining the knocking unit, the recording unit and the analysis unit with Fourier transform; generate a three-dimensional point cloud by combining an infrared rangefinder and a path recorder, and realize high-precision calculation of the deformation of the steel tube arch by using a quadratic surface fitting model and the least squares method;

[0056] 2. High efficiency: The detection robot of the present invention can automatically move along the walking track without manual intervention, which improves the detection efficiency; the recording unit and the analysis unit process the knocking sound in real time, quickly judge the air gap, and realize the real-time path and deformation data recording in combination with the path recorder;

[0057] 3. Visual analysis: The present invention constructs the actual shape of the steel tube arch through three-dimensional point cloud, and combines it with ideal surface fitting to provide an intuitive visual image of deformation distribution; the deformation distribution is displayed in the form of a heat map, clearly marking the void points and the maximum deformation area, which is convenient for users to understand and locate the problem;

[0058] 4. Multifunctional detection: The present invention can comprehensively evaluate the structural integrity of the steel tube arch by combining the hollowing out and deformation detection of the steel tube arch; and provide a reliable basis for subsequent maintenance by outputting the hollowing out point position, deformation statistics (maximum value, average value) and three-dimensional morphology report;

[0059] 5. Reliability and adaptability: The walking mechanism of the present invention is cleverly designed. The second spring ensures close contact between the driving roller and the track, and adapts to different curvatures and environments of the steel tube arch. By using the ToF infrared rangefinder and the optical rotary encoder, it has strong anti-environmental interference ability and can still maintain high precision under complex working conditions.

[0060] 6. Safety: The present invention sets thresholds according to deformation and air gap conditions, triggers an alarm to prompt operators to handle in time, and avoids structural safety hazards; operations such as knocking and ranging are completed by robots, reducing the safety risks of manual intervention;

[0061] 7. Strong practicability: The air gap detection mechanism and deformation detection mechanism of the present invention can be installed independently and can be flexibly adjusted or upgraded according to actual needs; the overall design of the detection device can adapt to steel pipe arches of different sizes and shapes, and has a wide range of engineering application value;

[0062] In summary, the steel tube arch deformation detection device and method of the present invention have the advantages of high precision, high efficiency and reliability, provide an efficient and comprehensive solution for the structural health monitoring of steel tube arches, and have good engineering promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a structural schematic diagram of a detection robot of a steel pipe arch deformation detection device of the present invention.

[0064] Figure 2 The invention discloses a structural schematic diagram of a telescopic frame of a steel pipe arch deformation detection device.

[0065] Figure 3 The present invention is a schematic structural diagram of a hollowing detection mechanism of a steel pipe arch deformation detection device.

[0066] Figure 4 It is a schematic diagram of the use status of a steel pipe arch deformation detection device of the present invention.

[0067] Figure 5 yes Figure 4 An enlarged schematic diagram of point A.

[0068] In the figure: 1-steel pipe, 2-detection robot, 3-steel sheet, 4-annular disk, 5-telescopic frame, 6-driving roller, 7-connecting shaft, 8-second spring, 9-fixed connection unit, 10-hollow column, 11-movable shaft, 12-deformation detection mechanism, 13-infrared rangefinder, 14-path recorder, 15-frame, 16-slide, 17-first spring, 18-first cylinder, 19-knocking plate, 20-knocking hammer, 21-recording unit, 22-analysis unit. DETAILED DESCRIPTION

[0069] like Figure 1-5 As shown, a steel pipe arch deformation detection device includes: a walking track and a detection robot 2, the walking track is arranged on the steel pipe arch of the steel pipe 1, the walking track includes two upper and lower L-shaped steel sheets 3, the steel sheets 3 are fixedly connected to the steel pipe arch, and the two steel sheets 3 are connected to the steel pipe arch to form a walking track; the detection robot 2 moves on the walking track, the detection robot 2 includes a walking mechanism, a gap detection mechanism and a deformation detection mechanism 12, the walking mechanism moves on the walking track, the walking mechanism includes two rotating frames, the rotating frame includes an annular disk 4 and four extensions The telescopic frame 5 is provided with a plurality of telescopic frames 5, wherein the four telescopic frames 5 are distributed in pairs on the side of the annular disk 4, and the four telescopic frames 5 are combined to form an X-shaped structure. One end of the telescopic frame 5 is slidably connected with the annular disk 4, and the other end of the telescopic frame 5 is provided with a driving roller 6, and the driving roller 6 is in contact with the steel sheet 3 of the walking track. A second spring 8 is provided between two adjacent telescopic frames 5, and a connecting shaft 7 is provided between the two annular disks 4. The two annular disks 4 are rotatably connected with the connecting shaft 7. A detection mechanism connecting device is provided on the annular disk 4 facing the outside of the steel pipe arch on the walking mechanism, and the detection mechanism connecting device is provided on the annular disk 4 facing the outside of the steel pipe arch. The detection mechanism connection device is fixedly connected with an air-release detection mechanism and a deformation detection mechanism 12, the detection mechanism connection device includes a fixed connection unit 9 and a movable connection unit, the fixed connection unit 9 is respectively connected to the annular disk 4 and the air-release detection mechanism, the movable connection unit is connected to the deformation detection mechanism 12, the movable connection unit includes a hollow column 10 and a movable shaft 11 rotating in the hollow column 10, the hollow column 10 is sleeved with the fixed connection unit 9, the deformation detection mechanism 12 is arranged at the bottom of the movable shaft 11, and the deformation detection mechanism 12 includes an infrared rangefinder 13 and a path recorder 14, the air escape detection mechanism includes a frame 15, a knocking unit, a recording unit 21 and an analysis unit 22, the frame 15 is fixedly connected to the fixed connection unit 9, a first cylinder 18 is arranged in the frame 15, the telescopic end of the first cylinder 18 is connected to the knocking unit, the knocking unit includes a knocking plate 19 and a knocking hammer 20, the bottom of the knocking plate 19 is fixedly connected to the telescopic end of the first cylinder 18, a plurality of the knocking hammers 20 are fixedly connected to the top of the knocking plate 19, and the recording unit 21 and the analysis unit 22 are both arranged in the frame 15.

[0070] Preferably, a groove-shaped slide rail is provided on the side of the annular disk 4, and a slide plate 16 is provided at one end of the telescopic frame 5, and the slide plate 16 slides on the groove-shaped slide rail.

[0071] Preferably, the fixing unit 9 is a circular sleeve structure, one end of the fixing unit 9 is sleeved with the hollow column 10, and the other end of the fixing unit 9 is rotatably connected to the annular disk 4 through a plurality of support rods, one end of the support rod is connected to the inner wall of the fixing unit 9, and the other end of the support rod is fixedly connected to the disk surface of the annular disk 4.

[0072] Preferably, the recording unit 21 includes a microphone and a low-noise amplifier (operational amplifier LM358), and the analysis unit 22 is an STM32 series microcontroller.

[0073] Preferably, the infrared rangefinder 13 is a ToF infrared rangefinder (Sharp GP2Y0A series or VL53L0X or VL6180X is selected according to actual conditions), and the path recorder 14 includes an optical rotary encoder (AMS AS5048A) and an inertial measurement unit (MPU6050 or BN0055).

[0074] Preferably, a driving motor (Maxon DCX series) is provided on the driving roller 6, and the driving motor is connected to the driving roller 6 via a transmission gear.

[0075] A deformation detection method of a steel pipe arch deformation detection device comprises the following steps:

[0076] Step 1: Robot walking and path recording, including the following steps:

[0077] Step 1.1, placing the detection robot 2: placing the walking mechanism of the detection robot 2 in the track formed by the steel sheet 3, ensuring that the driving roller 6 is pressed against the inner wall of the steel sheet 3 under the action of the second spring 8;

[0078] Step 1.2, start the walking mechanism: start the driving roller 6, the detection robot 2 starts to move along the walking track, and the path recorder 14 records the walking track data (x i ,y i ), record a position point every fixed time interval Δt;

[0079] Step 2: Starting the tapping unit and collecting sound data, including the following steps:

[0080] Step 2.1, start the striking unit: start the first cylinder 18, drive the striking hammer 20 to strike at a fixed frequency f c The surface of the steel pipe 1 is struck with a fixed force;

[0081] Step 2.2, the recording unit records the sound: the recording unit 21 records the knocking sound s(t);

[0082] Step 2.3, sound frequency analysis: the analysis unit 22 performs Fourier transform on the knocking sound s(t) to obtain a frequency domain signal:

[0083]

[0084] Where S(f) represents the amplitude in the frequency domain, which is used to identify the frequency characteristics of the knocking sound, s(t) represents the knocking sound signal, and f represents the frequency;

[0085] Analyze frequency characteristics and compare actual frequency peak f measured With the preset threshold f threshold :

[0086] If |f measured -f ideal |>f threshold , then it is determined that there is a gap at this point;

[0087] Record the position of the escape point P i =(x i ,y i , z i );

[0088] Step 3: Fusion of infrared ranging and 3D data, including the following steps:

[0089] Step 3.1, collecting ground distance: the infrared rangefinder 13 synchronously records the ground distance z of each walking point i ;

[0090] Step 3.2, generate three-dimensional point cloud: the walking trajectory data (x i ,y i ) and the infrared range finder 13 provides z i Combine data to generate 3D point cloud:

[0091] P i =(x i ,y i , z i ),

[0092] Among them, P i Indicates the three-dimensional coordinate point of a certain position of the detection robot 2 on the surface of the steel pipe arch;

[0093] Step 4: steel tube arch curve fitting, including the following steps:

[0094] Step 4.1, fitting the ideal curve: Assume that the ideal shape of the steel tube arch is a quadratic surface, and the model is:

[0095] z(x,y)=a 0 +a 1 x+a 2 y+a 3 x 2 +a 4 y 2 +a 5 xy,

[0096] Wherein, z(x, y) represents the ideal fitting steel pipe arch height, x and y represent the horizontal coordinate and vertical coordinate provided by the path recorder 14, respectively, and a 0 , a 1 , a 2 , a 3 , a 4 , a 5 represents the fitting coefficient, which is solved by the least squares method;

[0097] Step 4.2: Solve the fitting parameters: Minimize the error function by the least squares method: Right now:

[0098]

[0099] Where J represents the error function, (x i ,y i , z i ) represents the data points collected by the path recorder 14 and the infrared range finder 13, and n represents the number of samples;

[0100] By minimizing the error function J, the optimal fitting coefficient a can be obtained. 0 , a 1 , a 2 , a 3 , a 4 , a 5 , and then obtain the surface formula of the ideal steel tube arch;

[0101] Step 5: Calculation of steel pipe arch deformation, including the following steps:

[0102] Step 5.1, shape variable calculation: for each point P i , calculate the deviation between the actual value and the ideal value of the fit: Δz i =z i -z(x i ,y i ),

[0103] Among them, z i represents the actual measurement value of the infrared range finder 13, z(x i ,y i ) represents the ideal value of the fit, Δz i represents the deformation of point i;

[0104] Step 5.2: Count the deformation data, including the maximum deformation variable and the average deformation variable. The expression of the maximum deformation variable is:

[0105]

[0106] Where Δz max represents the maximum deformation, Δzi represents the deformation of point i;

[0107] The expression of the average deformation is:

[0108]

[0109] Where Δz mean represents the average deformation, Δz i represents the shape variable of point i, and n represents the number of samples;

[0110] Step 6: Combined analysis of degassing and deformation, including the following steps:

[0111] Step 6.1, empty point marking: for all empty points (x i ,y i , z i ) to mark and count the deformation of the empty position separately;

[0112] Step 6.2, deformation heat map: according to the deformation variable Δz i The distribution of the deformation thermodynamic map of the steel tube arch is generated, and the void point and the maximum deformation area are marked;

[0113] Step 7: System output, including the following steps:

[0114] Step 7.1, Generate report: Output the empty point and its specific location information (x i ,y i , z i ), output deformation data, including maximum deformation and average deformation;

[0115] Step 7.2, visualization: Use the 3D visualization tool Matlab or ROS or OpenGL to generate a 3D morphology diagram of the steel tube arch, display the deformation thermal map and mark the void point and the maximum deformation area;

[0116] Step 7.3, feedback report: set a threshold value according to the deformation amount, trigger the alarm mechanism, and prompt the operator to handle it in time.

[0117] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which shall fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A steel pipe arch deformation detection device, characterized in that: include: A walking track and a detection robot (2), wherein the walking track is arranged on a steel pipe arch of a steel pipe (1), and the walking track comprises two upper and lower L-shaped steel sheets (3), wherein the steel sheets (3) are fixedly connected to the steel pipe arch, and the two steel sheets (3) are connected to the steel pipe arch to form the walking track; the detection robot (2) moves on the walking track, and the detection robot (2) comprises a walking mechanism, a clearance detection mechanism and a deformation detection mechanism (12), wherein the walking mechanism moves on the walking track, and the walking mechanism comprises two rotating frames, wherein the rotating frame comprises an annular disk (4) and four telescopic frames (5), and wherein the four telescopic frames (5) are distributed in pairs on the annular disk. (4), the four telescopic frames (5) are combined to form an X-shaped structure, one end of the telescopic frame (5) is slidably connected to the annular disk (4), the other end of the telescopic frame (5) is provided with a driving roller (6), the driving roller (6) is in contact with the steel sheet (3) of the walking track, a second spring (8) is provided between two adjacent telescopic frames (5), a connecting shaft (7) is provided between the two annular disks (4), the two annular disks (4) are rotatably connected to the connecting shaft (7), a detection mechanism connecting device is provided on the annular disk (4) facing the outer side of the steel pipe arch on the walking mechanism, and a detachable The invention relates to a detection mechanism and a deformation detection mechanism (12), wherein the detection mechanism connection device comprises a fixed connection unit (9) and a movable connection unit, wherein the fixed connection unit (9) is respectively connected to the annular disk (4) and the air escape detection mechanism, wherein the movable connection unit is connected to the deformation detection mechanism (12), wherein the movable connection unit comprises a hollow column (10) and a movable shaft (11) rotating in the hollow column (10), wherein the hollow column (10) is sleeved with the fixed connection unit (9), wherein the deformation detection mechanism (12) is arranged at the bottom of the movable shaft (11), wherein the deformation detection mechanism (12) comprises an infrared rangefinder (13) and a path recorder (14 ... The air escape detection mechanism comprises a frame (15), a knocking unit, a recording unit (21) and an analysis unit (22); the frame (15) is fixedly connected to a fixed connection unit (9); a first cylinder (18) is arranged in the frame (15); the telescopic end of the first cylinder (18) is connected to the knocking unit; the knocking unit comprises a knocking plate (19) and a knocking hammer (20); the bottom of the knocking plate (19) is fixedly connected to the telescopic end of the first cylinder (18); a plurality of the knocking hammers (20) are fixedly connected to the top of the knocking plate (19); and the recording unit (21) and the analysis unit (22) are both arranged in the frame (15).

2. A steel pipe arch deformation detection device according to claim 1, characterized in that: A groove-shaped slide rail is arranged on the side of the annular disk (4), and a slide plate (16) is arranged at one end of the telescopic frame (5), and the slide plate (16) slides on the groove-shaped slide rail.

3. The steel pipe arch deformation detection device according to claim 1, characterized in that: The fixing unit (9) is a circular sleeve structure, one end of the fixing unit (9) is sleeved with the hollow column (10), the other end of the fixing unit (9) is rotatably connected to the annular disk (4) via a plurality of support rods, one end of the support rod is connected to the inner wall of the fixing unit (9), and the other end of the support rod is fixedly connected to the disk surface of the annular disk (4).

4. The steel pipe arch deformation detection device according to claim 1, characterized in that: The recording unit (21) comprises a microphone and a low-noise amplifier, and the analysis unit (22) is an STM32 series microcontroller.

5. The steel pipe arch deformation detection device according to claim 1, characterized in that: The infrared rangefinder (13) is a ToF infrared rangefinder, and the path recorder (14) comprises an optical rotary encoder and an inertial measurement unit.

6. The steel pipe arch deformation detection device according to claim 1, characterized in that: The driving roller (6) is provided with a driving motor, and the driving motor is connected to the driving roller (6) via a transmission gear.

7. A deformation detection method for a steel pipe arch deformation detection device according to claim 1, characterized in that: The following steps are involved: Step 1: Robot walking and path recording, including the following steps: Step 1.1, placing the detection robot (2): placing the walking mechanism of the detection robot (2) in the track formed by the steel sheet (3), ensuring that the driving roller (6) is pressed against the inner wall of the steel sheet (3) under the action of the second spring (8); Step 1.2, start the walking mechanism: start the driving roller (6), the detection robot (2) starts to move along the walking track, and the path recorder (14) records the walking track data (x i ,y i ), record a position point every fixed time interval Δt; Step 2: Starting the tapping unit and collecting sound data, including the following steps: Step 2.1, start the percussion unit: start the first cylinder (18) to drive the percussion hammer (20) at a fixed frequency f c striking the surface of the steel pipe (1) with a fixed force; Step 2.2, the recording unit records the sound: the recording unit (21) records the knocking sound s(t); Step 2.3, sound frequency analysis: The analysis unit (22) performs Fourier transform on the knocking sound s(t) to obtain a frequency domain signal: Where S(f) represents the amplitude in the frequency domain, which is used to identify the frequency characteristics of the knocking sound, s(t) represents the knocking sound signal, and f represents the frequency; Analyze frequency characteristics and compare actual frequency peak f measured With the preset threshold f threshold : If |f measured -f ideal |>f threshold , then it is determined that there is a gap at this point; Record the position of the escape point P i =(x i ,y i , z i ); Step 3: Fusion of infrared ranging and 3D data, including the following steps: Step 3.1, collecting ground distance: the infrared rangefinder (13) synchronously records the ground distance z of each walking point i ; Step 3.2, generate three-dimensional point cloud: the walking trajectory data (x i ,y i ) and the infrared range finder (13) i Combine data to generate 3D point cloud: P i =(x i ,y i ,z i ), Among them, P i represents the three-dimensional coordinate point of a certain position of the detection robot (2) on the surface of the steel pipe arch; Step 4: steel tube arch curve fitting, including the following steps: Step 4.1, fitting the ideal curve: Assume that the ideal shape of the steel tube arch is a quadratic surface, and the model is: z(x,y)=a0+a1x+a2y+a3x 2 +a4y 2 +a5xy, Wherein, z(x, y) represents the ideal steel pipe arch height, x and y represent the horizontal coordinate and vertical coordinate provided by the path recorder (14), a0, a1, a2, a3, a4, a5 represent the fitting coefficients, which are solved by the least square method; Step 4.2: Solve the fitting parameters: Minimize the error function by the least squares method: Right now: Where J represents the error function, (x i ,y i , z i ) represents the data points collected by the path recorder (14) and the infrared range finder (13), and n represents the number of samples; By minimizing the error function J, the optimal fitting coefficients a0, a1, a2, a3, a4, a5 can be obtained, and then the surface formula of the ideal steel tube arch can be obtained; Step 5: Calculation of steel pipe arch deformation, including the following steps: Step 5.1, shape variable calculation: for each point P i , calculate the deviation between the actual value and the ideal value of the fit: △z i =z i -z(x i ,y i ), Among them, z i represents the actual measurement value of the infrared range finder (13), z(x i ,y i ) represents the ideal value of the fit, Δz i represents the deformation of point i; Step 5.2: Count the deformation data, including the maximum deformation variable and the average deformation variable. The expression of the maximum deformation variable is: Where Δz max represents the maximum deformation, Δz i represents the deformation of point i; The expression of the average deformation is: Where Δz mean represents the average deformation, Δz i represents the shape variable of point i, and n represents the number of samples; Step 6: Combined analysis of degassing and deformation, including the following steps: Step 6.1, empty point marking: for all empty points (x i ,y i , z i ) to mark and count the deformation of the empty position separately; Step 6.2, deformation heat map: according to the deformation variable Δz i The distribution of the deformation thermodynamic map of the steel tube arch is generated, and the void point and the maximum deformation area are marked; Step 7: System output, including the following steps: Step 7.1, Generate report: Output the empty point and its specific location information (x i ,y i , z i ), output deformation data, including maximum deformation and average deformation; Step 7.2, visualization: Use the 3D visualization tool Matlab or ROS or OpenGL to generate a 3D morphology diagram of the steel tube arch, display the deformation thermal map and mark the void point and the maximum deformation area; Step 7.3, feedback report: set a threshold value according to the deformation amount, trigger the alarm mechanism, and prompt the operator to handle it in time.

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