Acoustic-optical collaborative fusion underwater concrete defect step-by-step detection equipment and system thereof

Abstract

The invention provides sound-light collaborative fusion underwater concrete defect step-by-step detection equipment and a system thereof.The sound-light collaborative fusion underwater concrete defect step-by-step detection equipment comprises an underwater robot and a detection assembly fixed to the top of the underwater robot, and the detection assembly comprises a fixed rack, a plurality of sonar detection assemblies and a plurality of optical detection assemblies; the sonar detection assemblies are fixedly connected through a first connecting frame, the optical detection assemblies are fixedly connected through a second connecting frame, and the first connecting frame and the second connecting frame are rotationally installed at the front end of the fixed rack. A first adjusting mechanism and a second adjusting mechanism which are used for adjusting the pitching angle of the first connecting frame and the pitching angle of the second connecting frame are further arranged on the fixed rack correspondingly, and the first adjusting mechanism and the second adjusting mechanism rotate synchronously through a connecting shaft; a synchronizing assembly used for driving the connecting shaft to move and completing connection or separation between the first adjusting mechanism and the second adjusting mechanism is further arranged on the outer side of the fixed rack, the sonar and the optical assembly synchronously adjust the pitching angle, the same area is synchronously scanned, and the efficient cooperative capacity is achieved.

Description

Technical Field

[0001] The present invention relates to the field of concrete detection, and particularly to an underwater concrete defect step-by-step detection device and system with acoustic-optical collaborative fusion. Background Art

[0002] The bridge pier foundation is the main load-bearing structure of the bridge, and its working state directly affects the load-bearing capacity of the bridge. The bridge pier foundation is mostly placed in water and is in a complex hydrogeological environment for a long time. Subject to scouring and erosion by flowing water, the diseases of the bridge pier foundation are increasing and becoming more serious. These disease locations are underwater and are difficult to be detected during routine inspections, which are huge potential safety hazards for the bridge structure. Therefore, it is crucial to comprehensively and systematically understand and master the conditions of the underwater components of the bridge, provide scientific and reasonable technical data and decision-making basis for the maintenance and repair of the bridge, and thus ensure the safety of the bridge structure.

[0003] Currently, traditional underwater detection is mostly limited to inland bridges. The traditional method is to use divers for underwater probing and underwater video detection. Underwater probing by divers is generally carried out under the condition of a flow rate < 0.5 m / s, and there is a defect that as the water depth increases, the operation time decreases sharply. Underwater video detection is also carried out under the condition of a flow rate < 0.5 m / s, and good visibility in water is required to obtain results. Therefore, the current underwater detection by divers is greatly affected by the environment.

[0004] Therefore, it is necessary to provide a new underwater concrete defect step-by-step detection device and system with acoustic-optical collaborative fusion to solve the above technical problems. Summary of the Invention

[0005] To solve the above technical problems, the present invention provides an underwater concrete defect step-by-step detection device and system with acoustic-optical collaborative fusion.

[0006] The underwater concrete defect step-by-step detection device with acoustic-optical collaborative fusion provided by the present invention on the one hand includes an underwater robot and a detection component fixed on the top of the underwater robot. The detection component includes a fixed frame, a plurality of sonar detection components, and a plurality of optical detection components. The plurality of sonar detection components are fixedly connected to each other through a first connecting frame, and the plurality of optical detection components are fixedly connected to each other through a second connecting frame. The first connecting frame and the second connecting frame are respectively rotatably installed at the front end of the fixed frame, and the fixed frame is also respectively provided with a first adjusting mechanism and a second adjusting mechanism for adjusting the pitching angles of the first connecting frame and the second connecting frame. The first adjusting mechanism and the second adjusting mechanism rotate synchronously through a connecting shaft, and a synchronization component for driving the connecting shaft to move and completing the connection or separation between the first adjusting mechanism and the second adjusting mechanism is also provided outside the fixed frame.

[0007] Further, the first adjusting mechanism includes a first main gear, a first driven gear, a first shaft rod, and a first elastic limiting member. The first main gear is rotatably installed inside the fixed frame. The first driven gear is fixedly connected to one end of the first shaft rod. The other end of the first shaft rod passes through one side of the fixed frame and is fixedly connected to one end of the first connecting frame. The first elastic limiting component is fixedly installed at the front end of the fixed frame, and the first elastic limiting component corresponds to the position of the first driven gear. The first elastic limiting component is used to limit the intermittent movement of the first driven gear;

[0008] A first spline groove is formed in the middle of the first main gear.

[0009] Further, the second adjusting mechanism includes a mounting frame, a support frame, a second main gear, a second driven gear, a second shaft rod, and a second elastic limiting component. The mounting frame is fixedly installed inside the fixed frame. The second main gear is rotatably installed inside the mounting frame. The support frame is fixedly installed at the front end of the fixed frame. The second driven gear is fixedly connected to one end of the second shaft rod. The other end of the second shaft rod passes through one side of the support frame and is fixedly connected to one end of the second connecting frame. The second elastic limiting component is fixedly installed on one side of the mounting frame, and the second elastic limiting component corresponds to the position of the second driven gear. The second elastic limiting component is used to limit the intermittent movement of the second driven gear;

[0010] A connecting cylinder is further provided on the side of the second main gear away from the second elastic limiting component. A second spline groove is formed at one end of the connecting cylinder.

[0011] Further, the synchronization component includes a cover body, a fixed seat, a power motor, a driving motor, and an adjusting screw. The cover body is fixedly installed outside the fixed frame. The fixed seat is fixedly installed on the inner wall of the cover body. The power motor is fixedly installed on the fixed seat, and the output end of the power motor is fixedly connected to one end of the adjusting screw. A connecting plate is fixed to the bottom of the driving motor. The connecting plate is slidably installed on the top of the fixed seat, and the bottom of the connecting plate is threadedly connected to the adjusting screw. The output end of the driving motor is fixedly connected to the connecting shaft.

[0012] Further, a part of the outer surface of the connecting shaft is a spline and another part is a smooth rod. When the spline part of the connecting shaft contacts the first spline groove and does not contact the second spline groove, the first main gear rotates while the second main gear does not rotate. When the spline part of the connecting shaft contacts the second spline groove and does not contact the first spline groove, the second main gear rotates while the first main gear does not rotate. When the spline part of the connecting shaft contacts both the first spline groove and the second spline groove, the first main gear and the second main gear rotate synchronously.

[0013] Further, the sonar detection component includes a first mounting housing, a transmitter, and a transducer. The first mounting housing is fixedly installed on the first connecting frame. The transmitter and the transducer are respectively fixedly installed inside the first mounting housing, and are electrically connected to each other.

[0014] Further, the optical detection component includes a second mounting housing, an optical camera, and a supplementary light. The optical camera and the supplementary light are installed on the second mounting housing. The second mounting housing is fixedly installed on the second connecting frame. The optical camera and the supplementary light are respectively fixedly installed on the second mounting housing, and a polarizing mirror is further provided at the front end of the optical camera.

[0015] Further, the first elastic limit component includes a fixed disk, a plurality of elastic telescopic columns, and a plurality of extrusion columns. The fixed disk is fixedly installed at the front end of the fixed machine frame. The plurality of elastic telescopic columns are circumferentially distributed on one side edge of the fixed disk. The plurality of extrusion columns are circumferentially distributed on one side edge of the first driven gear. The side walls of the plurality of extrusion columns are in contact with the side walls of the plurality of elastic telescopic columns, and the side walls of the plurality of extrusion columns and the plurality of elastic telescopic columns are inclined surfaces.

[0016] On the other hand, the system of the underwater concrete defect step-by-step detection device with acoustic-optical collaborative fusion provided by the present invention includes a central controller, which is used to control the movement of the underwater robot, and control the motor and drive the motor to rotate forward and backward to drive the pitching angle adjustment of the sonar detection component and the optical detection component;

[0017] A display module, which is used to display the detection information of the sonar detection component and the optical detection component;

[0018] A timing module, which is used to control the timing start and stop of the sonar detection component and the optical detection component.

[0019] Compared with the related art, the underwater concrete defect step-by-step detection device and its system with acoustic-optical collaborative fusion provided by the present invention have the following beneficial effects:

[0020] 1. Through the meshing cooperation of the main gear and the driven gear, the power motor and the drive motor precisely control the position of the connecting shaft through the adjusting screw, realizing the selective linkage of the sonar and the optical component. Combined with elastic limit, the angle step control of the sonar and the optical component is realized, and the sonar or the optical component can be controlled separately (for example, the optical component remains stationary when the sonar scans), adapting to different detection requirements (such as after the sonar quickly locates, the optical component accurately reinspects). The sonar and the optical component synchronously adjust the pitching angle and synchronously scan the same area, having high efficient collaborative ability.

[0021] 2. In the present invention, a part of the outer surface of the connecting shaft is a spline and the other part is a smooth rod. The design of the spline section and the smooth rod section of the connecting shaft enables non-electronic switching through physical contact, with a simple and reliable structure, avoiding the failure risks of complex circuit control.

[0022] 3. In the present invention, an underwater robot is used to replace personnel for underwater detection. By performing acoustic and optical step-by-step and collaborative detection, the cumbersome process of having to lower acoustic and optical devices into the water multiple times in traditional methods is avoided, reducing labor and time costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the overall structure of the underwater concrete defect step-by-step detection device with acoustic-optic collaborative fusion provided by the present invention;

[0024] Figure 2 is Figure 1 an enlarged schematic diagram of the structure at location A shown;

[0025] Figure 3 is a top-view schematic diagram of the detection component provided by the present invention;

[0026] Figure 4 is a cross-sectional schematic diagram of the synchronization component provided by the present invention;

[0027] Figure 5 is a disassembled schematic diagram of the synchronization component provided by the present invention Figure 1 ;

[0028] Figure 6 is a disassembled schematic diagram of the synchronization component provided by the present invention Figure 2 ;

[0029] Figure 7 is a schematic diagram of the structure of the first elastic limit component provided by the present invention;

[0030] Figure 8 is a system block diagram of the underwater concrete defect step-by-step detection device with acoustic-optic collaborative fusion provided by the present invention.

[0031] Reference numerals in the figures: 1. Underwater robot; 2. Fixed frame; 3. Sonar detection component; 4. Optical detection component; 5. First connecting frame; 6. Second connecting frame; 7. First main gear; 8. First driven gear; 9. First shaft rod; 10. First spline groove; 11. Mounting frame; 12. Support frame; 13. Second main gear; 14. Second driven gear; 15. Second shaft rod; 16. Second elastic limit component; 17. Connecting cylinder; 18. Second spline groove; 19. Cover body; 20. Fixed seat; 21. Power motor; 22. Driving motor; 23. Adjusting screw; 24. Connecting plate; 25. Fixed disk; 26. Elastic telescopic column; 27. Extrusion column; 28. Connecting shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] Please refer to Figures 1 - 8 , wherein Figure 1 is the overall structural schematic diagram of the step-by-step detection device for underwater concrete defects with acoustic-optical collaborative fusion provided by the present invention; Figure 2 is Figure 1 the enlarged structural schematic diagram of the position A shown; Figure 3 is the top view structural schematic diagram of the detection component provided by the present invention; Figure 4 is the sectional view structural schematic diagram of the synchronization component provided by the present invention; Figure 5 is the disassembled structural schematic diagram of the synchronization component provided by the present invention Figure 1 ; Figure 6 is the disassembled structural schematic diagram of the synchronization component provided by the present invention Figure 2 ; Figure 7 is the structural schematic diagram of the first elastic limit component provided by the present invention; Figure 8 is the system block diagram of the step-by-step detection device for underwater concrete defects with acoustic-optical collaborative fusion provided by the present invention.

[0034] Embodiment 1

[0035] In the specific implementation process, as Figures 1 - 7 shown, the step-by-step detection device for underwater concrete defects with acoustic-optical collaborative fusion includes an underwater robot 1 and a detection component fixed on the top of the underwater robot 1. The detection component includes a fixed frame 2, a plurality of sonar detection components 3, and a plurality of optical detection components 4. The plurality of sonar detection components 3 are fixedly connected to each other through a first connecting frame 5, and the plurality of optical detection components 4 are fixedly connected to each other through a second connecting frame 6. The first connecting frame 5 and the second connecting frame 6 are respectively rotatably installed at the front end of the fixed frame 2, and the fixed frame 2 is also respectively provided with a first adjustment mechanism and a second adjustment mechanism for adjusting the pitching angles of the first connecting frame 5 and the second connecting frame 6, and the first adjustment mechanism and the second adjustment mechanism rotate synchronously through a connecting shaft 28. A synchronization component for driving the connecting shaft 28 to move and completing the connection or separation between the first adjustment mechanism and the second adjustment mechanism is also provided outside the fixed frame 2;

[0036] It should be noted that the sonar detection component 3 includes a first mounting housing, a transmitter, and a transducer. The first mounting housing is fixedly installed on the first connecting frame 5. The transmitter and the transducer are respectively fixedly installed inside the first mounting housing, and are electrically connected to each other. The transmitter is used to generate an electrical signal, which, through the transducer (usually a piezoelectric crystal), is converted into a sound signal and transmitted into the water. When the sound signal travels in the water and encounters an underwater concrete target, it will be reflected back. The reflected sound wave is received by the transducer and converted back into an electrical signal, which is amplified and processed and then displayed on the display module. Or, the distance to the target can be determined based on the round-trip time of the signal, and the nature of the target can be judged according to the pitch and other conditions;

[0037] The optical detection component 4 includes a second mounting housing, an optical camera, and a supplementary light. The optical camera and the supplementary light are fixedly installed on the second mounting housing. The second mounting housing is fixedly installed on the second connecting frame 6. The optical camera and the supplementary light are respectively fixedly installed on the second mounting housing. A polarizing mirror is also provided at the front end of the optical camera. The supplementary light of the optical detection component 4 (12,000 lumens) and the polarizing mirror effectively solve the problems of underwater turbidity and light scattering, ensuring the imaging clarity.

[0038] In a specific implementation process, referring to Figures 2 - 5 As shown, the first adjusting mechanism includes a first main gear 7, a first driven gear 8, a first shaft rod 9, and a first elastic limiting member. The first main gear 7 is rotatably installed inside the fixed frame 2. The first driven gear 8 is fixedly connected to one end of the first shaft rod 9. The other end of the first shaft rod 9 passes through one side of the fixed frame 2 and is fixedly connected to one end of the first connecting frame 5. The first elastic limiting component is fixedly installed at the front end of the fixed frame 2 and corresponds to the position of the first driven gear 8. The first elastic limiting component is used to limit the intermittent movement of the first driven gear 8. When the first main gear 7 rotates, it can drive the first driven gear 8 to rotate. Under the action of the first elastic limiting component, the first driven gear 8 rotates intermittently and drives the sonar detection component 3 on the first connecting frame 5 to adjust the pitching angle. Through the meshing cooperation of the main gear and the driven gear, combined with elastic limiting, the angular step control of the sonar and the optical component is realized (such as adjusting 5° or 10° per step), meeting the viewing angle requirements of different detection scenarios;

[0039] A spline groove 10 is provided in the middle of the first main gear 7 for mating with the connecting shaft 28.

[0040] In a specific implementation process, referring to Figures 2 - 5As shown in the figure, the second adjusting mechanism includes a mounting frame 11, a support frame 12, a second main gear 13, a second driven gear 14, a second shaft rod 15, and a second elastic limit assembly 16. The mounting frame 11 is fixedly installed inside the fixed machine frame 2. The second main gear 13 is rotatably installed inside the mounting frame 11. The support frame 12 is fixedly installed at the front end of the fixed machine frame 2. One end of the second driven gear 14 is fixedly connected to one end of the second shaft rod 15. The other end of the second shaft rod 15 passes through one side of the support frame 12 and is fixedly connected to one end of the second connecting frame 6. The second elastic limit assembly 16 is fixedly installed on one side of the mounting frame 11, and the second elastic limit assembly 16 corresponds to the position of the second driven gear 14. The second elastic limit assembly 16 is used to limit the intermittent movement of the second driven gear 14. When the second main gear 13 rotates, it can drive the second driven gear 14 to rotate. Under the action of the second elastic limit assembly 16, the second driven gear 14 rotates intermittently and drives the optical detection assembly 4 on the second connecting frame 6 to adjust the pitching angle;

[0041] On the side of the second main gear 13 away from the second elastic limit assembly 16, there is also a connecting cylinder 17. One end of the connecting cylinder 17 is provided with a second spline groove 18 for mating with the connecting shaft 28.

[0042] In a specific implementation process, refer to Figure 4 As shown in the figure, the synchronization component includes a cover body 19, a fixed seat 20, a power motor 21, a driving motor 22, and an adjusting screw 23. The cover body 19 is fixedly installed outside the fixed machine frame 2. The fixed seat 20 is fixedly installed on the inner wall of the cover body 19. The power motor 21 is fixedly installed on the fixed seat 20, and the output end of the power motor 21 is fixedly connected to one end of the adjusting screw 23. A connecting plate 24 is fixed to the bottom of the driving motor 22. The connecting plate 24 is slidably installed on the top of the fixed seat 20, and the bottom of the connecting plate 24 is threadedly connected to the adjusting screw 23. The output end of the driving motor 22 is fixedly connected to the connecting shaft 28. By starting the power motor 21 to drive the adjusting screw 23 to rotate, the planar position of the driving motor 22 on the top of the fixed seat 20 can be adjusted. By starting the driving motor 22, the connecting shaft 28 can be driven to rotate;

[0043] In this embodiment, it should be additionally noted that refer to Figure 5 and Figure 6As shown, a part of the outer surface of the connecting shaft 28 is a spline and the other part is a smooth rod. The spline section and the smooth rod section of the connecting shaft 28 are designed to achieve non-electronic switching through physical contact. The structure is simple and reliable, and the risk of failure of complex circuit control is avoided. When the spline part of the connecting shaft 28 is in contact with the spline groove 10 but not in contact with the spline groove 2 18, the main gear 1 7 rotates and the main gear 2 13 does not rotate. When the spline part of the connecting shaft 28 is in contact with the spline groove 2 18 but not in contact with the spline groove 10, the main gear 2 13 rotates and the main gear 1 7 does not rotate. When the spline part of the connecting shaft 28 is in contact with the spline groove 10 and the spline groove 2 18 at the same time, the main gear 1 7 and the main gear 2 13 rotate synchronously.

[0044] It should be noted that the reference Figure 7 As shown, the elastic limiting component 1 includes a fixed plate 25, a plurality of elastic telescopic columns 26 and a plurality of extrusion columns 27. The fixed plate 25 is fixedly installed on the front end of the fixed frame 2, and the plurality of elastic telescopic columns 26 are circumferentially distributed on one side edge of the fixed plate 25. The plurality of extrusion columns 27 are circumferentially distributed on one side edge of the driven gear 8. The side walls of the plurality of extrusion columns 27 are in contact with the side walls of the plurality of elastic telescopic columns 26, and the plurality of extrusion columns 27 and the side walls of the plurality of elastic telescopic columns 26 are both inclined surfaces. A spring is provided inside the elastic telescopic column 26 for resetting the extrusion column 27 after it is separated from the surface of the elastic telescopic column 26. The elastic limiting component (such as the cooperation between the elastic telescopic column 26 and the extrusion column 27) ensures that the angle adjustment of the sonar and optical components is accurate in steps through the intermittent rotation of the gear, avoiding jitter errors caused by continuous rotation. The mechanical structure is stable after each rotation, reducing positioning deviations caused by water flow or vibration.

[0045] It should be further explained that the elastic limit assembly 2 16 has the same structure as the elastic limit assembly 1, so no further details will be given here.

[0046] Embodiment 2

[0047] In a specific implementation process, reference Figure 8 As shown, the system of the underwater concrete defect step-by-step detection device with acoustic-optical synergistic fusion includes a central controller for controlling the movement of the underwater robot 1, and controlling the forward and reverse rotation of the motor and the drive motor 22 to drive the pitch angle adjustment of the display sonar detection component 3 and the optical detection component 4;

[0048] A display module, used to display the detection information of the sonar detection component 3 and the optical detection component 4;

[0049] The timing module is used to control the timing start and stop of the sonar detection component 3 and the optical detection component 4.

[0050] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution or the part that contributes to the related technology can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0051] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0052] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. The underwater concrete defect step-by-step detection equipment with acoustic-optical synergistic fusion is characterized by: The invention comprises an underwater robot (1) and a detection component fixed on the top of the underwater robot (1), wherein the detection component comprises a fixed frame (2), a plurality of sonar detection components (3) and a plurality of optical detection components (4), wherein the plurality of sonar detection components (3) are fixedly connected to each other via a connecting frame 1 (5), and the plurality of optical detection components (4) are fixedly connected to each other via a connecting frame 2 (6), wherein the connecting frame 1 (5) and the connecting frame 2 (6) are respectively rotatably mounted on the front end of the fixed frame (2), and the fixed frame (2) is also provided with an adjustment mechanism 1 and an adjustment mechanism 2 for adjusting the pitch angles of the connecting frame 1 (5) and the connecting frame 2 (6), respectively, and the adjustment mechanism 1 and the adjustment mechanism 2 rotate synchronously via a connecting shaft (28), and a synchronization component for driving the connecting shaft (28) to move and complete the connection or separation between the adjustment mechanism 1 and the adjustment mechanism 2 is also provided on the outer side of the fixed frame (2).

2. The acoustic-optical synergistic underwater concrete defect step-by-step detection device according to claim 1 is characterized in that: The adjusting mechanism comprises a main gear (7), a driven gear (8), a shaft (9) and an elastic limiting component. The main gear (7) is rotatably mounted on the inner side of the fixed frame (2). The driven gear (8) is fixedly connected to one end of the shaft (9). The other end of the shaft (9) passes through one side of the fixed frame (2) and is fixedly connected to one end of the connecting frame (5). The elastic limiting component is fixedly mounted on the front end of the fixed frame (2). The elastic limiting component corresponds to the position of the driven gear (8). The elastic limiting component is used to limit the intermittent movement of the driven gear (8). A spline groove (10) is provided in the middle of the main gear (7).

3. The acoustic-optical synergistic underwater concrete defect step-by-step detection device according to claim 2 is characterized in that: The second adjusting mechanism comprises a mounting frame (11), a supporting frame (12), a second main gear (13), a second driven gear (14), a second shaft rod (15) and a second elastic limiting assembly (16); the mounting frame (11) is fixedly mounted inside the fixed frame (2); the second main gear (13) is rotatably mounted inside the mounting frame (11); the supporting frame (12) is fixedly mounted at the front end of the fixed frame (2); the second driven gear (14) is fixedly connected to one end of the second shaft rod (15); the other end of the second shaft rod (15) passes through one side of the supporting frame (12) and is fixedly connected to one end of the second connecting frame (6); the second elastic limiting assembly (16) is fixedly mounted on one side of the mounting frame (11); the second elastic limiting assembly (16) corresponds to the position of the second driven gear (14); the second elastic limiting assembly (16) is used to limit the intermittent movement of the second driven gear (14); A connecting tube (17) is also provided on the side of the second main gear (13) away from the second elastic limiting assembly (16), and a second spline groove (18) is provided at one end of the connecting tube (17).

4. The acoustic-optical synergistic underwater concrete defect step-by-step detection device according to claim 3 is characterized in that: The synchronization component comprises a cover body (19), a fixing seat (20), a power motor (21), a drive motor (22) and an adjusting screw (23); the cover body (19) is fixedly mounted on the outside of the fixed frame (2); the fixing seat (20) is fixedly mounted on the inner wall of the cover body (19); the power motor (21) is fixedly mounted on the fixing seat (20); the output end of the power motor (21) is fixedly connected to one end of the adjusting screw (23); a connecting plate (24) is fixed at the bottom of the drive motor (22); the connecting plate (24) is slidably mounted on the top of the fixing seat (20); the bottom of the connecting plate (24) is threadedly connected to the adjusting screw (23); and the output end of the drive motor (22) is fixedly connected to the connecting shaft (28).

5. The acoustic-optical synergistic underwater concrete defect step-by-step detection device according to claim 4 is characterized in that: A portion of the outer surface of the connecting shaft (28) is splined and the other portion is a smooth rod. When the spline portion of the connecting shaft (28) contacts the spline groove one (10) but does not contact the spline groove two (18), the main gear one (7) rotates while the main gear two (13) does not rotate. When the spline portion of the connecting shaft (28) contacts the spline groove two (18) but does not contact the spline groove one (10), the main gear two (13) rotates while the main gear one (7) does not rotate. When the spline portion of the connecting shaft (28) contacts the spline groove one (10) and the spline groove two (18) at the same time, the main gear one (7) rotates synchronously with the main gear two (13).

6. The acoustic-optical synergistic underwater concrete defect step-by-step detection device according to claim 5 is characterized in that: The sonar detection component (3) comprises a mounting shell, a transmitter and a transducer. The mounting shell is fixedly mounted on the connecting frame (5). The transmitter and the transducer are respectively fixedly mounted in the mounting shell, and the transmitter is electrically connected to the transducer.

7. The acoustic-optical synergistic underwater concrete defect step-by-step detection device according to claim 6 is characterized in that: The optical detection component (4) comprises a mounting shell 2, an optical camera and a fill light, wherein the optical camera and the fill light are fixedly mounted on the connecting frame 2 (6), the optical camera and the fill light are respectively fixedly mounted on the mounting shell 2, and a polarizing filter is also provided at the front end of the optical camera.

8. The acoustic-optical synergistic underwater concrete defect step-by-step detection device and system according to claim 7 is characterized in that: The elastic limiting component 1 comprises a fixed plate (25), a plurality of elastic telescopic columns (26) and a plurality of extrusion columns (27); the fixed plate (25) is fixedly mounted on the front end of the fixed frame (2); the plurality of elastic telescopic columns (26) are circumferentially distributed on one side edge of the fixed plate (25); the plurality of extrusion columns (27) are circumferentially distributed on one side edge of the driven gear 1 (8); the side walls of the plurality of extrusion columns (27) are in contact with the side walls of the plurality of elastic telescopic columns (26); and the side walls of the plurality of extrusion columns (27) and the plurality of elastic telescopic columns (26) are both inclined surfaces.

9. A system for the underwater concrete defect step-by-step detection device using acoustic-optical synergistic fusion as claimed in any one of claims 1 to 8, characterized in that: It comprises a central controller for controlling the movement of the underwater robot (1) and controlling the forward and reverse rotation of the motor and the drive motor (22) to drive the pitch angle adjustment of the display sonar detection component (3) and the optical detection component (4); A display module, used for displaying detection information of the sonar detection component (3) and the optical detection component (4); The timing module is used to control the timing start and stop of the sonar detection component (3) and the optical detection component (4).

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