Device and method for detecting void of hollow steel tube concrete

Abstract

The invention relates to the technical field of concrete filled steel tubes with hollow structures, and discloses a void detection device and method for hollow concrete filled steel tubes, and the void detection device comprises an external detection device and an internal detection device which are respectively mounted on the outer side and the inner side of the hollow concrete filled steel tubes; the surfaces, facing the hollow steel tube concrete, of the internal detection device and the external detection device are provided with a master sensor and a slave sensor which are matched with each other respectively, the external detection device comprises an external modular clamping groove sleeve, external climbing detection cylinders A and B are movably mounted on the inner cylinder surface of the external modular clamping groove sleeve, and climbing modules and fixing modules are mounted on the inner surfaces of the external climbing detection cylinders A and B respectively; the external climbing detection cylinder A is provided with a detection and knocking integrated device; the power supply module, the commutator and the magnetic coil on the climbing detection cylinder are connected in series, the commutator is in signal connection with the controller, the controller is in signal connection with the computer, and a pulse transmitting device and a pulse receiving device which are matched with each other are respectively mounted at positions corresponding to concave rings of the inner and outer cylinders.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete-filled steel tubular structures with hollow structures, and particularly to a void detection device, specifically a void detection device and method for concrete-filled steel tubular structures with hollow structures. Background Art

[0002] Concrete-filled steel tubular structures with hollow structures are composite structural members, which are divided into an internal hollow part and a concrete filling layer. The inside of the steel pipe remains hollow to form a hollow area. The internal hollow design can meet functional requirements, such as passing through pipelines, cables, ventilation systems, or as a design to reduce self-weight. High-strength concrete is filled in the annular area between the steel pipe and the hollow part to improve the load-bearing capacity and strength of the overall structure. During construction or service, void defects between the steel pipe and the concrete are likely to occur, which will lead to the degradation of structural performance and even potential safety hazards.

[0003] Currently, the void detection technology for concrete-filled steel tubular structures is mainly developed for solid structures, and its principle depends on the uniform contact characteristics between the steel pipe and the concrete. However, the existence of the hollow structure in the concrete-filled steel tubular structure with a hollow structure will introduce additional signal interference, making it difficult to accurately interpret the detection data. At the same time, the operation is not simple. Summary of the Invention

[0004] In order to solve a series of problems in the prior art that the void detection technology for concrete-filled steel tubular structures is mainly developed for solid structures, and the hollow structure in the concrete-filled steel tubular structure with a hollow structure introduces additional signal interference, making it difficult to accurately interpret the detection data, etc., the present invention provides a void detection device and method for concrete-filled steel tubular structures with hollow structures.

[0005] The present invention provides a device for detecting voids in concrete-filled steel tubes, comprising an external detection device and an internal detection device respectively installed on the outer side and the inner side of the concrete-filled steel tube; the surfaces of the internal detection device and the external detection device facing the concrete-filled steel tube are respectively provided with a main sensor and a slave sensor that cooperate with each other. The external detection device includes an external modular card slot sleeve, and an external climbing detection cylinder A and an external climbing detection cylinder B are movably installed on the inner cylindrical surface of the external modular card slot sleeve through T-shaped grooves. The external climbing detection cylinder B is movably inserted into the end of the external climbing detection cylinder A. Climbing modules and fixing modules are respectively installed on the inner surfaces of the external climbing detection cylinder A and the external climbing detection cylinder B; an annular external cylinder concave ring is provided above the climbing module of the external climbing detection cylinder A, and a detection and knocking integrated device is installed in the external cylinder concave ring. The internal detection device includes an internal modular card slot sleeve, and an internal climbing detection cylinder A and an internal climbing detection cylinder B are movably installed on the outer cylindrical surface of the internal modular card slot sleeve through T-shaped grooves. The internal climbing detection cylinder B is movably inserted into the end of the internal climbing detection cylinder A. Climbing modules and fixing modules are respectively installed on the inner surfaces of the internal climbing detection cylinder A and the internal climbing detection cylinder B; an annular internal cylinder concave ring is provided above the climbing module of the internal climbing detection cylinder A, and a detection and knocking integrated device is installed in the internal cylinder concave ring. Power modules, commutators and controllers are respectively provided on the external climbing detection cylinder A, the external climbing detection cylinder B, the internal climbing detection cylinder A and the internal climbing detection cylinder B. The power modules and the commutators are connected in series with the magnetic coils built in the climbing modules and the fixing modules. The commutator is signal-connected to the controller, and the controller is signal-connected to the computer. The positions of the external cylinder concave ring and the internal cylinder concave ring correspond to each other, and a cooperating pulse transmitting device and a pulse receiving device are respectively installed on the internal cylinder concave ring and the external cylinder concave ring.

[0006] During implementation, it includes an external detection device and an internal detection device respectively installed on the outer side and the inner side of the concrete-filled steel tube; The surfaces of the internal detection device and the external detection device facing the concrete-filled steel tube are respectively provided with a main sensor and a slave sensor that cooperate with each other and adjust their own motion states to keep in sync The external detection device includes an external modular card slot sleeve, and an external climbing detection cylinder A and an external climbing detection cylinder B are movably installed on the inner cylindrical surface of the external modular card slot sleeve through T-shaped grooves. The external climbing detection cylinder B is movably inserted into the end of the external climbing detection cylinder A. Climbing modules and fixing modules are respectively installed on the inner surfaces of the external climbing detection cylinder A and the external climbing detection cylinder B; The external climbing detection cylinder A is provided with an annular external cylinder concave ring above the climbing module, and a detection and knocking integrated device is installed in the external cylinder concave ring.

[0007] The internal detection device includes an internal modular card slot sleeve. The outer cylinder surface of the internal modular card slot sleeve is movably installed with an internal climbing detection cylinder A and an internal climbing detection cylinder B through T-shaped grooves. The internal climbing detection cylinder B is movably inserted at the end of the internal climbing detection cylinder A. Climbing modules and fixing modules are respectively installed on the inner surfaces of the internal climbing detection cylinder A and the internal climbing detection cylinder B. The internal climbing detection cylinder A is provided with an annular internal cylinder concave ring above the climbing module, and a detection and knocking integrated device is installed in the internal cylinder concave ring.

[0008] The external climbing detection cylinder A, the external climbing detection cylinder B, the internal climbing detection cylinder A, and the internal climbing detection cylinder B are respectively provided with a power supply module, a commutator, and a controller. The power supply module and the commutator are connected in series with the magnetic coils built in the climbing module and the fixing module. The commutator is signal-connected to the controller. When powered on, the commutator changes the direction of the current at a fixed frequency, and the controller is signal-connected to the computer.

[0009] The positions of the external cylinder concave ring and the internal cylinder concave ring correspond to each other. A matching pulse emission device and a pulse receiving device are respectively installed on the internal cylinder concave ring and the external cylinder concave ring. The pulse emission device includes a UWB transmitter that emits ultra-wideband electromagnetic pulses. The UWB transmitter is installed in the internal cylinder concave ring. The pulse receiving device includes a UWB receiver that receives the ultra-wideband electromagnetic pulses penetrating the pipe wall emitted by the UWB transmitter and a quantum magnetometer. The UWB receiver is installed in the external cylinder concave ring. The end of the quantum magnetometer is closely attached to the surface of the hollow steel pipe concrete to measure the weak magnetic field change caused by the electromagnetic pulse.

[0010] Further, the external climbing detection cylinder A includes 3 identical external cylinder plates A connected in a ring. A set of climbing modules is provided on each external cylinder plate A. T-shaped sliders slidably matched with the T-shaped grooves are provided on the outer surfaces of each external cylinder plate A. A track groove is opened at the upper end of the external cylinder plate A. The external climbing detection cylinder B includes 3 external insertion plates B that are respectively matched with the external cylinder plates A. The lower part of the external insertion plate B is movably inserted into the track groove. T-shaped sliders slidably matched with the T-shaped grooves are provided on the outer sides of the upper parts of the external insertion plates B. Climbing modules located on the same generatrix as the climbing modules of the external cylinder plates A are provided on the inner sides of the upper parts of the external insertion plates B. Fixing modules are provided above the climbing modules of the external insertion plates B.

[0011] The internal climbing detection cylinder A includes 3 identical internal cylinder plates A connected in a ring. A set of climbing modules are provided on each internal cylinder plate A. T-shaped sliders that are slidably matched with the T-shaped grooves are provided on the inner surfaces of each internal cylinder plate A. A track groove is formed at the upper end of the internal cylinder plate A. The internal climbing detection cylinder B includes 3 internal insertion plates B that are respectively matched with the internal cylinder plates A. The lower parts of the internal insertion plates B are movably inserted into the track grooves. T-shaped sliders that are slidably matched with the T-shaped grooves are provided on the inner sides of the upper parts of the internal insertion plates B. Climbing modules that are located on the same generatrix as the climbing modules of the internal cylinder plates A are provided on the outer sides of the upper parts of the internal insertion plates B. Fixing modules are provided above the climbing modules of the internal insertion plates B. The climbing modules of the internal cylinder plates A are directly opposite to the climbing modules of the external cylinder plates A. The climbing modules of the internal insertion plates B are directly opposite to the climbing modules of the external insertion plates B.

[0012] During use, the external detection device and the internal detection device move up and down at the same speed in the hollow structural steel tube concrete respectively, and stop moving at the same time. The fixing device performs knocking detection and analysis of the void condition of the hollow structural steel tube concrete at the same high position on the inner and outer sides at the same frequency.

[0013] When moving, the power supply module works to generate an electric current along the axial direction of the cylinder. When the direction of the electric current is from top to bottom, the climbing module moves in a direction away from the pipe wall. The fixing module presses closely against the pipe wall to provide frictional force to prevent sliding. A commutator is used to change the direction of the electric current. When the direction of the electric current is from bottom to top, the climbing module moves in a direction away from the pipe wall. The fixing module presses closely against the pipe wall to provide frictional force to prevent sliding.

[0014] A method for detecting voids in hollow steel tube concrete includes the following steps: Step 1: Install the external detection device and the internal detection device on the outside and inside of the hollow steel tube concrete to be detected respectively, near the bottom, and adjust the main sensor and the slave sensor so that the initial heights of the detection and knocking integrated devices are the same. Step 2: Turn on the power supply module. A current is generated from top to bottom in the external climbing detection cylinder A, and at the same time, a current is generated from bottom to top in the external climbing detection cylinder B. The fixing module of the external climbing detection cylinder A presses tightly against the pipe wall of the hollow steel tube concrete to prevent sliding. The fixing module of the external climbing detection cylinder B moves in a direction away from the pipe wall, disengages from the pipe wall, and the climbing module starts to climb upward. The external insertion plate B moves upward relative to the external cylinder A. At the same time, the main sensor transmits an instruction to the slave sensor, and the internal detection device starts to move according to the same method. When the distance between the external plug board B and the external cylinder A and the distance between the internal plug board B and the internal cylinder A reach the maximum, the commutator works to change the current direction. The external climbing detection cylinder B generates a current from bottom to top and at the same time generates a current from top to bottom. The external plug board B is stationary relative to the pipe wall, and the external cylinder A moves upward, reducing the distance between the external plug board B and the external cylinder A to achieve upward movement. At the same time, the internal detection device starts to move according to the same method. Step 3: The knocking detection integrated device of the external detection device and the internal detection device reaches the area to be detected. Use the commutator to make all the fixing modules closely adhere to the pipe wall at the same time to fix the equipment at the designated position. Step 4: Operate the controller to make the UWB transmitter close to the inner pipe wall of the hollow steel tube concrete to emit GHz-level ultra-wideband electromagnetic pulses. At the same time, the UWB receiver is close to the outer pipe wall of the hollow steel tube concrete to receive the GHz-level ultra-wideband electromagnetic pulses passing through the hollow steel tube concrete. At the same time, the quantum magnetometer is close to the pipe wall to capture magnetic field disturbances and provide additional positioning information. The two types of data, the reflection data of the collected pulses and the change of magnetic field disturbances, are transmitted back to the computer, and machine learning algorithms are used to fuse the data to generate the detection result.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a device and method for detecting voids in hollow steel tube concrete. By means of the externally and internally detecting devices that move synchronously in a climbing manner and using broadband electromagnetic pulses, it can effectively solve the limitation in the prior art that void detection is mainly used for solid steel tube concrete, and can quickly and accurately detect voids in hollow steel tube concrete, broadening the application scope.

[0016] Both the external and internal detection devices of the present invention adopt a modular design. The external climbing detection cylinders A and B and the internal climbing detection cylinders A and B are connected to the modular card slot sleeve through T-shaped grooves, which is convenient for installation, disassembly and maintenance, improving the flexibility and operability of the device. In addition, the climbing modules of the external and internal detection devices can move up and down independently, and can move at the same speed and stop at the same time to ensure the synchronism of the detection positions and avoid detection errors caused by asynchronous positions. The climbing modules of the external and internal detection devices are each provided with three fixing modules and climbing modules, which can be evenly distributed and move independently, ensuring that the device can be stably fixed at different positions during the detection process and avoiding detection errors caused by vibration or movement.

[0017] The fixing modules and climbing modules in the climbing detection module of the present invention are equipped with magnetic coils. By using the power supply module to energize and the commutator to change the current direction, the functions of climbing and fixing are cleverly switched. When the current directions are different, the fixing modules and climbing modules perform their respective functions, being able to move stably on the pipe wall and being reliably fixed during detection.

[0018] Compared with traditional acoustic wave detection, the broadband electromagnetic pulse of the present invention has stronger penetration and higher resolution, can detect fine voids, and at the same time introduces a quantum magnetometer to detect magnetic field changes with its ultra-high sensitivity, providing supplementation for electromagnetic pulse data and improving detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 、Schematic diagram of the internal detection device of the present invention.

[0020] Figure 2 、Schematic diagram of the external detection device of the present invention.

[0021] Figure 3 、Partial schematic diagram of the external detection device of the present invention.

[0022] Figure 4 、Installation schematic diagram of the sensor, power supply module, commutator, and controller of the internal detection device of the present invention.

[0023] Figure 5 、Overall installation diagram of the present invention.

[0024] Figure 6 、Schematic diagram of the external structure of the present invention.

[0025] In the figure: 1 - Internal climbing detection cylinder A, 2 - Internal climbing detection cylinder B, 3 - Climbing module, 4 - Fixed module, 5 - Internal modular card slot sleeve, 6 - UWB transmitter, 7 - Quantum magnetometer, 8 - Power supply module, 9 - Commutator, 10 - Controller, 11 - T-shaped groove, 12 - T-shaped slider, 13 - Internal cylinder concave ring, 14 - External climbing detection cylinder A, 15 - External climbing detection cylinder B, 16 - External modular card slot sleeve, 17 - External cylinder concave ring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The following describes the specific embodiments of the present invention with reference to the accompanying drawings.

[0027] A void detection device for hollow steel tube concrete, as Figures 1 - 6 shown, includes an external detection device and an internal detection device respectively installed on the outer side and the inner side of the hollow steel tube concrete; The surfaces of the internal detection device and the external detection device facing the hollow steel tube concrete are respectively provided with a main sensor and a slave sensor that cooperate with each other to adjust their own movement states to be synchronized.

[0028] The external detection device includes an external modular card slot sleeve 16. The inner cylindrical surface of the external modular card slot sleeve 16 is movably installed with an external climbing detection cylinder A 14 and an external climbing detection cylinder B 15 through T-shaped grooves 11. The external climbing detection cylinder B 15 is movably inserted at the end of the external climbing detection cylinder A 14. Climbing modules 3 and fixing modules 4 are respectively installed on the inner surfaces of the external climbing detection cylinder A 14 and the external climbing detection cylinder B 15.

[0029] Above the climbing module 3 on the external climbing detection cylinder A 14, there is an annular external cylinder concave ring 17, and a detection and knocking integrated device is installed inside the external cylinder concave ring 17.

[0030] The internal detection device includes an internal modular card slot sleeve 5. The outer cylindrical surface of the internal modular card slot sleeve 5 is movably installed with an internal climbing detection cylinder A 1 and an internal climbing detection cylinder B 2 through T-shaped grooves 11. The internal climbing detection cylinder B 2 is movably inserted at the end of the internal climbing detection cylinder A 1. Climbing modules 3 and fixing modules 4 are respectively installed on the inner surfaces of the internal climbing detection cylinder A 1 and the internal climbing detection cylinder B 2.

[0031] Above the climbing module 3 on the internal climbing detection cylinder A 1, there is an annular internal cylinder concave ring 13, and a detection and knocking integrated device is installed inside the internal cylinder concave ring 13.

[0032] On the external climbing detection cylinder A 14, the external climbing detection cylinder B 15, the internal climbing detection cylinder A 1, and the internal climbing detection cylinder B 2, there are respectively a power supply module 8, a commutator 9, and a controller 10. The power supply module 8 and the commutator 9 are connected in series with the magnetic coils built in the climbing module 3 and the fixing module 4. The commutator 9 is signal-connected to the controller 10. When powered on, the commutator changes the direction of the current at a fixed frequency. The controller 10 is signal-connected to a computer.

[0033] The external cylinder concave ring 17 and the internal cylinder concave ring 13 are in corresponding positions. A matching pulse emission device and a pulse reception device are respectively installed on the internal cylinder concave ring 13 and the external cylinder concave ring 17. The pulse emission device includes a UWB transmitter 6 that emits ultra-wideband electromagnetic pulses. The UWB transmitter 6 is installed inside the internal cylinder concave ring 13.

[0034] The pulse reception device includes a UWB receiver that receives the ultra-wideband electromagnetic pulses penetrating the pipe wall emitted by the UWB transmitter 6 and a quantum magnetometer 7. The UWB receiver is installed inside the external cylinder concave ring 17. The end of the quantum magnetometer 7 is closely attached to the surface of the hollow steel pipe concrete to measure the weak magnetic field changes induced by the electromagnetic pulses.

[0035] Furthermore, the external climbing detection cylinder A14 includes 3 identical external cylinder plates A connected in a ring, a set of climbing modules 3 is provided on each external cylinder plate A, a T-shaped slider 12 slidably engaged with the T-shaped groove 11 is provided on the outer surface of each external cylinder plate A, and a track groove is formed at the upper end of the external cylinder plate A.

[0036] The external climbing detection cylinder B15 includes 3 external plug plates B that cooperate with the external cylinder plates A one by one. The lower part of the external plug plate B is movably inserted into the track groove. A T-shaped slider 12 slidably engaged with the T-shaped groove 11 is provided on the outer side of the upper part of the external plug plate B. A climbing module 3 located on the same generatrix as the climbing module 3 of the external cylinder plate A is provided on the inner side of the upper part of the external plug plate B. Fixed modules 4 are provided above the climbing module 3 of the external plug plate B.

[0037] The internal climbing detection cylinder A1 includes 3 identical internal cylinder plates A connected in a ring, a set of climbing modules 3 is provided on each internal cylinder plate A, a T-shaped slider 12 slidably engaged with the T-shaped groove 11 is provided on the inner surface of each internal cylinder plate A, and a track groove is formed at the upper end of the internal cylinder plate A.

[0038] The internal climbing detection cylinder B2 includes 3 internal plug plates B that cooperate with the internal cylinder plates A one by one. The lower part of the internal plug plate B is movably inserted into the track groove. A T-shaped slider 12 slidably engaged with the T-shaped groove 11 is provided on the inner side of the upper part of the internal plug plate B. A climbing module 3 located on the same generatrix as the climbing module 3 of the internal cylinder plate A is provided on the outer side of the upper part of the internal plug plate B. Fixed modules 4 are provided above the climbing module 3 of the internal plug plate B.

[0039] The climbing module 3 of the internal cylinder plate A is directly opposite to the climbing module 3 of the external cylinder plate A, and the climbing module 3 of the internal plug plate B is directly opposite to the climbing module 3 of the external plug plate B.

[0040] During use, the external detection device and the internal detection device move up and down at the same speed in the hollow structural concrete filled steel tube and stop moving simultaneously. The fixing device performs knocking detection and analysis on the void condition of the hollow structural concrete filled steel tube at the same high position on the inner and outer sides at the same frequency.

[0041] During movement, the power supply module 8 operates to generate a current along the axial direction of the cylinder. When the current direction is from top to bottom, the climbing module moves in a direction away from the pipe wall, and the fixed module 4 clings to the pipe wall to provide frictional force to prevent slipping. The commutator 9 is used to change the current direction. When the current direction is from bottom to top, the climbing module 3 moves in a direction away from the pipe wall, and the fixed module 4 clings to the pipe wall to provide frictional force to prevent slipping.

[0042] A method for detecting voids in hollow concrete filled steel tubes includes the following steps: Step 1: Install the external detection device and the internal detection device on the outside and inside of the concrete-filled steel tube to be detected respectively, near the bottom, and adjust the main sensor and the slave sensor so that the initial heights of the integrated detection and percussion device are the same.

[0043] Step 2: Turn on the power module. A current flows from top to bottom in the external climbing detection cylinder A14, and at the same time, a current flows from bottom to top in the external climbing detection cylinder B15. The fixing module 4 of the external climbing detection cylinder A14 presses against the wall of the concrete-filled steel tube to prevent it from sliding down; the fixing module 4 of the external climbing detection cylinder B15 moves away from the wall of the tube and disengages from the wall, and the climbing module 3 starts to climb upward. The external insert B moves upward relative to the external cylinder A.

[0044] At the same time, the main sensor sends a command to the slave sensor, and the internal detection device starts to move according to the same method.

[0045] When the distance between the external insert B and the external cylinder A and the distance between the internal insert B and the internal cylinder A reach the maximum, the commutator works to change the direction of the current. A current flows from bottom to top in the external climbing detection cylinder B15, and at the same time, a current flows from top to bottom in the external climbing detection cylinder B15. The external insert B is stationary relative to the wall of the tube, and the external cylinder A moves upward. The distance between the external insert B and the external cylinder A decreases, realizing upward movement. At the same time, the internal detection device starts to move according to the same method.

[0046] Step 3: When the integrated percussion detection device of the external detection device and the internal detection device reaches the area to be detected, use the commutator to make all the fixing modules 4 stick to the wall of the tube at the same time, and fix the equipment at the designated position.

[0047] Step 4: Operate the controller 10 to make the UWB transmitter 6 close to the inner wall of the concrete-filled steel tube of the hollow structure, and emit GHz-level ultra-wideband electromagnetic pulses. At the same time, the UWB receiver is close to the outer wall of the concrete-filled steel tube to receive the GHz-level ultra-wideband electromagnetic pulses passing through the concrete-filled steel tube. At the same time, the quantum magnetometer is close to the wall of the tube to capture magnetic field disturbances and provide additional positioning information. The two types of data, namely the reflection data of the collected pulses and the changes in magnetic field disturbances, are transmitted back to the computer, and machine learning algorithms are used to fuse the data to generate the detection results.

[0048] The scope of protection required by the present invention is not limited to the above specific embodiments. Moreover, for those skilled in the art, the present invention can have various deformations and changes. Any modifications, improvements, and equivalent replacements made within the concept and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An air void detection device for concrete-filled steel tubular columns, characterized in that: It includes an external detection device and an internal detection device respectively installed on the outer side and the inner side of the hollow steel tube concrete; The surfaces of the internal detection device and the external detection device facing the hollow steel tube concrete are respectively provided with a main sensor and a slave sensor that cooperate with each other. The external detection device includes an external modular card slot sleeve (16). The inner cylindrical surface of the external modular card slot sleeve (16) is movably installed with an external climbing detection cylinder A (14) and an external climbing detection cylinder B (15) through a T-shaped groove (11). The external climbing detection cylinder B (15) is movably inserted into the end of the external climbing detection cylinder A (14). Climbing modules (3) and fixing modules (4) are respectively installed on the inner surfaces of the external climbing detection cylinder A (14) and the external climbing detection cylinder B (15). An annular external cylinder concave ring (17) is provided above the climbing module (3) of the external climbing detection cylinder A (14), and a detection and knocking integrated device is installed in the external cylinder concave ring (17). The internal detection device includes an internal modular card slot sleeve (5). The outer cylindrical surface of the internal modular card slot sleeve (5) is movably installed with an internal climbing detection cylinder A (1) and an internal climbing detection cylinder B (2) through a T-shaped groove (11). The internal climbing detection cylinder B (2) is movably inserted into the end of the internal climbing detection cylinder A (1). Climbing modules (3) and fixing modules (4) are respectively installed on the inner surfaces of the internal climbing detection cylinder A (1) and the internal climbing detection cylinder B (2). An annular internal cylinder concave ring (13) is provided above the climbing module (3) of the internal climbing detection cylinder A (1), and a detection and knocking integrated device is installed in the internal cylinder concave ring (13). Power modules (8), commutators (9), and controllers (10) are respectively provided on the external climbing detection cylinder A (14), the external climbing detection cylinder B (15), the internal climbing detection cylinder A (1), and the internal climbing detection cylinder B (2). The power modules (8) and the commutators (9) are connected in series with the magnetic coils built in the climbing modules (3) and the fixing modules (4). The commutator (9) is signal-connected to the controller (10), and the controller (10) is signal-connected to a computer. The positions of the external cylinder concave ring (17) and the internal cylinder concave ring (13) correspond to each other. A matching pulse emission device and a pulse receiving device are respectively installed on the internal cylinder concave ring (13) and the external cylinder concave ring (17).

2. The void detection device for concrete-filled steel tubes according to claim 1, wherein: The external climbing detection cylinder A (14) includes 3 identical externally connected external cylinder plates A. A set of climbing modules (3) is provided on each external cylinder plate A. A T-shaped slider (12) that is slidably matched with the T-shaped groove (11) is provided on the outer surface of each external cylinder plate A. A track groove is opened at the upper end of the external cylinder plate A. The external climbing detection cylinder B (15) includes three external inserts B that cooperate with the external cylinder plates A one by one. The lower part of the external insert B is movably inserted into the track groove. The outer side of the upper part of the external insert B is provided with a T-shaped slider (12) that slidably cooperates with the T-shaped groove (11). The inner side of the upper part of the external insert B is provided with a climbing module (3) that is on the same generatrix as the climbing module (3) of the external cylinder plate A. The external insert B is provided with a fixing module (4) above the climbing module (3).

3. The void detection device for concrete-filled steel tubular columns according to claim 2, wherein: The internal climbing detection cylinder A (1) includes three identical internal cylinder plates A that are connected in a ring. Each internal cylinder plate A is provided with a set of climbing modules (3). The inner surface of each internal cylinder plate A is provided with a T-shaped slider (12) that slidably cooperates with the T-shaped groove (11). The upper end of the internal cylinder plate A is provided with a track groove. The internal climbing detection cylinder B (2) includes three internal inserts B that cooperate with the internal cylinder plates A one by one. The lower part of the internal insert B is movably inserted into the track groove. The inner side of the upper part of the internal insert B is provided with a T-shaped slider (12) that slidably cooperates with the T-shaped groove (11). The outer side of the upper part of the internal insert B is provided with a climbing module (3) that is on the same generatrix as the climbing module (3) of the internal cylinder plate A. The internal insert B is provided with a fixing module (4) above the climbing module (3). The climbing modules (3) of the internal cylinder plate A are directly opposite to the climbing modules (3) of the external cylinder plate A. The climbing modules (3) of the internal insert B are directly opposite to the climbing modules (3) of the external insert B.

4. An air void detection device for concrete-filled steel tubular columns according to claim 1, characterized in that: The pulse emission device includes a UWB transmitter (6) that emits ultra-wideband electromagnetic pulses. The UWB transmitter (6) is installed in the internal cylinder concave ring (13). The pulse receiving device includes a UWB receiver that receives the ultra-wideband electromagnetic pulses penetrating the pipe wall emitted by the UWB transmitter (6) and a quantum magnetometer (7). The UWB receiver is installed in the external cylinder concave ring (17). The end of the quantum magnetometer (7) is closely attached to the surface of the hollow steel pipe concrete.

5. A method for detecting voids in concrete-filled steel tubular columns, characterized in that: It includes the following steps: Step 1: Install the external detection device and the internal detection device on the outside and inside of the hollow steel pipe concrete to be detected respectively, close to the bottom, and adjust the main sensor and the slave sensor so that the initial heights of the detection and knocking integrated device are the same. Step 2: Turn on the power module. The external climbing detection cylinder A (14) generates a current from top to bottom, and at the same time, the external climbing detection cylinder B (15) generates a current from bottom to top. The fixing module (4) of the external climbing detection cylinder A (14) presses against the pipe wall of the hollow steel pipe concrete to prevent it from sliding down. The fixing module (4) of the external climbing detection cylinder B (15) moves away from the pipe wall, disengages from the pipe wall, and the climbing module (3) starts to climb upward. The external insert B moves upward relative to the external cylinder A. At the same time, the main sensor conveys an instruction to the slave sensor, and the internal detection device starts to move according to the same method. When the distance between the external plug board B and the external cylinder A and the distance between the internal plug board B and the internal cylinder A reach the maximum, the commutator works to change the direction of the current. The external climbing detection cylinder B (15) generates a current from bottom to top, and at the same time, the external climbing detection cylinder B (15) generates a current from top to bottom. The external plug board B is stationary relative to the pipe wall, and the external cylinder A moves upward, reducing the distance between the external plug board B and the external cylinder A to achieve upward movement. At the same time, the internal detection device starts to move according to the same method; Step 3: The knocking detection integrated device of the external detection device and the internal detection device reaches the area to be detected. Use the commutator to make all the fixing modules (4) closely adhere to the pipe wall at the same time to fix the equipment at the designated position; Step 4: Operate the controller (10) to make the UWB transmitter (6) close to the inner pipe wall of the hollow structural steel pipe concrete to emit GHz-level ultra-wideband electromagnetic pulses. At the same time, the UWB receiver is close to the outer pipe wall of the hollow steel pipe concrete to receive the GHz-level ultra-wideband electromagnetic pulses passing through the hollow steel pipe concrete. At the same time, the quantum magnetometer is close to the pipe wall to capture the magnetic field disturbance and provide additional positioning information. The two types of data, the reflection data of the collected pulses and the change of the magnetic field disturbance, are transmitted back to the computer, and the machine learning algorithm is used to fuse the data to generate the detection result.

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