Underwater detection robot based on multi-source data analysis

Abstract

The invention discloses an underwater detection robot based on multi-source data analysis, and belongs to the technical field of underwater detection. The mounting ring is used for surrounding a pier, the rotating assembly and the lifting assembly are used for controlling the mounting ring to rotate and ascend and descend on the pier, an arc-shaped cavity is formed in the mounting ring, the two ends of the arc-shaped cavity are fixedly connected to the mounting ring, and the end, facing the pier, of the arc-shaped cavity is open. The arc-shaped cavity is formed in the bridge end, a mounting distance is formed between the open end of the arc-shaped cavity and the bridge end, a sliding plate is arranged in the arc-shaped cavity, a plurality of arc-shaped pipes are arranged on the sliding plate, one end of each arc-shaped pipe is fixed to the sliding plate, the other end of each arc-shaped pipe penetrates out of the arc-shaped cavity and is slidably connected to the arc-shaped cavity, and a baffle is arranged at the other end of each arc-shaped pipe. A reset spring is arranged between the baffle and the arc-shaped cavity and arranged on the arc-shaped pipe in a sleeving mode. The technical scheme is used for improving the underwater detection effect of the bridge pier.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater detection, and particularly relates to an underwater detection robot based on multi-source data analysis. Background Art

[0002] Due to the long-term combined effects of water body corrosion and water flow scouring on the underwater part of the bridge pier, surface defects such as pitted surface and erosion pits are likely to occur. These defects not only affect the structural integrity of the bridge pier but also may pose safety hazards. Therefore, it is crucial to regularly detect the underwater part of the bridge pier.

[0003] In the prior art, there have also been many bridge pier detection robots. For example, a mechanical system of a bridge pier underwater detection robot with the patent number 2018102982830 includes a carrier ship, a hoisting mechanism, an above-water fixing mechanism, and an underwater detection mechanism. The hoisting mechanism is provided at the end of the carrier ship, the above-water fixing mechanism is provided obliquely above the hoisting mechanism, and the underwater detection mechanism is provided directly below the above-water fixing mechanism.

[0004] Although the above technical solution can be mounted on the bridge pier, achieve rotation and lifting, and thus carry out the detection work on the bridge pier, it has the following deficiencies in actual use: (1) The bridge pier is located underwater for a long time, and a lot of foreign matters (such as waterweeds, sediment, and underwater organisms) are adsorbed on it. These foreign matters will cover and block the detection surface, thereby resulting in poor detection effect of the detection mechanism on the bridge pier; (2) The detection mechanism usually adopts a camera module to take pictures and detect the surface of the bridge pier. This method cannot be used in scenarios where the water body is turbid. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an underwater detection robot based on multi-source data analysis to solve the problems mentioned in the background art and thus improve the detection effect on the bridge pier.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] An underwater detection robot based on multi-source data analysis of the present invention includes a rotating assembly, a lifting assembly, and a mounting ring. The mounting ring is used to surround a bridge pier. The rotating assembly and the lifting assembly are respectively used to control the rotation and lifting operations of the mounting ring on the bridge pier. An arc-shaped chamber is provided on the mounting ring. Both ends of the arc-shaped chamber are fixedly connected to the mounting ring. One end of the arc-shaped chamber facing the bridge pier is open, and there is an installation spacing between the open end and the bridge end. A sliding plate is provided inside the arc-shaped chamber. A number of arc-shaped tubes are provided on the sliding plate. One end of the arc-shaped tube is fixed to the sliding plate, and the other end of the arc-shaped tube passes through the arc-shaped chamber and is slidably connected to the arc-shaped chamber. A baffle is provided at the other end of the arc-shaped tube. A return spring is provided between the baffle and the arc-shaped chamber. The return spring is sleeved on the arc-shaped tube. A transparent airbag is provided between one end of the sliding plate and the arc-shaped chamber. An installation plate is provided inside the transparent airbag. The installation plate is fixed to the sliding plate. A reinforced concrete structure detector and a camera are provided on the installation plate. An air supply pipe is provided on the transparent airbag. The air supply pipe is used to control the air injection volume inside the transparent airbag. One end of the arc-shaped tube connected to the sliding plate is communicated with the transparent airbag, and a suction pipe is provided at one end of the arc-shaped tube close to the sliding plate. One end of the suction pipe is communicated with the arc-shaped tube, and the other end of the suction pipe is provided with a suction hood. The suction hood is communicated with the suction pipe. The suction hood is used to cover the pitted surface of the bridge pier to suck the holes on the pitted surface of the bridge pier. A one-way valve is provided between the suction pipe and the sliding plate.

[0008] Further, a scraping plate is provided between the suction pipe and the end of the arc-shaped chamber where the return spring is provided. One end of the scraping plate is fixed to the arc-shaped tube, and the other end of the scraping plate is attached to the bridge pier.

[0009] Further, contact plates are symmetrically provided in the installation spacing between the arc-shaped chamber and the bridge pier. One end of the contact plate contacts the surface of the bridge pier. Connecting plates are provided at the other ends of the contact plates. One end of the connecting plate is fixed to the contact plate, and the other end of the connecting plate extends to the outside of the arc-shaped chamber. A fixing plate is provided at one end of the connecting plate located outside the arc-shaped chamber. A telescopic assembly is provided on one side surface of the fixing plate facing the arc-shaped chamber. The telescopic assembly is used to drive the vertical movement of the contact plate.

[0010] Further, the telescopic component includes an outer tube, an inner tube is arranged inside the outer tube, a piston block is arranged at one end of the inner tube located inside the outer tube, the piston block is slidably connected to the inner wall of the inner tube, the other end of the inner tube is fixedly connected to a fixing plate, a connecting spring is sleeved on the outer tube, one end of the connecting spring is fixed to the fixing plate, the other end of the connecting spring is fixed to the arc-shaped chamber, one end of the outer tube connected to the arc-shaped chamber is communicated with the transparent airbag, a blocking rod is arranged on the fixing plate, one end of the blocking rod is fixed to the fixing plate, and the other end of the blocking rod extends into the interior of the arc-shaped chamber to block the initial position of the sliding plate.

[0011] Further, a sponge layer is arranged on the contact surface of the contact plate with the pier, and the sponge layer is fixed to the contact plate.

[0012] Further, a connecting rope is arranged on the baffle plate, a guiding plate is arranged on the mounting ring, one end of the connecting rope is fixed to the baffle plate, the other end of the connecting rope passes through the guiding plate, and an elastic balloon is arranged at the other end of the connecting rope, and the elastic balloon is fixed to the connecting rope.

[0013] Further, a rotating shaft is arranged inside the suction hood, both ends of the rotating shaft are respectively rotatably connected to both ends of the suction hood, a driving element for driving the rotation is arranged on the outside of the suction hood, a plurality of brush assemblies are circumferentially arranged on the rotating shaft, and the rotating shaft drives the brush assemblies to rotate to clean the surface of the pier.

[0014] Further, the brush assembly includes a mounting tube, one end of the mounting tube is fixed to the rotating shaft, a sliding tube is arranged inside the mounting tube, bristles are arranged at one end of the sliding tube located outside the mounting tube, a limiting ring is arranged at one end of the sliding tube located inside the mounting tube, a compression spring is arranged between the limiting ring and the end of the mounting tube, and both ends of the compression spring are respectively fixed to the limiting ring and the inner wall of the end of the mounting tube.

[0015] The beneficial effects of the present invention are as follows:

[0016] (1) In this technical solution, during the inflation process of the transparent airbag, the high-pressure gas inside it will be discharged from the arc-shaped tube. That is, when the high-speed air flow flows out, a negative pressure will be formed at the suction pipe. Then, the suction pipe will suck the water in the suction hood and discharge it from the arc-shaped tube. During the process of the water in the suction hood being sucked away, it will suck out the sediment or impurities in the pores of the pier's pitted surface. Therefore, when the transparent airbag covers the pier, there is no foreign matter in the pores on the pitted surface of the pier, thereby improving the camera detection effect and structural detection effect of the bridge deck;

[0017] (2) In this technology, multi-source detection of the underwater pier is carried out through the camera and the reinforced concrete structure detection instrument, further improving the crack detection effect of the underwater pipeline.

[0018] Other advantages, objectives and features of the present invention will be described in the subsequent specification, and to some extent will be obvious to those skilled in the art, or those skilled in the art can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the following specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the objectives, technical solutions and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0020] Figure 1 A three-dimensional schematic diagram of the underwater detection robot of the present invention acting on a pier;

[0021] Figure 2 A three-dimensional schematic diagram of the underwater detection robot of the present invention;

[0022] Figure 3 A three-dimensional schematic diagram of the underwater detection robot of the present invention after hiding components such as the contact plate and the connecting plate;

[0023] Figure 4 A three-dimensional schematic diagram of another perspective of the underwater detection robot of the present invention after hiding components such as the contact plate and the connecting plate;

[0024] Figure 5 A schematic diagram of an internal cross-sectional view of the underwater detection robot of the present invention;

[0025] Figure 6 A three-dimensional schematic diagram of the underwater detection robot of the present invention after removing the upper end plate of the arc chamber;

[0026] Figure 7 A three-dimensional schematic diagram of another direction of the underwater detection robot of the present invention after removing the upper end plate of the arc chamber;

[0027] Figure 8 A schematic diagram of a partial cross-sectional view of the outer tube and the inner tube provided in the underwater detection robot of the present invention;

[0028] Figure 9 A schematic diagram of a cross-sectional view of the brush assembly in the underwater detection robot of the present invention.

[0029] The reference signs in the drawings are as follows:

[0030] 1. Pier; 2. Installation ring; 3. Arc-shaped chamber; 4. End plate; 5. Slide plate; 6. Transparent airbag; 7. Mounting plate; 8. Reinforced concrete structure detector; 9. Camera; 10. Arc-shaped pipe; 11. Scraper; 12. Suction pipe; 13. Suction hood; 14. Return spring; 15. Baffle; 16. Connecting rope; 17. Guide plate; 18. Elastic balloon; 19. Contact plate; 20. Connecting plate; 21. Fixed plate; 22. Stop bar; 23. Outer pipe; 24. Connecting spring; 25. Inner pipe; 26. Piston block; 27. Rotating shaft; 28. Installation pipe; 29. Sliding pipe; 30. Limit ring; 31. Brush bristles; 32. Pressing spring. Detailed implementation manner

[0031] As Figures 1 to 9 shown, an underwater detection robot based on multi-source data analysis according to the present invention includes a rotating assembly, a lifting assembly and an installation ring 2. The rotating assembly and the lifting assembly are respectively used to control the installation ring 2 to rotate and lift on the pier 1. It should be noted that the rotating assembly and the lifting assembly are prior arts. For example, the rotation is achieved by the cooperation of a gear and a toothed ring, and the lifting is achieved by a winch, which are prior arts and will not be elaborated here. Similarly, the installation ring 2 can be formed by the intersection of several segments, with a notch at the end, etc., to facilitate surrounding the pier 1, which will not be elaborated here.

[0032] Specifically, an arc-shaped chamber 3 is provided on the mounting ring 2. The arc-shaped chamber 3 includes an arc-shaped plate, side plates at both ends of the arc-shaped plate, and end plates 4 arranged up and down. The side plates at both ends of the arc-shaped chamber 3 are fixedly connected to the mounting ring 2. One end of the arc-shaped chamber 3 facing the bridge pier 1 is open, and there is an installation spacing between the open end and the bridge end. A sliding plate 5 is provided inside the arc-shaped chamber 3. A number of arc-shaped pipes 10 are provided on the sliding plate 5. One end of the arc-shaped pipe 10 is fixed to the sliding plate 5, and the other end of the arc-shaped pipe 10 passes through the arc-shaped chamber 3 and is slidably connected to the arc-shaped chamber 3. A baffle 15 is provided at the other end of the arc-shaped pipe 10. A return spring 14 is provided between the baffle 15 and the arc-shaped chamber 3. The return spring 14 is sleeved on the arc-shaped pipe 10. A transparent airbag 6 is provided between the sliding plate 5 and one end of the arc-shaped chamber 3. An installation plate 7 is provided inside the transparent airbag 6. The installation plate 7 is fixed to the sliding plate 5. A reinforced concrete structure detection instrument 8 (prior art, including a steel bar scanner, a steel bar corrosion instrument, an anchor pull tester, a steel bar position detector, etc., which can be freely selected and matched) and a camera 9 (image shooting and processing equipment) are provided on the installation plate 7. An air supply pipe is provided on the transparent airbag 6. Compressor and other components should be provided at the end of the air supply pipe. The air supply pipe is used to control the air injection volume inside the transparent airbag 6. One end of the arc-shaped pipe 10 connected to the sliding plate 5 is communicated with the transparent airbag 6, and a suction pipe 12 is provided at one end of the arc-shaped pipe 10 close to the sliding plate 5. One end of the suction pipe 12 is communicated with the arc-shaped pipe 10, and the other end of the suction pipe 12 is provided with a suction hood 13. The suction hood 13 is communicated with the suction pipe 12. The suction hood 13 is used to cover the pitted surface of the bridge pier 1 to suck the holes on the pitted surface of the bridge pier 1. A one-way valve is provided between the suction pipe 12 and the sliding plate 5 to prevent water from being sucked into the transparent airbag 6.

[0033] The working principle of the above technical solution is as follows:

[0034] First, install the installation ring 2 on the pier 1, then lower it to a specified depth underwater through the lifting component, and then inject gas into the interior of the transparent airbag 6 through the air supply pipe to expand the transparent airbag 6. Due to the setting of the return spring 14, the transparent airbag 6 needs to have a certain internal pressure before driving the sliding plate 5 to move. At this time, the transparent airbag 6 expands and contacts the surface of the pier 1 and covers the surface of the bridge end, thereby discharging the water between the transparent airbag 6 and the pier 1, that is, forming a transparent observation window. During the movement of the sliding plate 5, it will drive the reinforced concrete structure detection instrument 8 and the camera 9 to move, thereby photographing and structurally detecting the observation window covered by the transparent airbag 6, and then realizing multi-source detection of the pier 1 and improving the detection effect of the pier 1; it is not difficult to understand that during the inflation process of the transparent airbag 6, the high-pressure gas inside it will be discharged from the arc-shaped pipe 10. That is, when the high-speed air flow flows out, a negative pressure will be formed at the suction pipe 12, and then the suction pipe 12 will suck the water in the suction hood 13 and discharge it from the arc-shaped pipe 10. During the process of the water in the suction hood 13 being sucked away, it will suck out the sediment or impurities in the pitted holes on the surface of the pier 1. Therefore, when the transparent airbag 6 covers the pier 1, there is no foreign matter in the holes on the pitted surface of the pier 1, thereby improving the camera detection effect and structural detection effect of the bridge deck. After the sliding plate 5 moves to the extreme position, the air supply pipe stops inputting gas. Under the action of the return spring 14, it will push the sliding plate 5 and the transparent airbag 6 back to the initial position. Then, control the rotation component to drive the installation ring 2 to rotate and move by an angle, so that the arc-shaped chamber 3 covers the undetected area, and then perform detection. In this way, cycling can realize the analysis and detection of the part of the pier 1 located underwater.

[0035] In an implementable manner, a scraper 11 is provided between the suction pipe 12 and one end of the arc-shaped chamber 3 where the return spring 14 is provided. One end of the scraper 11 is fixed on the arc-shaped pipe 10, and the other end of the scraper 11 is attached to the pier 1. The movement of the arc-shaped pipe 10 will drive the scraper 11 to move, that is, the scraper 11 will scrape off foreign matters on the surface of the pier 1, such as moss or underwater organisms, etc., which is convenient for subsequent detection.

[0036] In an implementable manner, contact plates 19 are symmetrically provided within the installation spacing between the arc-shaped chamber 3 and the pier 1. One end of the contact plate 19 contacts the surface of the pier 1, and connecting plates 20 are provided at the other ends of the contact plates 19. One end of the connecting plate 20 is fixed on the contact plate 19, and the other end of the connecting plate 20 extends to the outside of the arc-shaped chamber 3. A fixing plate 21 is provided at the end of the connecting plate 20 located outside the arc-shaped chamber 3. A telescopic component is provided on the side surface of the fixing plate 21 facing the arc-shaped chamber 3, and the telescopic component is used to drive the vertical movement of the contact plate 19.

[0037] When the telescopic component drives the connecting plate 20 to move, the contact plate 19 will also move vertically, thereby scraping foreign objects, such as floating objects, in the area between the pier 1 and the arc-shaped chamber 3 to the outside, avoiding the problem that when the air initially expands, the floating objects are squeezed onto the surface of the pier 1, blocking the area to be detected and affecting the detection effect; it should be further noted that when the transparent airbag 6 is initially inflated, due to the action of the return spring 14, it cannot expand horizontally, so it will expand towards the pier 1, that is, directly expand and contact the pier 1, which is likely to cause the floating objects between the two to be squeezed onto the pier 1. When the transparent airbag 6 pushes the sliding plate 5 to move, the transparent airbag 6 has already contacted the pier 1 at this time, that is, when it expands, it will move slowly along the bridge deck, thereby automatically pushing out the floating objects, etc. At this time, there will be no problem of squeezing the floating objects onto the pier 1. Therefore, the contact plate 19 only needs to be set at the initial position of the transparent airbag 6.

[0038] In an implementable manner, the telescopic component includes an outer tube 23. An inner tube 25 is provided inside the outer tube 23. A piston block 26 is provided at one end of the inner tube 25 located inside the outer tube 23. The piston block 26 is slidably connected to the inner wall of the inner tube 25. The other end of the inner tube 25 is fixedly connected to a fixing plate 21. A connecting spring 24 is sleeved on the outer tube 23. One end of the connecting spring 24 is fixed to the fixing plate 21, and the other end of the connecting spring 24 is fixed to the arc-shaped chamber 3. One end of the outer tube 23 connected to the arc-shaped chamber 3 is communicated with the transparent airbag 6. A stop rod 22 is provided on the fixing plate 21. One end of the stop rod 22 is fixed to the fixing plate 21, and the other end of the stop rod 22 extends into the arc-shaped chamber 3 to block the initial position of the sliding plate 5.

[0039] When injecting air into the transparent airbag 6, under the blocking action of the stop rod 22, the sliding plate 5 will not move. Therefore, the more gas is injected, the greater the air pressure, that is, the gas will enter from the outer tube 23, thereby pushing the piston block 26 to move upward, driving the connecting plate 20 to move upward, driving the contact plate 19 to move upward, and automatically realizing the process of cleaning the floating objects upward. At the same time, when moving to the limit position, due to the expansion of the transparent airbag 6, the space within the installation spacing is filled, that is, the contact plate 19 cannot move downward under the action of the connecting spring. At the same time, when the stop rod 22 moves to the limit position (the end is flush with the end plate 4), the stop rod 22 will release the restriction on the sliding plate 5, that is, the sliding plate 5 can move normally, that is, the transparent airbag 6 can also expand and move horizontally normally, and then the detection operation can be carried out. When the transparent airbag 6 shrinks, under the action of the connecting spring 24, the contact plate 19 will reset, facilitating the next detection cycle.

[0040] In an implementable manner, a sponge layer is provided on the contact surface of the contact plate 19 with the pier 1. The sponge layer is fixed on the contact plate 19 to avoid rigid contact. At the same time, it has a better effect on carrying and cleaning floating objects and can overcome obstacles.

[0041] In an implementable manner, a connecting rope 16 is provided on the baffle 15, and a guiding plate 17 is provided on the mounting ring 2. One end of the connecting rope 16 is fixed on the baffle 15, the other end of the connecting rope 16 passes through the guiding plate 17, and an elastic balloon 18 is provided at the other end of the connecting rope 16. The elastic balloon 18 is fixed on the connecting rope 16.

[0042] It is not difficult to understand that the deeper the underwater depth, the greater the water pressure. Since the contact area between the transparent airbag 6 and water is large, that is, the expansion resistance of the transparent airbag 6 is greater. Therefore, to achieve close contact between the transparent airbag 6 and the surface of the pier 1, a greater resistance needs to be provided for the movement of the sliding plate 5 at this time to ensure the expansion effect of the transparent airbag 6 and the fitting effect with the surface of the pier 1. When the underwater depth is shallow, the water pressure is small, the expansion resistance of the transparent airbag 6 is small, and the movement resistance of the sliding plate 5 can be relatively small to avoid the problem of wasted energy caused by the compressor outputting useless work.

[0043] Therefore, with the setting of the elastic balloon 18, when the water pressure is small, the volume of the elastic balloon 18 is hardly affected, that is, its buoyancy underwater is relatively large. Therefore, a relatively large outward force can be applied to the arc-shaped pipe 10, thereby reducing the torque required to squeeze the return spring 14 to deform when the sliding plate 5 moves, and thus reducing the air supply pressure of the air supply pipe and the output power of the compressor. As the depth increases, the water pressure becomes greater and greater, which will squeeze and deform the elastic balloon 18, reducing its volume, thereby reducing the buoyancy, reducing the force on the arc-shaped pipe 10, increasing the movement resistance of the sliding plate 5, ensuring the expansion effect of the transparent airbag 6, that is, ensuring the fitting effect between the transparent airbag 6 and the pier 1, and thus ensuring the formation effect of the observation window, that is, improving the detection effect. Of course, a pressure valve can be provided on the elastic balloon 18. When the water pressure reaches the critical value, the internal gas is discharged, thereby losing the buoyancy effect and increasing the movement resistance of the sliding plate 5 to ensure the expansion effect of the transparent airbag 6.

[0044] In an implementable manner, a rotating shaft 27 is provided inside the suction hood 13. The two ends of the rotating shaft 27 are respectively rotatably connected to the two ends of the suction hood 13. A driving element (motor) for driving rotation is provided outside the suction hood 13. A plurality of brush assemblies are evenly arranged on the circumference of the rotating shaft 27. The rotating shaft 27 drives the brush assemblies to rotate for cleaning the surface of the bridge pier 1. By rotating and cleaning the surface of the bridge pier 1 with the brush assemblies, the cleaning effect is improved, and the problems of business blocking the vision and hindering the ultrasonic transmission effect are avoided. At the same time, the foreign matters cleaned float in the water and will be taken away by negative pressure suction, further avoiding the problem of foreign matters blocking the detection effect.

[0045] In an implementable manner, the brush assembly includes an installation pipe 28. One end of the installation pipe 28 is fixed to the rotating shaft 27. A sliding pipe 29 is provided inside the installation pipe 28. A brush hair 31 is provided at one end of the sliding pipe 29 located outside the installation pipe 28. A limiting ring 30 is provided at one end of the sliding pipe 29 located inside the installation pipe 28. A compression spring 32 is provided between the limiting ring 30 and the inner wall of the end of the installation pipe 28. The two ends of the compression spring 32 are respectively fixed to the limiting ring 30 and the inner wall of the end of the installation pipe 28.

[0046] It is not difficult to understand that there are pits on the rough surface of the bridge pier 1. The compression spring 32 can ensure the contact pressure between the brush hair 31 and the surface of the bridge pier 1. At the same time, when the brush hair 31 moves to the pit, under the centrifugal force of the rotation of the rotating shaft 27, the compression spring 32 can be compressed, so that the sliding pipe 29 extends out, thereby extending the acting length of the brush hair 31, and then acting on the pit to clean the inside of the pit and improve the cleaning effect.

[0047] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. An underwater detection robot based on multi-source data analysis, comprising a rotating component, a lifting component and a mounting ring, wherein the mounting ring is used to surround a bridge pier, and the rotating component and the lifting component are respectively used to control the mounting ring to perform rotation and lifting operations on the bridge pier, and is characterized in that: An arc-shaped chamber is provided on the installation ring. The two ends of the arc-shaped chamber are fixedly connected to the installation ring. One end of the arc-shaped chamber facing the bridge pier is open, and there is an installation spacing between the open end and the bridge end. A sliding plate is provided inside the arc-shaped chamber. A number of arc-shaped pipes are provided on the sliding plate. One end of the arc-shaped pipe is fixed to the sliding plate, and the other end of the arc-shaped pipe passes through the arc-shaped chamber and is slidably connected to the arc-shaped chamber. A baffle is provided at the other end of the arc-shaped pipe. A return spring is provided between the baffle and the arc-shaped chamber. The return spring is sleeved on the arc-shaped pipe. A transparent airbag is provided between one end of the sliding plate and the arc-shaped chamber. An installation plate is provided inside the transparent airbag. The installation plate is fixed to the sliding plate. A reinforced concrete structure detection instrument and a camera are provided on the installation plate. An air supply pipe is provided on the transparent airbag. The air supply pipe is used to control the air injection volume inside the transparent airbag. One end of the arc-shaped pipe connected to the sliding plate is communicated with the transparent airbag, and a suction pipe is provided on the arc-shaped pipe near the sliding plate. One end of the suction pipe is communicated with the arc-shaped pipe, and the other end of the suction pipe is provided with a suction hood. The suction hood is communicated with the suction pipe. The suction hood is used to cover the pitted surface of the bridge pier to suck the holes on the pitted surface of the bridge pier. A one-way valve is provided between the suction pipe and the sliding plate.

2. The underwater detection robot based on multi-source data analysis according to claim 1, characterized in that: A scraper is provided between the suction pipe and the end of the arc-shaped chamber where the return spring is provided. One end of the scraper is fixed to the arc-shaped pipe, and the other end of the scraper is attached to the bridge pier.

3. The underwater detection robot based on multi-source data analysis according to claim 1, characterized in that: Contact plates are symmetrically provided in the installation spacing between the arc-shaped chamber and the bridge pier. One end of the contact plate contacts the surface of the bridge pier. Connecting plates are provided at the other ends of the contact plates. One end of the connecting plate is fixed to the contact plate, and the other end of the connecting plate extends to the outside of the arc-shaped chamber. A fixing plate is provided at the end of the connecting plate located outside the arc-shaped chamber. A telescopic component is provided on the side surface of the fixing plate facing the arc-shaped chamber. The telescopic component is used to drive the vertical movement of the contact plate.

4. The underwater detection robot based on multi-source data analysis according to claim 3, characterized in that: The telescopic component includes an outer tube. An inner tube is provided inside the outer tube. A piston block is provided at one end of the inner tube located inside the outer tube. The piston block is slidably connected to the inner wall of the inner tube. The other end of the inner tube is fixedly connected to the fixing plate. A connecting spring is sleeved on the outer tube. One end of the connecting spring is fixed to the fixing plate, and the other end of the connecting spring is fixed to the arc-shaped chamber. One end of the outer tube connected to the arc-shaped chamber is communicated with the transparent airbag. A blocking rod is provided on the fixing plate. One end of the blocking rod is fixed to the fixing plate, and the other end of the blocking rod extends into the arc-shaped chamber to block the initial position of the sliding plate.

5. The underwater detection robot based on multi-source data analysis according to claim 3, characterized in that: A sponge layer is provided on the contact surface of the contact plate with the bridge pier. The sponge layer is fixed to the contact plate.

6. The underwater detection robot based on multi-source data analysis according to claim 1, characterized in that: A connecting rope is provided on the baffle. A guiding plate is provided on the installation ring. One end of the connecting rope is fixed to the baffle, and the other end of the connecting rope passes through the guiding plate. An elastic balloon is provided at the other end of the connecting rope. The elastic balloon is fixed to the connecting rope.

7. An underwater detection robot based on multi-source data analysis according to claim 1, characterized in that: A rotating shaft is provided inside the suction hood. The two ends of the rotating shaft are respectively rotatably connected to the two ends of the suction hood. A driving element for driving rotation is provided on the outer side of the suction hood. A plurality of brush assemblies are circumferentially and evenly arranged on the rotating shaft. The rotating shaft drives the brush assemblies to rotate for cleaning the surface of the bridge pier.

8. The underwater detection robot based on multi-source data analysis according to claim 7, wherein: The brush assembly includes a mounting pipe. One end of the mounting pipe is fixed to the rotating shaft. A sliding pipe is provided inside the mounting pipe. A brush is provided at one end of the sliding pipe located outside the mounting pipe. A limiting ring is provided at one end of the sliding pipe located inside the mounting pipe. A compression spring is provided between the limiting ring and the end of the mounting pipe. The two ends of the compression spring are respectively fixed to the limiting ring and the inner wall of the end of the mounting pipe.

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