Crack detection device for engineering detection

Abstract

The invention discloses a crack detection device for engineering detection, and relates to the technical field of crack detection, the crack detection device for engineering detection comprises an underwater mechanical arm, a visual camera, an opening and closing mechanism, a pulse high pressure water cleaning mechanism, a coupling agent filling mechanism and an ultrasonic transducer; the pulse high-pressure water cleaning mechanism can clean cracks and peripheral impurities in all directions, and interference of the cracks and the peripheral impurities on detection signals is avoided; the coupling agent filling mechanism is used for accurately filling a coupling agent to guarantee stable transmission of ultrasonic waves; the underwater mechanical arm cooperates with the opening and closing mechanism to realize accurate positioning and operation, and the visual camera provides real-time image assistance; multiple functions are integrated, all mechanisms work cooperatively, the problems that in the prior art, impurity cleaning is difficult, the coupling effect is poor, equipment positioning and operation are inconvenient, and the function is single are effectively solved, the accuracy, reliability and efficiency of underwater crack detection are remarkably improved, and powerful support is provided for safety detection of an underwater engineering structure.

Description

Technical Field

[0001] The present invention relates to the technical field of crack detection, and particularly to a crack detection device for engineering detection. Background Art

[0002] In various underwater projects, such as bridges, dams, port facilities, etc., the safety of the structure is of great significance. Underwater cracks, as common structural diseases, will seriously threaten the stability and service life of the project. Therefore, accurate detection of underwater cracks is crucial. Currently, there are various methods for underwater crack detection.

[0003] Direct detection by divers relies on manual judgment, which is highly subjective and inefficient. Moreover, divers operate in complex underwater environments, facing risks such as high pressure, low temperature, darkness, and water flow impact, with extremely high safety risks. In areas with deeper waters or strong water currents, it is difficult for divers to operate stably, and the accuracy and comprehensiveness of detection are greatly reduced.

[0004] The method based on image recognition obtains images through an underwater camera and then uses image processing algorithms to identify cracks. However, the underwater environment is extremely unfavorable for optical imaging. Suspended particles, microorganisms in the water body, and complex lighting conditions will cause serious scattering, attenuation, blurring, and noise interference problems in the captured images. For example, in areas with turbid water quality, the clarity and contrast of the images are extremely low, and it is difficult to extract crack features, resulting in limited detection accuracy and reliability, and prone to missed detections and misjudgments.

[0005] Sonar detection uses the propagation characteristics of sound waves in water to detect cracks, but its resolution is relatively low. It is difficult to accurately identify and locate tiny cracks or cracks in complex structures. Moreover, sonar signals are easily interfered by complex underwater terrain, environmental noise, and reflected waves from other objects, affecting the accuracy of detection results.

[0006] Ultrasonic detection technology is widely used in underwater crack detection. By emitting ultrasonic waves and receiving reflected waves to judge the crack situation. However, in actual detection, many problems will be faced. First, impurities such as algae, sediment, and organisms often adhere to the surface of underwater structures. These impurities not only hinder the propagation of ultrasonic waves but also generate additional reflection and scattering signals, interfering with the detection signals and resulting in inaccurate detection results. Second, to ensure the effective transmission of ultrasonic waves into the structure, a coupling agent needs to be filled between the probe and the structure surface. However, there are problems such as uneven distribution and untimely filling of the coupling agent in traditional coupling methods. In the underwater environment, the water flow is likely to wash away the coupling agent, causing detection interruption or data deviation. Third, the underwater environment is complex, and the positioning and operation of detection equipment are difficult. During detection, the probe needs to be accurately placed near the crack, and existing equipment is difficult to stably and accurately control the position and angle in the complex underwater environment, affecting the detection efficiency and quality.

[0007] The prior art lacks efficient impurity cleaning means and it is difficult to effectively clean the surface of underwater structures before detection; there are deficiencies in the filling of the coupling agent and it is impossible to ensure the stability of the coupling effect; the positioning and operation of the detection equipment are not precise enough, and the functions are single, unable to meet the integrated requirements of multi-tasks such as cleaning, detection, and coupling agent filling; in view of this, we propose a crack detection device for engineering detection; and the present invention realizes precise positioning through an underwater robotic arm, effectively removes impurities by using a pulsed high-pressure water cleaning mechanism, ensures uniform and timely filling of the coupling agent by a coupling agent filling mechanism, and is assisted by a visual camera for observation. Each part works together to significantly improve the accuracy, efficiency, and convenience of underwater crack detection. Summary of the Invention

[0008] The main object of the present invention is to provide a crack detection device for engineering detection, which can effectively solve the problems in the background technology.

[0009] To achieve the above object, the technical solution adopted by the present invention is as follows: A crack detection device for engineering detection includes an ultrasonic transducer, the ultrasonic transducer is composed of a main machine, two ultrasonic cables, and two ultrasonic probes. The two ultrasonic probes are respectively connected to the main machine through the two ultrasonic cables. It also includes an underwater robotic arm, a visual camera, an opening and closing mechanism, a pulsed high-pressure water cleaning mechanism for cleaning the outer wall of the crack to be detected, and a coupling agent filling mechanism for filling the detection end face of the ultrasonic probe with an underwater coupling agent. An underwater seal box is fixedly installed at the end of the underwater robotic arm, the main machine is hermetically installed in the underwater seal box, a guiding frame is fixedly installed on one side of the underwater seal box, and the two ultrasonic probes are installed on the guiding frame through the opening and closing mechanism to move synchronously in opposite directions. The visual camera is fixedly installed in the middle of the two ultrasonic probes on the guiding frame. The pulsed high-pressure water cleaning mechanism includes a first hydraulic cylinder and a water pumping cylinder that are parallel to each other, as well as a short box and two strip boxes. The first hydraulic cylinder is composed of a first cylinder body and a first piston rod. A water pumping piston is movably installed in the water pumping cylinder. One side of the water pumping piston is fixedly connected to a water pumping rod. The first cylinder body and the water pumping cylinder are both hermetically installed in the underwater seal box. The water pumping rod is fixedly connected to the first piston rod. The end of the water pumping cylinder for pumping and spraying water is connected to a right-angle three-way pipe. One channel of the right-angle three-way pipe is fixedly communicated with the water pumping cylinder. The other two channels of the right-angle three-way pipe are respectively installed with a first one-way water valve for unidirectional water outlet and a second one-way water valve for unidirectional water pumping. The outlet of the channel with the first one-way water valve installed in the right-angle three-way pipe is communicated with the inner cavities of the strip box and the short box. The strip box and the short box are installed on the guiding frame. The short box is arranged at the center of the two strip boxes and is vertically arranged. The strip box and the short box are respectively provided with a first strip-shaped spray hole and a second strip-shaped spray hole facing the crack.

[0010] Preferably, a diverter is fixedly connected between the two strip boxes and the short box. A high-pressure hose is fixedly connected between the outlet of the channel where the first one-way water valve is installed in the right-angle tee and the diverter. Both ends of the strip box and the short box are rotatably connected to the guide frame.

[0011] Preferably, a swing mechanism is installed on the underwater seal box. The swing mechanism includes a second hydraulic cylinder, a round rod, and a connecting rod. The second hydraulic cylinder is composed of a second cylinder body and a second piston rod. The second cylinder body of the second hydraulic cylinder is fixedly installed in the underwater seal box in a closed manner. The second piston rod slides and extends through the underwater seal box and is coaxially and fixedly connected to the round rod. Both ends of the connecting rod are respectively rotatably connected to the end of the round rod and the diverter.

[0012] Preferably, the coupling agent filling mechanism is composed of a plunger pump, a coupling agent tank, and two conduits. The plunger pump and the coupling agent tank are fixedly installed in the underwater seal box. The outlet at the lower end of the coupling agent tank is fixedly connected to the inlet of the plunger pump. The plunger pump is fixedly connected to the inlets of the two conduits. A number of perforations are provided on the outer circumference of the housing of the two ultrasonic probes. The ends of the two conduits are communicated with the perforations on the ultrasonic probes.

[0013] Preferably, the opening and closing mechanism includes a third hydraulic cylinder and two hinge rods. The third hydraulic cylinder is composed of a third cylinder body and a third piston rod. The third cylinder body is hermetically installed in the underwater seal box. The third piston rod hermetically passes through the underwater seal box. The first ends of the two hinge rods are respectively rotatably connected to the end of the third piston rod. The second ends of the two hinge rods are respectively rotatably connected above the housings of the two ultrasonic probes.

[0014] Preferably, two guiding holes for guiding the synchronous one-way movement of the two ultrasonic probes are provided on the guide frame. The two ultrasonic probes are respectively slidably installed in the two guiding holes.

[0015] Preferably, the right-angle tee is located outside the underwater seal box. A filter water cover is detachably installed at the upper end of the channel where the second one-way water valve is installed in the right-angle tee.

[0016] Preferably, protective leather sleeves are respectively fitted around the two conduits and the two ultrasonic cables.

[0017] Preferably, the strip box and the short box are made of explosion-proof materials.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. Significant impurity cleaning effect: The pulse high-pressure water cleaning mechanism of the present invention effectively solves the problem of removing impurities on the surface of underwater structures and improves detection accuracy; the first hydraulic cylinder drives the water pumping piston to reciprocate in the water pumping cylinder, and realizes high-pressure water jetting through the cooperation of the right-angle three-way pipe and the one-way water valve; the short box is set vertically, and the high-pressure water sprayed from its second strip spray hole can penetrate into the crack and strongly flush the impurities in the crack; the high-pressure water sprayed from the first strip spray holes of the two strip boxes can efficiently clean the outer wall of the ultrasonic probe on both sides of the crack. With the swing mechanism, the short box and the strip box swing up and down to achieve multi-angle flushing, which greatly improves the comprehensiveness and thoroughness of impurity cleaning, ensures that the detection signal is not interfered by impurities, and improves detection accuracy.

[0019] 2. Accurate and stable coupling agent filling: The coupling agent filling mechanism of the present invention accurately transports the underwater coupling agent in the coupling agent box to the outer circle of the detection end face of the ultrasonic probe through a plunger pump, and squeezes out a circle of underwater coupling agent; this method can ensure that the coupling agent is evenly distributed and filled in time, and in an underwater environment, it effectively avoids the problem of coupling agent loss due to water scouring, ensures the stable transmission of ultrasonic waves between the probe and the surface of the structure, and improves the reliability of the detection results.

[0020] 3. Accurate and efficient equipment positioning and operation: The present invention achieves precise control through an underwater robotic arm, which can flexibly adjust the position and angle of the underwater sealing box to accurately align the guide frame with the crack; the opening and closing mechanism can synchronously move the two ultrasonic probes in opposite directions to make them symmetrically fit the outer walls on both sides of the crack, and the operation is accurate and convenient; the visual camera is fixedly installed in the middle of the two ultrasonic probes on the guide frame, providing real-time crack images, providing operators with an intuitive and clear picture of the crack status, assisting precise operation, and significantly improving detection efficiency.

[0021] 4. High functional integration and good synergy: The present invention integrates the functions of cleaning, detection, coupling agent filling and the like, and each mechanism works in coordination; the pulse high-pressure water cleaning mechanism cleans the cracks, the coupling agent filling mechanism fills the coupling agent, the ultrasonic transducer performs detection, the visual camera provides real-time monitoring, the underwater mechanical arm and the opening and closing mechanism are responsible for precise positioning and operation, which reduces the number of equipment and operating steps and improves the convenience and efficiency of the overall detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the connection structure between the underwater sealing box and the guide frame in the present invention; Figure 3 It is a structural schematic diagram of the ultrasonic transducer and the coupling agent filling mechanism in the present invention; Figure 4 It is a structural schematic diagram of the swing mechanism in the present invention; Figure 5 It is a structural schematic diagram of the opening and closing mechanism in the present invention; Figure 6 It is a structural schematic diagram of the pulse high-pressure water cleaning mechanism of the present invention; Figure 7 It is a schematic diagram of the internal structure of the underwater sealing box in the present invention.

[0023] In the figure: 1. Underwater robotic arm; 2. Underwater sealed box; 3. Opening and closing mechanism; 31. Third hydraulic cylinder; 311. Third cylinder body; 312. Third piston rod; 32. Hinged rod; 4. Ultrasonic transducer; 41. Host; 42. Ultrasonic cable; 43. Ultrasonic probe; 431. Perforation; 5. Guide frame; 51. Guide hole; 6. Visual camera; 7. Pulse high-pressure water cleaning mechanism; 71. First hydraulic cylinder; 711. First cylinder body; 712. First piston rod; 72. Pumping cylinder; 721. Pumping rod; 73. Right-angle three-way pipe; 74. High-pressure hose; 75. Strip box; 76. Short box; 77. Diverter; 78. Filter water cover; 8. Swing mechanism; 81. Second hydraulic cylinder; 811. Second cylinder body; 812. Second piston rod; 82. Round rod; 83. Connecting rod; 9. Couplant filling mechanism; 91. Plunger pump; 92. Couplant box; 93. Catheter; 10. Protective leather case. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0025] like Figures 1-7 As shown, a crack detection device for engineering inspection includes an underwater mechanical arm 1, which is installed on an underwater robot or a hull used for underwater inspection. An underwater sealing box 2 is fixedly installed at the end of the underwater mechanical arm 1. The underwater sealing box 2 is made of high-strength and corrosion-resistant materials, such as stainless steel or high-strength engineering plastics, to ensure long-term stable operation in an underwater environment. A guide frame 5 is fixedly installed on one side of the underwater sealing box 2. The guide frame 5 is made of aluminum alloy and has the characteristics of light weight and high strength. Two guide holes 51 are arranged on the guide frame 5 for guiding the synchronous unidirectional movement of two ultrasonic probes 43. The guide frame 5 is provided with two guide holes 51 for guiding the synchronous unidirectional movement of the two ultrasonic probes 43.

[0026] In this embodiment, an ultrasonic transducer 4 is installed in the underwater sealing box 2. The ultrasonic transducer 4 is composed of a main unit 41, two ultrasonic cables 42, and two ultrasonic probes 43. The ultrasonic transducer 4 uses professional underwater ultrasonic cables 42, which have good waterproof and anti-interference performance. The two ultrasonic probes 43 are respectively connected to the main unit 41 through the two ultrasonic cables 42. The main unit 41 is enclosed and installed in the underwater sealing box 2 to protect it from the underwater environment. The two ultrasonic probes 43 are installed on the guide frame 5 through an opening and closing mechanism 3 to move synchronously and in opposite directions. The two ultrasonic probes 43 are respectively slidably installed in the two guide holes 51.

[0027] In this embodiment, an opening and closing mechanism 3 for synchronously driving the two ultrasonic probes 43 in opposite directions is installed on the underwater sealing box 2. The opening and closing mechanism 3 includes a third hydraulic cylinder 31 and two hinge rods 32. The third hydraulic cylinder 31 is composed of a third cylinder body 311 and a third piston rod 312. The third cylinder body 311 is hermetically installed in the underwater sealing box 2, and the third cylinder body 311 is fixedly connected to the underwater sealing box 2. The third piston rod 312 passes through the underwater sealing box 2 in a sealed manner. The first ends of the two hinge rods 32 are respectively rotatably connected to the end of the third piston rod 312 through a pin shaft. The second ends of the two hinge rods 32 are respectively rotatably connected above the shells of the two ultrasonic probes 43. When the third piston rod 312 extends or retracts, it drives the hinge rods 32 to rotate, thereby realizing the synchronous and opposite movement of the two ultrasonic probes 43 to meet the detection requirements of cracks with different widths.

[0028] In this embodiment, a pulsed high-pressure water cleaning mechanism 7 for cleaning the outer wall of the measured crack is installed on the underwater sealing box 2. The pulsed high-pressure water cleaning mechanism 7 includes a first hydraulic cylinder 71 and a water pumping cylinder 72 that are parallel to each other, as well as a short box 76 and two strip boxes 75. The strip boxes 75 and the short box 76 are made of explosion-proof materials, such as explosion-proof aluminum alloy, to ensure safety under the impact of high-pressure water. The first hydraulic cylinder 71 is composed of a first cylinder body 711 and a first piston rod 712. A water pumping piston is movably installed in the water pumping cylinder 72. One side of the water pumping piston is fixedly connected to a water pumping rod 721. The first cylinder body 711 and the water pumping cylinder 72 are both hermetically installed in the underwater sealing box 2 to ensure their normal operation underwater. The water pumping rod 721 is fixedly connected to the first piston rod 712. When the first hydraulic cylinder 71 works, the first piston rod 712 drives the water pumping rod 721 and the water pumping piston to reciprocate in the water pumping cylinder 72; One end of the water pump cylinder 72 for pumping and jetting water is connected with a right-angle three-way pipe 73. One channel of the right-angle three-way pipe 73 is fixedly communicated with the water pump cylinder 72. A first one-way water valve for one-way water outlet and a second one-way water valve for one-way pumping are respectively installed in the other two channels of the right-angle three-way pipe 73. The outlet of the channel in the right-angle three-way pipe 73 where the first one-way water valve is installed is communicated with the inner cavities of the strip box 75 and the short box 76. The strip box 75 and the short box 76 are installed on the guide frame 5. The short box 76 is arranged at the exact center of the two strip boxes 75 and is vertically arranged. The strip box 75 and the short box 76 are respectively provided with a first strip-shaped spray hole and a second strip-shaped spray hole on the side facing the crack. High-pressure water sprays out from the first strip-shaped spray hole and the second strip-shaped spray hole to clean the outer wall of the crack. A diverter 77 is fixedly communicated between the two strip boxes 75 and the short box 76. A high-pressure hose 74 is fixedly communicated between the outlet of the channel in the right-angle three-way pipe 73 where the first one-way water valve is installed and the diverter 77. Both ends of the strip box 75 and the short box 76 are rotatably connected with the guide frame 5. The right-angle three-way pipe 73 is located outside the underwater seal box 2. A filter water cover 78 is detachably installed at the upper end of the channel in the right-angle three-way pipe 73 where the second one-way water valve is installed. The filter water cover 78 is made of a stainless steel filter screen, which can effectively filter impurities in the water and prevent them from entering the water pump cylinder 72 and affecting the normal operation of the equipment.

[0029] In this embodiment, a swing mechanism 8 is installed on the underwater seal box 2. The swing mechanism 8 includes a second hydraulic cylinder 81, a round rod 82, and a connecting rod 83. The second hydraulic cylinder 81 is composed of a second cylinder body 811 and a second piston rod 812. The second cylinder body 811 of the second hydraulic cylinder 81 is fixedly installed in the underwater seal box 2 in a closed manner. The second piston rod 812 slides and extends through the underwater seal box 2 and is coaxially and fixedly connected with the round rod 82. Both ends of the connecting rod 83 are rotatably connected with the end of the round rod 82 and the diverter 77 through pin shafts. When the second hydraulic cylinder 81 works, the second piston rod 812 drives the round rod 82 to do a linear motion, and through the connecting rod 83, the diverter 77 and the strip box 75 and the short box 76 connected thereto do a swing motion, thereby expanding the cleaning range of the high-pressure water and improving the cleaning effect.

[0030] In this embodiment, a couplant filling mechanism 9 for filling the detection end face of the ultrasonic probe 43 with underwater couplant is installed on the underwater sealing box 2. The couplant filling mechanism 9 is composed of a plunger pump 91, a couplant tank 92, and two conduits 93. The plunger pump 91 and the couplant tank 92 are fixedly installed inside the underwater sealing box 2. The lower discharge port of the couplant tank 92 is fixedly communicated with the inlet of the plunger pump 91. The plunger pump 91 is fixedly communicated with the inlets of the two conduits 93. A number of perforations 431 are provided on the outer circumference of the housing of the two ultrasonic probes 43. The ends of the two conduits 93 are communicated with the perforations 431 on the ultrasonic probes 43. Through the operation of the plunger pump 91, the underwater couplant in the couplant tank 92 is transported to the detection end face of the ultrasonic probe 43. Protective sleeves 10 are fitted around the outer perimeters of the two conduits 93 and the two ultrasonic cables 42 respectively. The protective sleeves 10 are made of rubber material, which can effectively protect the conduits 93 and the ultrasonic cables 42 from being damaged underwater.

[0031] In this embodiment, a vision camera 6 is fixedly installed in the middle of the two ultrasonic probes 43 on the guide frame 5. The vision camera 6 can be used normally underwater and has good waterproof performance and image capture ability. The vision camera 6 is used to observe the situation of cracks in real time, provide auxiliary information for ultrasonic detection, and at the same time facilitate the operator to monitor and adjust the detection process. It should be added that a storage battery is also fixedly installed inside the underwater sealing box 2. The storage battery is connected to the host 41 and the vision camera 6 through a programmable controller and a number of wires to provide stable power supply for them. And the storage battery is connected to the power supply of the underwater robot or the hull through the circuit in the underwater manipulator 1. When the power supply of the underwater robot or the hull is sufficient, the storage battery can be charged to ensure that the device can work underwater for a long time.

[0032] Preliminary preparation of the crack detection device for engineering detection: 1. Installation and debugging: Firmly install the underwater manipulator 1 on the underwater robot or the detection hull, and ensure that its joints are flexible, the power and control circuits are connected normally. Fix the underwater sealing box 2 at the end of the underwater manipulator 1, check its sealing performance to ensure there is no hidden danger of water leakage. Install and debug the ultrasonic transducer 4, including selecting a suitable model of the host 41, such as the host 41 of the CTS-26 type ultrasonic flaw detector, which can accurately process ultrasonic signals with its mature signal processing algorithm and stable performance. Connect the ultrasonic cable 42 and the ultrasonic probe 43, such as the piezoelectric ceramic ultrasonic probe 43 with a frequency of 5 MHz, which meets the resolution requirements for common underwater engineering crack detection. At the same time, install and debug the pulsed high-pressure water cleaning mechanism 7, the swing mechanism 8, the couplant filling mechanism 9, and the vision camera 6, such as an underwater camera with 1080P high-definition imaging ability and a waterproof and pressure-resistant housing, to ensure that all components work normally.

[0033] 2. Underwater environmental assessment: Use sonar, multi-beam depth sounder and other equipment carried by underwater robots or inspection vessels to conduct preliminary assessments of environmental parameters such as underwater topography, water flow velocity, and water quality in the inspection area, providing environmental data support for subsequent inspection operations.

[0034] The detection operation process of the crack detection device used for engineering detection: 1. Crack location: The underwater robot or the inspection hull moves slowly in the target area, and the real-time image feedback of the visual camera 6 is used in combination with the operator's experience to preliminarily search and locate the crack position of the underwater engineering structure. The design drawings of the underwater structure, previous inspection data, etc. can also be used to narrow the search range and improve the positioning efficiency.

[0035] 2. Alignment with the crack: Once a crack is found, the underwater robot arm 1 accurately controls the movement of the underwater sealing box 2 according to the instructions issued by the operator at the control terminal, so that the center of the guide frame 5 is aligned with the crack. During the movement, the alignment accuracy is ensured through the joint angle feedback of the underwater robot arm 1 and the real-time monitoring of the visual camera 6.

[0036] 3. Cleaning the cracks: Start the pulse high-pressure water cleaning mechanism 7. For example, if the CY14-1B type axial piston type first hydraulic cylinder 71 with a rated pressure of 20 MPa is selected, it can provide stable and sufficient pressure to drive the pumping piston to reciprocate in the pumping cylinder 72. Through the cooperation of the first one-way water valve and the second one-way water valve in the right-angle three-way pipe 73, water pumping and high-pressure water injection are realized. The short box 76 is vertically arranged, and the high-pressure water sprayed from its second strip spray hole directly impacts the inside of the crack to remove impurities, microorganisms, grass seeds, etc. in the crack. The two strip boxes 75 are respectively located on both sides of the crack. The high-pressure water sprayed from the first strip spray hole flushes the two sides of the crack to fit the outer wall of the ultrasonic probe 43. At the same time, start the swing mechanism 8, and use the second hydraulic cylinder 81 of the HSG series, which has a stable linear reciprocating motion output capacity, to drive the round rod 82 and the connecting rod 83, so that the short box 76 and the strip box 75 swing up and down to achieve multi-angle washing to ensure the cleaning effect.

[0037] 4. Couplant filling: Before the ultrasonic probe 43 is attached to the outer wall, the couplant filling mechanism 9 is started, and the YZB series plunger pump 91 with stable flow and controllable pressure is used to transport the underwater couplant in the couplant box 92 to the outer circle of the detection end face of the ultrasonic probe 43 through the conduit 93, and a circle of underwater couplant is squeezed out to ensure good acoustic coupling between the probe and the outer wall of the structure.

[0038] 5. Visual monitoring and probe fitting: Align the visual camera 6 directly at the crack and approach and fit it to the cleaned outer wall. Continuously capture the crack images and transmit them to the control terminal to provide the operator with a clear picture of the crack status. According to the visual images and the requirements of the detection process, the operator controls the synchronous reverse movement of the two ultrasonic probes 43 through the opening and closing mechanism 3, making them symmetrically fit on the outer walls on both sides of the crack. Select a small-sized third hydraulic cylinder 31 with an output force that meets the movement requirements of the two ultrasonic probes 43 to drive the hinge rod 32, realizing the precise movement and fitting of the two ultrasonic probes 43.

[0039] 6. Ultrasonic detection: The main unit 41 sends an electrical signal to the ultrasonic probe 43 to stimulate it to generate ultrasonic waves. The ultrasonic waves are transmitted into the structure through the probe and the underwater coupling agent. When encountering a crack, the ultrasonic waves are reflected, refracted, and scattered. The reflected waves are received by the probe and converted into electrical signals, which are transmitted back to the main unit 41. The main unit 41 processes the received signals, such as amplification, filtering, and analysis. According to parameters such as the propagation time and amplitude of the ultrasonic waves, calculate information such as the depth and width of the crack and display the detection results on the control terminal. During the detection process, the operator can adjust the detection parameters of the main unit 41 according to the actual situation, such as the emission voltage and reception gain, to optimize the detection effect.

[0040] Post-detection processing of the crack detection device for this project inspection: 1. Data storage and analysis: Store the crack data obtained from the detection, including information such as position, size, and shape, in the database of the control terminal for subsequent analysis and report generation. Use professional data analysis software to deeply analyze the detection data, evaluate the safety status of the underwater engineering structure, and provide a basis for maintenance and repair.

[0041] 2. Recovery and maintenance: After completing the detection task, use the underwater manipulator 1 to recover the underwater seal box 2 and related equipment to the underwater robot or the inspection hull. Clean, inspect, and maintain the equipment, such as cleaning the ultrasonic probe 43, checking whether the connecting parts of each mechanism are loose, and replacing worn parts, to ensure the normal operation of the equipment for the next use.

[0042] The above has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all these changes and improvements fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A crack detection device for engineering inspection, including an ultrasonic transducer (4), the ultrasonic transducer (4) is composed of a main unit (41), two ultrasonic cables (42) and two ultrasonic probes (43), and the two ultrasonic probes (43) are respectively connected to the main unit (41) through the two ultrasonic cables (42), and it is characterized in that: It further includes an underwater robotic arm (1), a vision camera (6), an opening and closing mechanism (3), a pulsed high-pressure water cleaning mechanism (7) for cleaning the outer wall of the measured crack, and a couplant filling mechanism (9) for filling the detection end face of the ultrasonic probe (43) with underwater couplant; An underwater seal box (2) is fixedly installed at the end of the underwater robotic arm (1), the main unit (41) is enclosed and installed in the underwater seal box (2), a guiding frame (5) is fixedly installed on one side of the underwater seal box (2), and the two ultrasonic probes (43) are installed on the guiding frame (5) through the opening and closing mechanism (3) to move synchronously in opposite directions; The vision camera (6) is fixedly installed exactly in the middle of the two ultrasonic probes (43) on the guiding frame (5); The pulsed high-pressure water cleaning mechanism (7) includes a first hydraulic cylinder (71) and a water pumping cylinder (72) which are parallel to each other, a short box (76) and two strip boxes (75). The first hydraulic cylinder (71) is composed of a first cylinder body (711) and a first piston rod (712). A water pumping piston is movably installed in the water pumping cylinder (72), and a water pumping rod (721) is fixedly connected to one side of the water pumping piston. The first cylinder body (711) and the water pumping cylinder (72) are both enclosed and installed in the underwater seal box (2), the water pumping rod (721) is fixedly connected to the first piston rod (712), and one end of the water pumping cylinder (72) for pumping water and jetting water is connected with a right-angle three-way pipe (73). One channel of the right-angle three-way pipe (73) is fixedly communicated with the water pumping cylinder (72), and a first one-way water valve for unidirectional water outlet and a second one-way water valve for unidirectional water pumping are respectively installed in the other two channels of the right-angle three-way pipe (73). The outlet of the channel in the right-angle three-way pipe (73) where the first one-way water valve is installed is communicated with the inner cavities of the strip box (75) and the short box (76). The strip box (75) and the short box (76) are installed on the guiding frame (5), the short box (76) is arranged at the exact center of the two strip boxes (75) and is vertically arranged, and a first strip-shaped spray hole and a second strip-shaped spray hole are respectively arranged on the sides of the strip box (75) and the short box (76) facing the crack.

2. The crack detection device for engineering detection according to claim 1, characterized in that: A shunt (77) is fixedly communicated between the two strip boxes (75) and the short box (76), a high-pressure hose (74) is fixedly communicated between the outlet of the channel in the right-angle three-way pipe (73) where the first one-way water valve is installed and the shunt (77), and both ends of the strip box (75) and the short box (76) are rotatably connected to the guiding frame (5).

3. The crack detection device for engineering detection according to claim 2, wherein: A swing mechanism (8) is installed on the underwater seal box (2). The swing mechanism (8) includes a second hydraulic cylinder (81), a round rod (82), and a connecting rod (83). The second hydraulic cylinder (81) is composed of a second cylinder body (811) and a second piston rod (812). The second cylinder body (811) of the second hydraulic cylinder (81) is fixedly installed in the underwater seal box (2) in a closed manner. The second piston rod (812) slides telescopically through the underwater seal box (2) and is coaxially and fixedly connected to the round rod (82). The two ends of the connecting rod (83) are respectively rotatably connected to the end of the round rod (82) and the diverter (77).

4. The crack detection device for engineering detection according to claim 1, wherein: The coupling agent filling mechanism (9) is composed of a plunger pump (91), a coupling agent tank (92), and two conduits (93). The plunger pump (91) and the coupling agent tank (92) are fixedly installed in the underwater seal box (2). The lower discharge port of the coupling agent tank (92) is fixedly communicated with the inlet of the plunger pump (91). The plunger pump (91) is fixedly communicated with the inlets of the two conduits (93). A number of through holes (431) are provided on the outer circumference of the shells of the two ultrasonic probes (43). The ends of the two conduits (93) are communicated with the through holes (431) on the ultrasonic probes (43).

5. The crack detection device for engineering inspection according to claim 1, characterized in that: The opening and closing mechanism (3) includes a third hydraulic cylinder (31) and two hinge rods (32). The third hydraulic cylinder (31) is composed of a third cylinder body (311) and a third piston rod (312). The third cylinder body (311) is hermetically installed in the underwater seal box (2). The third piston rod (312) hermetically passes through the underwater seal box (2). The first ends of the two hinge rods (32) are respectively rotatably connected to the end of the third piston rod (312). The second ends of the two hinge rods (32) are respectively rotatably connected above the shells of the two ultrasonic probes (43).

6. The crack detection device for engineering detection according to claim 1, wherein: Two guiding holes (51) for guiding the synchronous one-way movement of the two ultrasonic probes (43) are provided on the guiding frame (5). The two ultrasonic probes (43) are respectively slidably installed in the two guiding holes (51).

7. The crack detection device for engineering inspection according to claim 1, characterized in that: The right-angle tee (73) is located outside the underwater seal box (2). A filter water cover (78) is detachably installed at the upper end of the channel where the second one-way water valve is installed in the right-angle tee (73).

8. The crack detection device for engineering detection according to claim 4, characterized in that: Protection sleeves (10) are respectively fitted around the two conduits (93) and the peripheries of the two ultrasonic cables (42).

9. The crack detection device for engineering detection according to claim 1, wherein: The strip box (75) and the short box (76) are made of explosion-proof materials.

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