A crack detection device for engineering inspection

Abstract

The application discloses an engineering detection crack detection device, and relates to the technical field of crack detection.The engineering detection crack detection device 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, avoiding interference with detection signals.The coupling agent filling mechanism accurately fills coupling agent, ensuring stable ultrasonic transmission.The underwater mechanical arm cooperates with the opening and closing mechanism to realize accurate positioning and operation, and the visual camera provides real-time images for assistance.The application integrates multiple functions, and the mechanisms work cooperatively, effectively overcoming the problems in the prior art, such as difficult impurity cleaning, poor coupling effect, inconvenient equipment positioning and operation, and single function, and significantly improving the accuracy, reliability and efficiency of underwater crack detection, thereby providing strong support for the safety detection of underwater engineering structures.

Description

Technical Field

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

[0002] Structural safety is crucial for underwater projects such as bridges, dams, and port facilities. Underwater cracks, a common structural defect, can seriously threaten the stability and service life of a project. Accurate detection of underwater cracks is crucial, and currently, a variety of methods are available 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 dangerous factors such as high pressure, low temperature, darkness, and water impact, posing extremely high safety risks. In deeper waters or areas with turbulent water flow, divers find it difficult to operate stably, and the accuracy and comprehensiveness of detection are greatly reduced.

[0004] Image recognition-based methods capture images using underwater cameras and then use image processing algorithms to identify cracks. However, the underwater environment is extremely hostile to optical imaging. Suspended particles, microorganisms, and complex lighting conditions in the water can cause severe scattering, attenuation, blurring, and noise interference in captured images. For example, in areas with turbid water, image clarity and contrast are extremely low, making crack features difficult to extract. This limits detection accuracy and reliability, making missed detections and misjudgments more likely.

[0005] Sonar detection uses the propagation characteristics of sound waves in water to detect cracks, but its resolution is relatively low, making it difficult to accurately identify and locate tiny cracks or cracks in complex structures. In addition, sonar signals are easily interfered with 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. It determines the crack condition by emitting ultrasonic waves and receiving reflected waves. However, in actual detection, it faces many difficulties. First, impurities such as algae, silt, 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 signal and causing inaccurate detection results. Second, to ensure that ultrasonic waves are effectively transmitted into the structure, a coupling agent must be filled between the probe and the surface of the structure. However, traditional coupling methods have problems such as uneven distribution of the coupling agent and untimely filling. In underwater environments, water flow can easily wash away the coupling agent, causing detection interruptions or data deviations. Third, the complex underwater environment makes the positioning and operation of detection equipment difficult. During detection, the probe must be precisely placed near the crack. Existing equipment has difficulty in stably and accurately controlling the position and angle in complex underwater environments, affecting detection efficiency and quality.

[0007] The existing technology lacks efficient means of cleaning impurities, making it difficult to effectively clean the surface of underwater structures before inspection; there are deficiencies in the filling of coupling agents, and the stability of the coupling effect cannot be guaranteed; the positioning and operation of the detection equipment are not precise enough, and the functions are single, which cannot meet the multi-task integration requirements such as cleaning, inspection, and coupling agent filling. In view of this, we propose a crack detection device for engineering inspection; the present invention uses an underwater robotic arm to achieve precise positioning, a pulsed high-pressure water cleaning mechanism to effectively remove impurities, a coupling agent filling mechanism to ensure uniform and timely filling of the coupling agent, and a visual camera to assist in observation. The coordinated work of various parts significantly improves the accuracy, efficiency and convenience of underwater crack detection. Summary of the Invention

[0008] The main purpose of the present invention is to provide a crack detection device for engineering inspection, 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:

[0010] A crack detection device for engineering inspection includes an ultrasonic transducer, which is composed of a main unit, two ultrasonic cables, and two ultrasonic probes. The two ultrasonic probes are connected to the main unit via two ultrasonic cables. The device 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 being detected, and a coupling agent filling mechanism for filling the detection end surface of the ultrasonic probe with underwater coupling agent.

[0011] An underwater sealing box is fixedly installed at the end of the underwater robotic arm, the main unit is sealed and installed in the underwater sealing box, a guide frame is fixedly installed on one side of the underwater sealing box, and the two ultrasonic probes are installed on the guide frame by synchronously moving in opposite directions through an opening and closing mechanism;

[0012] The visual camera is fixedly mounted in the middle of the two ultrasonic probes on the guide frame;

[0013] The pulse high-pressure water cleaning mechanism includes a first hydraulic oil cylinder and a water pumping cylinder parallel to each other, a short box and two strip boxes. The first hydraulic oil 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 sealed and installed in an underwater sealing box. The water pumping rod is fixedly connected to the first piston rod. One end of the water pumping cylinder for pumping and spraying water is connected to a right-angled tee pipe. One side of the right-angled tee pipe A channel is fixedly connected to the water pump, and the other two channels of the right-angle three-way pipe are respectively installed with a first one-way water valve for one-way water outlet and a second one-way water valve for one-way water pumping. The channel outlet of the right-angle three-way pipe in which the first one-way water valve is installed is connected to the inner cavity of the strip box and the short box. The strip box and the short box are installed on the guide frame. The short box is arranged in 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 spray hole and a second strip spray hole on the side facing the crack.

[0014] Preferably, a diverter is fixedly connected between the two strip boxes and the short box, a high-pressure hose is fixedly connected between the channel outlet where the first one-way water valve is installed in the right-angle three-way pipe and the diverter, and both ends of the strip box and the short box are rotatably connected to the guide frame.

[0015] Preferably, a swing mechanism is installed on the underwater sealing box, and 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 closed and fixedly installed in the underwater sealing box. The second piston rod slides and telescopes through the underwater sealing box and is coaxially fixedly connected to the round rod. The two ends of the connecting rod are respectively rotatably connected to the end of the round rod and the diverter.

[0016] Preferably, the couplant filling mechanism is composed of a plunger pump, a couplant tank, and two conduits. The plunger pump and the couplant tank are fixedly installed in an underwater sealing box. The discharge port at the lower end of the couplant tank is fixedly connected to the inlet of the plunger pump. The plunger pump is fixedly connected to the inlets of the two conduits. The outer rings of the two ultrasonic probe housings are provided with a plurality of perforations, and the ends of the two conduits are connected to the perforations on the ultrasonic probes.

[0017] 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 sealed and installed in an underwater sealing box. The third piston rod passes through the underwater sealing box in a sealed manner. The head ends of the two hinge rods are respectively rotatably connected to the ends of the third piston rod, and the ends of the two hinge rods are respectively rotatably connected to the top of the two ultrasonic probe shells.

[0018] Preferably, the guide frame is provided with two guide holes for guiding the synchronous unidirectional movement of the two ultrasonic probes, and the two ultrasonic probes are slidably installed in the two guide holes respectively.

[0019] Preferably, the right-angled three-way pipe is located outside the underwater sealing box, and a water filter cover is detachably installed on the upper end of the channel in which the second one-way water valve is installed in the right-angled three-way pipe.

[0020] Preferably, the two catheters are respectively fitted with protective sheaths on the peripheries of the two ultrasound cables.

[0021] Preferably, the strip box and the short box are made of explosion-proof materials.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. Significant impurity cleaning effect: The pulsed high-pressure water cleaning mechanism of the present invention effectively solves the problem of removing impurities from the surface of underwater structures and improves detection accuracy. The first hydraulic cylinder drives the pumping piston to reciprocate within the pumping cylinder, and high-pressure water jetting is achieved through the cooperation of a right-angle tee and a one-way water valve. The short box is set vertically, and the high-pressure water sprayed from its second strip nozzle can penetrate deep into the crack and forcefully flush impurities within the crack. The high-pressure water sprayed from the first strip nozzles of the two strip boxes can effectively clean the outer wall of the ultrasonic probe on both sides of the crack. In conjunction with the swing mechanism, the short box and the strip box swing up and down to achieve multi-angle flushing, greatly improving the comprehensiveness and thoroughness of impurity cleaning, ensuring that the detection signal is not interfered with by impurities, and improving detection accuracy.

[0024] 2. Accurate and stable couplant filling: The couplant filling mechanism of this invention uses a plunger pump to precisely deliver the underwater couplant from the couplant tank to the outer ring of the ultrasonic probe's detection end face, squeezing out a circle of underwater couplant. This method ensures uniform distribution and timely filling of the couplant. In underwater environments, it effectively avoids couplant loss due to water scouring, ensures stable transmission of ultrasonic waves between the probe and the surface, and improves the reliability of detection results.

[0025] 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 so that the guide frame is accurately aligned with the crack; the opening and closing mechanism can synchronously move the two ultrasonic probes in opposite directions so that they fit symmetrically on the outer walls on both sides of the crack, allowing accurate and convenient operation; the visual camera is fixedly installed in the middle of the two ultrasonic probes on the guide frame, providing real-time crack images, giving the operator an intuitive and clear picture of the crack status, assisting in precise operation and significantly improving detection efficiency.

[0026] 4. High functional integration and good synergy: The present invention integrates cleaning, testing, and coupling agent filling functions into one, and each mechanism works together; the pulse high-pressure water cleaning mechanism cleans cracks, the coupling agent filling mechanism fills the coupling agent, the ultrasonic transducer performs detection, the visual camera provides real-time monitoring, and the underwater robotic arm and opening and closing mechanism are responsible for precise positioning and operation, reducing the number of equipment and operating steps, and improving the convenience and efficiency of the overall detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the connection structure between the underwater sealing box and the guide frame in the present invention;

[0029] Figure 3 It is a structural schematic diagram of the ultrasonic transducer and coupling agent filling mechanism in the present invention;

[0030] Figure 4 It is a structural diagram of the swing mechanism in the present invention;

[0031] Figure 5 It is a structural schematic diagram of the opening and closing mechanism of the present invention;

[0032] Figure 6 It is a structural diagram of the pulse high-pressure water cleaning mechanism of the present invention;

[0033] Figure 7 It is a schematic diagram of the internal structure of the underwater sealing box in the present invention.

[0034] In the picture:

[0035] 1. Underwater robotic arm;

[0036] 2. Underwater sealed box;

[0037] 3. Opening and closing mechanism; 31. Third hydraulic cylinder; 311. Third cylinder body; 312. Third piston rod; 32. Hinge rod;

[0038] 4. Ultrasonic transducer; 41. Main unit; 42. Ultrasonic cable; 43. Ultrasonic probe; 431. Perforation;

[0039] 5. Guide frame; 51. Guide hole;

[0040] 6. Visual camera;

[0041] 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 tee; 74. High-pressure hose; 75. Strip box; 76. Short box; 77. Diverter; 78. Water filter cover;

[0042] 8. Swing mechanism; 81. Second hydraulic cylinder; 811. Second cylinder body; 812. Second piston rod; 82. Round rod; 83. Connecting rod;

[0043] 9. Couplant filling mechanism; 91. Plunger pump; 92. Couplant tank; 93. Catheter;

[0044] 10. Protective leather case. DETAILED DESCRIPTION

[0045] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0046] like Figures 1-7 As shown, a crack detection device for engineering inspection includes an underwater robotic 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 robotic 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 provided 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.

[0047] In this embodiment, the underwater sealing box 2 is installed with an ultrasonic transducer 4, which is composed of a main unit 41, two ultrasonic cables 42 and two ultrasonic probes 43. The ultrasonic transducer 4 uses a professional underwater ultrasonic cable 42 and has good waterproof and anti-interference performance. The two ultrasonic probes 43 are respectively connected to the main unit 41 through two ultrasonic cables 42. The main unit 41 is sealed and installed in the underwater sealing box 2 to protect it from the influence of the underwater environment. The two ultrasonic probes 43 are installed on the guide frame 5 through synchronous reverse movement of the opening and closing mechanism 3. The two ultrasonic probes 43 are respectively slidably installed in the two guide holes 51.

[0048] In this embodiment, an opening and closing mechanism 3 for synchronously and reversely driving the two ultrasonic probes 43 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 sealed and installed in the underwater sealing box 2. The third cylinder body 311 and the underwater sealing box 2 are fixedly connected. The third piston rod 312 seals through the underwater sealing box 2. The head ends of the two hinge rods 32 are respectively rotatably connected to the ends of the third piston rod 312 through pins. The ends of the two hinge rods 32 are respectively rotatably connected to the top of the two ultrasonic probe 43 shells. When the third piston rod 312 is extended or retracted, the hinge rod 32 is driven to rotate, thereby realizing the synchronous reverse movement of the two ultrasonic probes 43 to meet the detection needs of cracks of different widths.

[0049] In this embodiment, a pulse high-pressure water cleaning mechanism 7 for cleaning the outer wall of the crack to be tested is installed on the underwater sealing box 2. The pulse high-pressure water cleaning mechanism 7 includes a first hydraulic oil cylinder 71 and a water pumping cylinder 72, a short box 76 and two strip boxes 75 that are parallel to each other. The strip box 75 and the short box 76 are made of explosion-proof materials, such as explosion-proof aluminum alloy, to ensure safety under high-pressure water impact. The first hydraulic oil 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. 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 sealed and 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 oil cylinder 71 is working, the first piston rod 712 drives the water pumping rod 721 and the water pumping piston to reciprocate in the water pumping cylinder 72.

[0050] One end of the water pumping cylinder 72 for pumping and spraying water is connected to a right-angled tee pipe 73, one channel of the right-angled tee pipe 73 is fixedly connected to the water pumping cylinder 72, and the other two channels of the right-angled tee pipe 73 are respectively installed with a first one-way water valve for one-way water outlet and a second one-way water valve for one-way pumping. The channel outlet of the first one-way water valve installed in the right-angled tee pipe 73 is connected to the inner cavity 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 in the center of the two strip boxes 75 and is arranged vertically. The strip box 75 and the short box 76 are respectively provided with a first strip spray hole and a second strip spray hole on the side facing the crack. High pressure Water is sprayed out from the first strip spray hole and the second strip spray hole to clean the outer wall of the crack. A diverter 77 is fixedly connected between the two strip boxes 75 and the short box 76. A high-pressure hose 74 is fixedly connected between the outlet of the channel where the first one-way water valve is installed in the right-angle three-way pipe 73 and the diverter 77. Both ends of the strip box 75 and the short box 76 are rotatably connected to the guide frame 5. The right-angle three-way pipe 73 is located outside the underwater sealing box 2. A water filter cover 78 is detachably installed on the upper end of the channel where the second one-way water valve is installed in the right-angle three-way pipe 73. The water filter cover 78 is made of stainless steel filter mesh, which can effectively filter impurities in the water and prevent them from entering the water pump 72 and affecting the normal operation of the equipment.

[0051] In this embodiment, a swing mechanism 8 is installed on the underwater sealing box 2, and 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 closed and fixedly installed in the underwater sealing box 2. The second piston rod 812 slides and telescopes through the underwater sealing box 2 and is coaxially fixedly connected to the round rod 82. The two ends of the connecting rod 83 are respectively connected to the end of the round rod 82 and the diverter 77 through a pin shaft. When the second hydraulic cylinder 81 is working, the second piston rod 812 drives the round rod 82 to perform a linear motion, and the diverter 77 and the strip box 75 and the short box 76 connected thereto are caused to perform a swing motion through the connecting rod 83, thereby expanding the cleaning range of high-pressure water and improving the cleaning effect.

[0052] In this embodiment, the underwater sealing box 2 is equipped with a couplant filling mechanism 9 for filling the detection end face of the ultrasonic probe 43 with underwater couplant. The couplant filling mechanism 9 comprises a plunger pump 91, a couplant tank 92, and two conduits 93. The plunger pump 91 and the couplant tank 92 are fixedly mounted within the underwater sealing box 2. The lower outlet of the couplant tank 92 is fixedly connected to the inlet of the plunger pump 91, which in turn is fixedly connected to the inlets of the two conduits 93. The outer rings of the housings of the two ultrasonic probes 43 are provided with a plurality of perforations 431. The distal ends of the two conduits 93 are connected to the perforations 431 in the ultrasonic probes 43. The operation of the plunger pump 91 transports the underwater couplant in the couplant tank 92 to the detection end face of the ultrasonic probe 43. The two conduits 93 are respectively fitted with protective holsters 10 around the outer peripheries of the two ultrasonic cables 42. The protective holsters 10 are made of rubber and effectively protect the conduits 93 and the ultrasonic cables 42 from damage underwater.

[0053] In this embodiment, a visual camera 6 is fixedly mounted between the two ultrasonic probes 43 on the guide frame 5. The visual camera 6 can be used normally underwater, has good waterproof performance and image capture capabilities, and is used to observe the crack conditions in real time, providing auxiliary information for ultrasonic testing, and also facilitating the operator to monitor and adjust the testing process.

[0054] It should be added that a battery is also fixedly installed in the underwater sealing box 2. The battery is connected to the main unit 41 and the visual camera 6 through a programmable controller and several wires to provide them with a stable power supply. The battery is connected to the power supply in the underwater robot or the hull through the circuit in the underwater robotic arm 1. When the power supply of the underwater robot or the hull is sufficient, the battery can be charged to ensure that the device can work for a long time underwater.

[0055] Preliminary preparations for the crack detection device used in this project:

[0056] 1. Installation and commissioning: firmly install the underwater manipulator 1 on the underwater robot or detection ship body, and ensure that its joint movement is flexible, the power and control line connection is normal, the underwater sealing box 2 is fixed at the end of the underwater manipulator 1, the sealing performance is checked to ensure that there is no water leakage hidden danger, the ultrasonic transducer 4 is installed and debugged, including selecting the appropriate type of host 41, such as CTS-26 type ultrasonic flaw detector host 41, which has mature signal processing algorithm and stable performance, can accurately process ultrasonic signal, connect ultrasonic cable 42 and ultrasonic probe 43, such as piezoelectric ceramic ultrasonic probe 43 with frequency of 5MHz, which is suitable for the resolution requirement of common underwater engineering crack detection, at the same time, the pulse high pressure water cleaning mechanism 7, the swing mechanism 8, the coupling agent filling mechanism 9 and the visual camera 6, such as underwater camera with 1080P high definition imaging capability and waterproof pressure resistant shell, are installed and debugged to ensure the normal work of each part.

[0057] 2. Underwater environment evaluation: using the sonar, multibeam echo sounder and other equipment carried by the underwater robot or detection ship body, the underwater topography, water flow velocity, water quality and other environmental parameters of the detection area are preliminarily evaluated to provide environmental data support for subsequent detection operation.

[0058] The detection operation process of the crack detection device for engineering detection:

[0059] 1. Crack positioning: through the slow movement of the underwater robot or detection ship body in the target area, the real-time image feedback of the visual camera 6 is used, combined with the experience of the operator, the crack position of the underwater engineering structure is preliminarily searched and positioned, and the design drawing of the underwater structure, the previous detection data and the like can also be used to reduce the search range and improve the positioning efficiency.

[0060] 2. Aligning the crack: once the crack is found, the underwater manipulator 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. In the moving process, through the joint angle feedback of the underwater manipulator 1 and the real-time monitoring of the visual camera 6, the alignment accuracy is ensured.

[0061] 3. Cleaning cracks: Start the pulse high-pressure water cleaning mechanism 7. For example, if the CY14-1B 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 arranged vertically, 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 model, which has a stable linear reciprocating motion output capability to drive the round rod 82 and the connecting rod 83 to make the short box 76 and the strip box 75 swing up and down to achieve multi-angle washing and ensure the cleaning effect.

[0062] 4. Couplant Filling: Before the ultrasonic probe 43 is placed against the outer wall, the couplant filling mechanism 9 is activated. A YZB series plunger pump 91 with stable flow and controllable pressure is used to transfer the underwater couplant in the couplant tank 92 through the conduit 93 to the outer ring of the detection end face of the ultrasonic probe 43. A circle of underwater couplant is squeezed out to ensure good acoustic coupling between the probe and the outer wall of the structure.

[0063] 5. Visual monitoring and probe fitting: The visual camera 6 is pointed directly at the crack and close to the cleaned outer wall. The crack image is captured in real time and transmitted to the control terminal to provide the operator with a clear picture of the crack status. According to the visual image and the detection process requirements, the operator controls the two ultrasonic probes 43 to move synchronously in opposite directions through the opening and closing mechanism 3 so that they are symmetrically fitted on the outer walls on both sides of the crack. A small third hydraulic cylinder 31 with an output force that meets the movement requirements of the two ultrasonic probes 43 is selected to drive the hinge rod 32 to achieve precise movement and fitting of the two ultrasonic probes 43.

[0064] 6. Ultrasonic testing: The host 41 sends an electrical signal to the ultrasonic probe 43, stimulating it to generate ultrasonic waves. The ultrasonic waves are transmitted into the interior of the structure through the probe and 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 host 41. The host 41 amplifies, filters, and analyzes the received signals. Based on parameters such as the propagation time and amplitude of the ultrasonic waves, it calculates information such as the depth and width of the cracks and displays the test results on the control terminal. During the test process, the operator can adjust the test parameters of the host 41, such as the transmitting voltage and receiving gain, according to the actual situation to optimize the test effect.

[0065] Post-test processing of the crack detection device used in this project:

[0066] 1. Data storage and analysis: The detected crack data, including location, size, morphology and other information, is stored in the database of the control terminal for subsequent analysis and report generation. Professional data analysis software is used to conduct in-depth analysis of the detection data, evaluate the safety status of underwater engineering structures, and provide a basis for maintenance and repair.

[0067] 2. Recovery and maintenance: After completing the inspection task, the underwater sealing box 2 and related equipment are recovered to the underwater robot or the inspection hull through the underwater robotic arm 1, and the equipment is cleaned, inspected and maintained, such as cleaning the ultrasonic probe 43, checking whether the connecting parts of each mechanism are loose, replacing worn parts, etc., to ensure the normal operation of the equipment when it is used next time.

[0068] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A crack detection device for engineering inspection, comprising an ultrasonic transducer (4), wherein the ultrasonic transducer (4) is composed of a host (41), two ultrasonic cables (42) and two ultrasonic probes (43), wherein the two ultrasonic probes (43) are connected to the host (41) via two ultrasonic cables (42), respectively, and characterized in that: It also includes an underwater robotic arm (1), a visual camera (6), an opening and closing mechanism (3), a pulse high-pressure water cleaning mechanism (7) for cleaning the outer wall of the crack to be detected, and a coupling agent filling mechanism (9) for filling the detection end face of the ultrasonic probe (43) with underwater coupling agent; An underwater sealing box (2) is fixedly mounted on the end of the underwater robotic arm (1), the main unit (41) is sealed and mounted in the underwater sealing box (2), a guide frame (5) is fixedly mounted on one side of the underwater sealing box (2), and the two ultrasonic probes (43) are mounted on the guide frame (5) by synchronously moving in opposite directions through an opening and closing mechanism (3); The visual camera (6) is fixedly mounted on the guide frame (5) in the middle of the two ultrasonic probes (43); The pulse high-pressure water cleaning mechanism (7) comprises a first hydraulic oil cylinder (71) and a water pumping cylinder (72) parallel to each other, a short box (76) and two strip boxes (75), wherein the first hydraulic oil 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 sealed and installed in the underwater sealing 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 and spraying water is connected to a right-angle three-way pipe (73 ), one channel of the right-angled three-way pipe (73) is fixedly connected to the water pump (72), and a first one-way water valve for one-way water discharge and a second one-way water valve for one-way water pumping are respectively installed in the other two channels of the right-angled three-way pipe (73), and the channel outlet of the right-angled three-way pipe (73) in which the first one-way water valve is installed is connected to the inner cavity of the strip box (75) and the short box (76), and the strip box (75) and the short box (76) are installed on the guide frame (5). The short box (76) is arranged in the center of the two strip boxes (75) and is arranged vertically. The strip box (75) and the short box (76) are respectively provided with a first strip spray hole and a second strip spray hole on the side facing the crack.

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

3. The crack detection device for engineering inspection according to claim 2, characterized in that: The underwater sealing box (2) is provided with a swing mechanism (8), the swing mechanism (8) comprising a second hydraulic oil cylinder (81), a round rod (82), and a connecting rod (83). The second hydraulic oil 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 oil cylinder (81) is fixedly installed in the underwater sealing box (2) in a closed manner. The second piston rod (812) slides and telescopes through the underwater sealing box (2) and is coaxially 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 inspection according to claim 1, characterized in that: The coupling agent filling mechanism (9) is composed of a plunger pump (91), a coupling agent box (92), and two conduits (93). The plunger pump (91) and the coupling agent box (92) are fixedly installed in the underwater sealing box (2). The discharge port at the lower end of the coupling agent box (92) is fixedly connected to the inlet of the plunger pump (91). The plunger pump (91) is fixedly connected to the inlet of the two conduits (93). The outer rings of the shells of the two ultrasonic probes (43) are provided with a plurality of perforations (431). The ends of the two conduits (93) are connected to the perforations (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) comprises a third hydraulic oil cylinder (31) and two hinge rods (32). The third hydraulic oil cylinder (31) is composed of a third cylinder body (311) and a third piston rod (312). The third cylinder body (311) is sealed and installed in the underwater sealing box (2). The third piston rod (312) passes through the underwater sealing box (2) in a sealed manner. The head ends of the two hinge rods (32) are respectively rotatably connected to the ends of the third piston rod (312). The ends of the two hinge rods (32) are respectively rotatably connected to the upper parts of the housings of the two ultrasonic probes (43).

6. The crack detection device for engineering inspection according to claim 1, characterized in that: The guide frame (5) is provided with two guide holes (51) for guiding the synchronous unidirectional movement of the two ultrasonic probes (43), and the two ultrasonic probes (43) are slidably mounted in the two guide holes (51) respectively.

7. The crack detection device for engineering inspection according to claim 1, characterized in that: The right-angled three-way pipe (73) is located outside the underwater sealing box (2), and a water filter cover (78) is detachably mounted on the upper end of the channel in which the second one-way water valve is mounted in the right-angled three-way pipe (73).

8. The crack detection device for engineering inspection according to claim 4, characterized in that: The two catheters (93) are respectively fitted with protective leather covers (10) on the peripheries of the two ultrasonic cables (42).

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

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