Basket arch detection device and detection method based on wall-climbing robot

Abstract

The invention relates to the technical field of bridge engineering, in particular to a lifting basket arch detection device and method based on a wall-climbing robot. The basket arch detection device based on the wall-climbing robot comprises the wall-climbing robot and an ultrasonic signal detection device arranged on the wall-climbing robot. The knocking sound wave signal detection device is arranged on the wall-climbing robot; the distance measuring device is arranged on the walking structure; the walking structure, the ultrasonic signal detection device, the knocking sound wave signal detection device and the distance measuring device are all connected with the control device; wherein the distance measuring device is used for detecting the walking distance information of the walking mechanism and transmitting the detected distance information to the control device; and the control device controls the knocking sound wave signal detection device to execute a knocking test and controls the ultrasonic signal detection device to execute an ultrasonic test according to the distance information.

Description

Technical Field

[0001] The present disclosure relates to the technical field of bridge engineering, and in particular to a basket arch detection device and method based on a wall-climbing robot. Background Art

[0002] The basket arch is one of the main load-bearing components of the basket arch bridge. The status of the basket arch is closely related to the safety of the bridge. Therefore, it needs to be inspected regularly. Currently, manual inspection using a crane is used, which is dangerous, costly, and inefficient. Summary of the Invention

[0003] The present disclosure provides a basket arch detection device based on a wall-climbing robot to at least solve the above technical problems existing in the prior art.

[0004] A first aspect of the present disclosure provides a basket arch detection device based on a wall-climbing robot, comprising:

[0005] A wall-climbing robot comprising a walking mechanism and a magnetic attraction structure, wherein the magnetic attraction structure comprises a plurality of magnets, and when the walking mechanism is in motion, at least a portion of the magnetic attraction structure is capable of magnetically adsorbing onto a wall surface of a target object, thereby preventing the wall-climbing robot from leaving the wall surface;

[0006] an ultrasonic signal detection device, provided on the wall-climbing robot;

[0007] a knocking sound wave signal detection device, provided on the wall-climbing robot;

[0008] a distance measuring device, arranged on the walking structure;

[0009] The control device, the walking structure, the ultrasonic signal detection device, the knocking sound wave signal detection device and the distance measuring device are all connected to the control device;

[0010] Among them, the distance measuring device is used to detect the distance information of the walking mechanism and transmit the detected distance information to the control device. The control device controls the knocking sound wave signal detection device to perform a knocking test and controls the ultrasonic signal detection device to perform an ultrasonic test according to the distance information.

[0011] First, the knocking sound wave signal detection device includes:

[0012] A knocking component, used to perform a knocking test on the surface of a target object to obtain a knocking sound signal;

[0013] A pickup, for receiving a knocking sound signal;

[0014] Wherein, the knocking component and the pickup are both connected to the control device, and the control device is used to generate a defect detection result of the target object according to the knocking sound signal.

[0015] Furthermore, the striking component includes a piezoelectric seismic source, a transducer and an impact hammer. The piezoelectric seismic source is used to generate an electrical signal according to the control device to control the strength and rhythm of the impact hammer. The transducer is used to convert the electrical signal output by the piezoelectric seismic source into mechanical vibration. The impact hammer is used to receive the mechanical vibration generated by the transducer to obtain kinetic energy and strike the target object.

[0016] Furthermore, the distance measuring device includes a distance processor, which is used to receive distance information of the wall-climbing robot, and the control device is used to send a pulse current to the piezoelectric seismic source at a set distance according to the distance information, so as to control the impact hammer to strike the target object;

[0017] The pickup receives the sound signal generated by the knocking, and the pickup is connected to the force sensor of the impact hammer to obtain the knocking force information. The pickup transmits the received sound signal and force information to the control device.

[0018] Furthermore, the ultrasonic signal detection device includes an ultrasonic signal generator and an ultrasonic signal receiver. The ultrasonic signal receiver is used to receive the ultrasonic signal emitted by the ultrasonic signal generator and send it to the data processing terminal through the network.

[0019] Furthermore, the distance measuring device includes an encoder installed coaxially with the traveling wheel. The encoder obtains the distance information of the wall-climbing robot based on the angular displacement, and sends a tapping instruction to the distance processor based on the measured distance information to control the tapping component to perform the tapping action.

[0020] Furthermore, the wall-climbing robot includes a holding and anti-falling device, the holding and anti-falling device includes a telescopic arm, the telescopic arm includes a retractable curved surface, and the curved surface cooperates with the magnetic tube wall of the target object;

[0021] The ultrasonic signal generator and the ultrasonic signal receiver are arranged opposite to each other, and the ultrasonic signal generator and the ultrasonic signal receiver are respectively arranged at two ends of the telescopic arm.

[0022] Furthermore, the telescopic arm is provided with a first ultrasonic transducer and a second ultrasonic transducer;

[0023] The first ultrasonic transducer is used to receive the electrical signal from the ultrasonic signal generator and convert the electrical signal into ultrasonic waves for transmission;

[0024] The second ultrasonic transducer is used to convert the received ultrasonic waves into electrical signals and transmit them to the control device.

[0025] Furthermore, the control device includes:

[0026] A data receiving module is used to receive the distance information from the distance measuring device, the sound signal and knocking force information transmitted by the microphone, and the electrical signal transmitted by the second ultrasonic transducer;

[0027] A data analysis module is used to generate defect detection results of the target object based on the knocking sound signal, and to determine the void situation of concrete in the target object by combining the ultrasonic signal and the knocking sound wave signal;

[0028] The command sending module sends control commands to the piezoelectric seismic source, ultrasonic signal generator and walking mechanism according to the data analysis results and preset rules;

[0029] The storage module is used to store preset rules, historical detection data and analysis results.

[0030] A second aspect of the present disclosure provides a detection method for a basket arch detection device based on a wall-climbing robot, comprising the steps of:

[0031] The wall-climbing robot is installed on the magnetic tube wall of the target object through a magnetic attraction structure;

[0032] The control device controls the wall-climbing robot to move on the target object, while the distance measuring device measures the distance traveled by the wall-climbing robot and controls the knocking component to perform a knocking action based on the distance information. The pickup collects the knocking sound wave signal and sends the knocking sound wave signal to the data processing terminal.

[0033] The ultrasonic signal detection device transmits and receives ultrasonic signals and sends the ultrasonic signals to the data processing terminal;

[0034] The data processing terminal digitally processes the received signal to obtain the height and width of the concrete void in the arch;

[0035] Based on the processed data, the control and analysis center determines the voiding of concrete inside the basket arch steel tube and analyzes and evaluates the comprehensive internal and external safety level of the wall.

[0036] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0037] In the basket arch detection device based on a wall-climbing robot provided by the embodiment of the present disclosure, the wall-climbing robot can move freely on the wall surface of the basket arch for detection, which reduces the need for detection personnel to work in high-altitude, narrow or dangerous environments, and reduces the risk of safety accidents for personnel. The basket arch detection device of the wall-climbing robot provided by the embodiment of the present disclosure utilizes an ultrasonic signal detection device and a knocking sound wave signal detection device equipped on the wall-climbing robot, which can automatically move on the wall surface of the basket arch and complete the detection task. Compared with the traditional manual detection method, it avoids the tedious and time-consuming manual operation and can greatly improve the detection efficiency. The control device can flexibly adjust the detection parameters, such as knocking force, ultrasonic emission frequency, etc., according to different detection requirements and the actual situation of the basket arch, to adapt to different detection tasks, thereby improving the versatility and applicability of the device.

[0038] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings, in which several embodiments of the present disclosure are shown by way of example and not limitation, wherein:

[0040] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0041] Figure 1 The structure diagram of the basket arch detection device based on the wall climbing robot provided by the embodiment of the present disclosure is shown. Figure 1 ;

[0042] Figure 2 The structure diagram of the basket arch detection device based on the wall climbing robot provided by the embodiment of the present disclosure is shown. Figure 2 ;

[0043] Figure 3 A structural schematic diagram of a holding anti-fall device in a basket arch detection device based on a wall-climbing robot provided in an embodiment of the present disclosure is shown.

[0044] Explanation of the numbers in the figure: 1. Wall-climbing robot; 2. Walking mechanism; 3. Encoder; 4. Stepper motor; 5. Magnetic structure; 6. Impact hammer; 8. Couplant capsule; 9. Basket arch; 10. Platform; 11. Telescopic arm; 12. Impact controller; 13. Pickup; 14. Ultrasonic transducer; 15. Pulley; 16. Magnet; 17. Fixing part; 20. Processor; 30. Signal collector; 40. Data processing terminal. DETAILED DESCRIPTION

[0045] To make the purposes, features, and advantages of the present disclosure more apparent and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative work shall fall within the scope of protection of the present disclosure.

[0046] Combine Figure 1 、 Figure 2 and Figure 3 As shown, the basket arch detection device based on the wall-climbing robot provided by the embodiment of the present disclosure includes a wall-climbing robot 1, an ultrasonic signal detection device, a knocking sound wave signal detection device, a distance measuring device and a control device; the wall-climbing robot 1 includes a walking mechanism 2 and a magnetic attraction structure 5, and the magnetic attraction structure 5 includes a plurality of magnets 16. When the walking mechanism 2 is active, at least part of the magnetic attraction structure 5 can be magnetically adsorbed on the wall surface of the target object to limit the wall-climbing robot 1 from separating from the wall surface, effectively preventing the robot from separating from the wall surface, ensuring the stability and safety of the robot during the detection process, and avoiding equipment damage or other safety hazards caused by the robot falling. The magnetic attraction structure 5 of the wall-climbing robot 1 enables it to adapt to various wall conditions of the basket arch 9, whether it is a vertical wall or an inclined wall, it can be stably adsorbed and moved, and has strong environmental adaptability.

[0047] The target object can be the basket arch 9 or other structures of a steel bridge.

[0048] An ultrasonic signal detection device is provided on the wall-climbing robot 1; a percussion sound wave signal detection device is provided on the wall-climbing robot 1; and a distance measuring device is provided on the walking structure. The control device, the walking structure, the ultrasonic signal detection device, the percussion sound wave signal detection device, and the distance measuring device are all connected to the control device. The wall-climbing robot 1 is equipped with both an ultrasonic signal detection device and a percussion sound wave signal detection device. Ultrasonic detection can deeply probe the internal structure of the basket handle arch 9 and detect problems such as annular and spherical hollow defects within the concrete; percussion sound wave detection can detect annular hollow defects in the basket handle arch 9 by analyzing the percussion sound signals. The two detection methods complement each other, improving the accuracy and comprehensiveness of the test results.

[0049] The distance measuring device is used to detect the distance information of the walking mechanism 2, and the detected distance information is transmitted to the control device, and the control device controls the knocking sound wave signal detection device to perform a knock test and controls the ultrasonic signal detection device to perform an ultrasonic test according to the distance information. The distance measuring device can detect the walking distance of the walking mechanism 2 in real time and transmit the information to the control device. The control device accurately controls the knocking sound wave signal detection device and the ultrasonic signal detection device to perform the test according to the distance information, realizes continuous automatic detection according to the set distance, avoids the problem of missed detection or repeated detection that may occur in manual detection, and further improves the detection efficiency. With the accurate distance information provided by the distance measuring device in this embodiment, the control device can accurately control the detection device to test at a specific position, ensure that the detection data corresponds to the actual position one by one, and help to accurately judge the structural condition of the different positions of the basket arch 9.

[0050] The wall-climbing robot 1 can move freely on the wall of the basket arch 9 for inspection, reducing the need for inspection personnel to work in high altitude, narrow or dangerous environments, and reducing the risk of safety accidents for personnel. The basket arch 9 detection device of the wall-climbing robot 1 provided in the embodiment of the present disclosure utilizes the wall-climbing robot 1 equipped with an ultrasonic signal detection device and a knocking sound wave signal detection device, which can automatically move on the wall of the basket arch 9 and complete the inspection task. Compared with the traditional manual inspection method, it avoids the tedious and time-consuming manual operation and can greatly improve the inspection efficiency. The control device can flexibly adjust the inspection parameters, such as knocking force, ultrasonic emission frequency, etc., according to different inspection requirements and the actual situation of the basket arch 9, to adapt to different inspection tasks, thereby improving the versatility and applicability of the device.

[0051] Optionally, the walking mechanism 2 includes drive wheels, a steering mechanism, and a suspension system. The drive wheels can be driven by a motor to provide power for the robot to move on the wall. They can be ordinary rubber wheels or wheels with special patterns to enhance friction. The steering mechanism enables the robot to change its direction of travel, and a steering mechanism controlled by a servo is common. The suspension mechanism, such as a spring suspension or hydraulic suspension, can ensure stable movement of the robot even on uneven walls.

[0052] Optionally, the travel mechanism 2 includes a distance measuring device and a stepper motor 4. The distance measuring device includes an encoder 3 coaxially mounted with the travel wheel. The encoder 3 obtains the distance traveled by the robot based on its angular displacement. The distance measured by the encoder 3 is used to send a tapping instruction to the distance processor 20 based on the measured distance information, thereby controlling the tapping component to perform the tapping action. The stepper motor 4 is connected to the travel wheel to propel the robot.

[0053] Optionally, the magnetic structure 5 may include permanent magnets 16 and fixings 17. Fixings 17 may be fixing bolts or other fasteners. Permanent magnets 16 provide stable adsorption force, ensuring that the robot adheres to the wall of the basket arch 9. Strong magnetic materials such as neodymium iron boron can be used. A mounting bracket for magnets 16 is used to secure magnets 16 so that they are distributed across the bottom of the robot to ensure uniform adsorption force.

[0054] Optionally, the wall-climbing robot 1 includes a holding and anti-falling device. The holding and anti-falling device includes a telescopic arm 11, a curved surface structure, and an ultrasonic transducer capsule. The telescopic arm 11 is typically made of a retractable metal rod or other material, and an adsorption device or other auxiliary structure can be installed at its end. The curved surface at the end of the telescopic arm 11 cooperates with the magnetic tube wall of the basket arch 9 to enhance the adsorption and adhesion effect. The ultrasonic transducer capsule is installed at the front and rear ends of the telescopic arm 11 for coupling with the surface of the test arch being tested.

[0055] Optionally, the ultrasonic signal detection device includes an ultrasonic signal generator, an ultrasonic transducer 14, and an ultrasonic signal receiver. The ultrasonic signal generator includes a high-frequency oscillation circuit and a power amplifier. The high-frequency oscillation circuit generates a high-frequency electrical signal, typically ranging from tens of kilohertz to several megahertz, with the specific frequency determined by the detection requirements. The power amplifier amplifies the electrical signal generated by the oscillation circuit to provide sufficient energy to drive the ultrasonic transducer 14. The ultrasonic transducer 14 includes a piezoelectric ceramic element, a matching layer, and a backing layer. The piezoelectric ceramic element is the core component of the transducer, capable of converting electrical signals into ultrasonic signals for transmission and also converting received ultrasonic signals into electrical signals. The matching layer improves the acoustic coupling between the transducer and the object being measured, increasing the efficiency of ultrasonic transmission and reception; the backing layer absorbs excess ultrasonic energy and reduces interference. The ultrasonic signal receiver includes a preamplifier, a filtering circuit, and a digital-to-analog converter. The preamplifier performs preliminary amplification of the received weak electrical signal. The filtering circuit removes noise and interference from the signal, improving signal quality. The digital-to-analog converter converts the analog electrical signal into a digital signal for subsequent processing and analysis.

[0056] Optionally, the knocking sound wave signal detection device includes a knocking component and a pickup 13. The knocking component includes a piezoelectric source, a transducer and a pickup 13. The piezoelectric source generates an electrical signal, and the strength and rhythm of the knocking are controlled by controlling the intensity and frequency of the electrical signal. The transducer converts the electrical signal output by the piezoelectric source into mechanical vibration. The impact hammer 6 receives the mechanical vibration generated by the transducer, obtains kinetic energy and knocks the target object. The end of the impact hammer 6 can be installed with a steel tip to reduce the contact area with the structural surface, which is suitable for the detection of curved surface structures. The pickup 13 includes a microphone and a signal conditioning circuit. The microphone is used to receive the sound signal generated by the knocking. The signal conditioning circuit amplifies, filters and other processes the weak electrical signal output by the microphone to improve the quality of the signal.

[0057] Optionally, the control device includes a data processing terminal 40, which processes the signal received by the microphone 13, including amplifying the time domain signal, converting the time domain signal into sound wave waveform data through fast Fourier transform, and displaying the sound wave spectrum in real time, as well as extracting the power spectrum - determining the main frequency - obtaining the main frequency width - determining a reasonable threshold range and comparing it with pre-stored waveform data to judge the concrete voiding situation in the basket arch 9 pipe at the detection point, and obtaining the annular voiding distance and spherical cap voiding rate of the concrete in the basket arch 9 pipe, and generating a report.

[0058] Optionally, the distance measuring device includes an encoder 3 and a distance processor 20. Encoder 3 is coaxially mounted with the travel wheel and measures the angular displacement of the travel wheel to obtain distance information. Encoder 3 can be an incremental encoder 3 or an absolute encoder 3. Distance processor 20 receives the signal output by encoder 3, processes and calculates it to obtain accurate distance information, and sends a tapping instruction or other relevant signal to the control device according to preset rules.

[0059] The control device may include a central processing unit 20 (CPU), an input interface, an output interface, a storage module, and a power module. The CPU 20, as the core of the control device, is responsible for processing various data and executing control algorithms. The input interface is used to receive signals from components such as the ranging device, the microphone 13, and the ultrasonic signal receiver. The output interface sends control instructions to components such as the piezoelectric vibrator of the striking assembly, the ultrasonic signal generator, and the drive motor of the walking mechanism 2. The storage module stores information such as preset detection parameters, algorithms, and historical detection data. The power module provides a stable power supply for the control device and its connected components.

[0060] Optionally, the control device includes a processor 20 and an impact controller 12. The processor 20 is connected to the distance measuring device and the impact controller 12 of the knocking component. The processor 20 is used to receive the distance information of the vehicle body and send an impact instruction to the impact controller 12 according to the distance information to control the vibration device to perform the impact action.

[0061] Optionally, the control device includes a signal collector 30, which includes an ultrasonic signal generator and a mechanical wave signal generator. The ultrasonic signal and the sound wave signal are sent to a remote controller, which is used to analyze the detected ultrasonic and mechanical wave signals to obtain the height and void ratio of the concrete voids in the basket handle arch 9 at the detection point, thereby detecting the basket handle arch 9. The present invention is particularly suitable for detecting the void ratio of spherical crown-shaped voids in concrete in the basket handle arch 9 pipeline; it can realize the continuous triggering of excitation signals and sound signals at fixed intervals at the measuring points, without the need for the inspector to directly perform the impact excitation action, thereby detecting the voids in the basket handle arch 9.

[0062] In some specific embodiments, the knocking sound wave signal detection device includes a knocking component and a pickup 13, the knocking component is used to perform a knocking test on the surface of the target object to obtain a knocking sound signal; the pickup 13 is used to receive the knocking sound signal; wherein, the knocking component and the pickup 13 are both connected to a control device, and the control device is used to generate a defect detection result of the target object based on the knocking sound signal.

[0063] The knocking component can actively perform a knocking test on the surface of the target object and quickly obtain a knocking sound signal. Compared with the traditional manual knocking and subjective judgment method, the device can realize automatic and continuous knocking operations, and detect a large range of surfaces and shallow areas of the basket arch 9 in a short time, greatly improving the detection efficiency, and is suitable for large-scale detection tasks. The microphone 13 is specially used to receive knocking sound signals, has high sensitivity and accurate sound capture capabilities, and can transmit the sound signal to the control device completely and accurately. Based on a preset algorithm and a large number of data models, the control device performs spectrum analysis, feature extraction and other processing on the sound signal, and can accurately identify the defect information contained in the sound signal, such as the concrete void height, void rate and other issues, thereby generating objective and accurate defect detection results, avoiding the subjectivity and misdetection of manual judgment.

[0064] Percussion acoustic signal testing is a non-destructive testing method that generates only acoustic signals through percussion, without causing any damage to the structure. This is particularly important for critical bridge components like the basket handle arch 9, as it allows testing to be completed without affecting normal operation or structural safety, providing an effective means for long-term monitoring and maintenance of bridges.

[0065] The percussion sonic signal detection device works in conjunction with the ultrasonic signal detection device to provide comprehensive inspection of the basket handle arch 9 structure. Percussion sonic signal detection focuses on surface and shallow defects, while ultrasonic testing excels at detecting deep internal defects. Combining the two provides a more comprehensive understanding of the basket handle arch 9's structural condition, providing a more comprehensive basis for subsequent repair and reinforcement decisions.

[0066] Thanks to the fast connection and data transmission between the knocking assembly, the microphone 13, and the control device, real-time detection and feedback can be achieved. During the mobile detection process of the wall-climbing robot 1, after each knocking test, the control device can quickly process the sound signal and generate a detection result, promptly discovering and recording defects, helping the inspector to quickly understand the structural status of the basket arch 9, and improving the timeliness and effectiveness of the detection work.

[0067] In some specific embodiments, the striking assembly includes a piezoelectric source, a transducer, and a hammer 6. The piezoelectric source is used to generate an electrical signal according to a control device to control the force and rhythm of the hammer 6's striking. The transducer is used to convert the electrical signal output by the piezoelectric source into mechanical vibration. The hammer 6 is used to receive the mechanical vibration generated by the transducer to obtain kinetic energy and strike the target object. The piezoelectric source can generate an electrical signal of a specific intensity according to the instructions of the control device. By precisely controlling the intensity of the electrical signal, the force with which the hammer 6 strikes the target object can be precisely controlled. In the detection scenario of the basket arch 9, different parts may require different striking forces to detect their internal conditions. For example, for a thinner arch diameter, a smaller striking force can detect subtle defects; while for a thicker structure, a larger striking force is required to obtain effective feedback. This precise force control helps to more accurately identify defects within the basket arch 9 and improve the accuracy of detection. The piezoelectric source can also precisely control the rhythm of the hammer 6's striking according to the requirements of the control device. A regular and appropriate tapping rhythm helps the pickup 13 receive the tapping sound signal more clearly, reducing errors caused by external interference and signal overlap. The control device can set different tapping intervals according to detection requirements, so that the sound signal generated by each tapping can be independently and clearly collected and analyzed, thereby more accurately determining the structural integrity of the target object.

[0068] Since the force and rhythm of the knocking can be flexibly controlled, the knocking component can adapt to a variety of different detection needs. When detecting a basket arch with a larger arch diameter, a lower frequency and higher force knocking can be used to detect the internal void situation. The piezoelectric source automatically generates an electrical signal according to the signal of the control device, drives the transducer and the impact hammer 6 to work, and realizes the automation of the knocking process. Compared with the traditional manual knocking detection method, the detection efficiency is greatly improved. The wall-climbing robot 1 can automatically perform continuous and rapid knocking detection on the basket arch 9 according to the preset route and detection scheme, reducing the time and labor intensity of manual operation, and is particularly suitable for comprehensive detection of large basket arch 9 structures.

[0069] In some specific embodiments, the distance measuring device includes a distance processor 20, which is used to receive the distance information of the wall-climbing robot 1, and the control device is used to send a pulse current to the piezoelectric source at a set distance according to the distance information to control the impact hammer 6 to strike the target object; the pickup 13 receives the sound signal generated by the knocking, and the pickup 13 is connected to the force sensor of the impact hammer 6 to obtain the knocking force information. The pickup 13 transmits the received sound signal and force information to the control device. The distance processor 20 can accurately receive the distance information of the wall-climbing robot 1, and the control device can send a pulse current to the piezoelectric source at a pre-set specific distance based on this information, thereby accurately controlling the impact hammer 6 to strike the target object. When the basket arch 9 is detected, regular knocking can be performed according to the preset spacing to ensure that all key positions of the basket arch 9 can be detected, avoiding the situation of missed detection or repeated detection, and greatly improving the accuracy of the detection position. The pickup 13 is connected to the force sensor of the impact hammer 6 to obtain the knocking force information. By combining the sound signal and force information and transmitting it to the control device, the control device can more comprehensively analyze the structural condition of the target object. When the tapping force is consistent, any abnormality in the sound signal can more accurately determine the presence of a void defect. Furthermore, combining the sound feedback from different tapping forces can more precisely assess the size and severity of the defect, further improving the accuracy of the test results.

[0070] This embodiment realizes the automation and orderliness of knock detection through the collaborative work of the distance processor 20 and the control device. During the movement, the wall-climbing robot 1 automatically triggers the knocking action according to the set distance without manual intervention, which reduces the time and labor intensity of manual operation and improves the detection speed. Especially for the large-scale basket arch 9 structure, this automated detection method can significantly shorten the detection cycle and quickly obtain detection data. The sound signal and knock force information are collected at the same time, providing the control device with richer and multi-dimensional data. A single sound signal may be interfered with by factors such as environmental noise and surface conditions, but after combining the knock force information, the influence of these interference factors can be effectively reduced, making the detection result more reliable. Different knock forces may stimulate different response characteristics of the target object. Comprehensive analysis of these characteristics can provide a more comprehensive understanding of the internal structure and defect conditions of the basket arch 9.

[0071] In some specific embodiments, the ultrasonic signal detection device includes an ultrasonic signal generator and an ultrasonic signal receiver, which is used to receive the ultrasonic signal emitted by the ultrasonic signal generator and send it to the data processing terminal 40 via the network. Ultrasonic waves can penetrate the steel pipe and concrete structure of the basket arch 9 to detect the void height and void rate. The ultrasonic waves emitted by the ultrasonic signal generator can penetrate deep into the structure. When encountering defects such as concrete voids, cracks, and looseness, the parameters such as the propagation path, speed, amplitude, and frequency of the ultrasonic waves will change. The ultrasonic signal receiver captures these changed signals, thereby effectively detecting defects deep inside the basket arch 9, avoiding ignoring internal hidden dangers due to the intact surface, and ensuring the safety of the bridge structure. The device can achieve fast and continuous detection. The ultrasonic signal generator can continuously emit ultrasonic waves at a set frequency, and the receiver receives them synchronously. Combined with the movement of the wall-climbing robot 1, it can quickly move and detect on the surface of the basket arch 9. Compared with traditional manual detection methods, it greatly shortens the detection time and improves the detection efficiency. It is particularly suitable for comprehensive detection of large basket arch 9 structures. The ultrasonic signal receiver transmits the received signal to the data processing terminal 40 in real time via the network, allowing inspectors to remotely obtain test data without being present on-site. The data processing terminal 40 can promptly analyze and process the signal, such as through spectrum analysis, filtering, first-arrival removal, and power spectrum calculation, to quickly obtain test results such as the height and width of the concrete voids within the arch. This enables real-time monitoring and analysis, allowing inspectors to promptly understand the structural status of the basket arch 9 and make quick decisions.

[0072] Optionally, the ultrasonic signal detection device further includes a coupling agent capsule 8: the coupling agent capsule 8 is filled with vaseline or other coupling agents, and the ultrasonic probe is placed in the coupling agent capsule 8. The coupling agent is used to make the ultrasonic probe and the structure to be detected fit together, thereby ensuring the coupling effect between the ultrasonic transducer 14 and the steel pipe wall.

[0073] In some specific embodiments, the distance measuring device includes an encoder 3 coaxially mounted with the traveling wheel. The encoder 3 obtains the distance information of the wall-climbing robot 1 according to the angular displacement, and sends a knock instruction to the distance processor 20 according to the measured distance information to control the knocking component to perform the knocking action. The encoder 3 is coaxially mounted with the traveling wheel and can directly accurately calculate the distance of the wall-climbing robot 1 according to the angular displacement of the traveling wheel. Since the measurement accuracy of the encoder 3 is high, the number of rotations and the angle change of the traveling wheel can be accurately recorded, and then converted into accurate walking distance information. This makes it possible to accurately determine the position of each detection point when the basket handle arch 9 is detected, avoiding inaccurate detection or missed detection caused by position error. According to the accurately measured distance information, the encoder 3 can send a knock instruction to the distance processor 20 to control the knocking component to perform the knocking action at a specific position. When the basket handle arch 9 is segmented, a knock test can be accurately performed at each detection point according to a preset interval distance to ensure that the detection work covers the key parts of the basket handle arch 9 and improve the reliability and effectiveness of the detection result. The encoder 3 can automatically send a tapping instruction to the distance processor 20 based on the measured distance information, and can control the tapping component to perform the tapping action without human intervention. This allows the wall-climbing robot 1 to automatically perform tapping detection according to a preset detection scheme during movement, greatly improving detection efficiency and reducing the workload and errors of manual operation. Since the encoder 3 can accurately control the tapping position of the tapping component, each detection process can perform a tapping test at the same distance interval and position, realizing the standardization of the detection process. This helps to ensure that the results between different detection batches are comparable and repeatable, and facilitates long-term monitoring and evaluation of the structural condition of the basket arch 9.

[0074] In some specific embodiments, the wall-climbing robot 1 includes a holding and anti-falling device, which includes a platform 10 and a telescopic arm 11. The telescopic arm 11 includes a retractable curved surface that mates with the magnetic tube wall of the target object. An ultrasonic signal generator and an ultrasonic signal receiver are positioned opposite each other, with the ultrasonic signal generator and the ultrasonic signal receiver being disposed at either end of the telescopic arm 11. The telescopic arm 11 of the holding and anti-falling device has a retractable curved surface that mates well with the magnetic tube wall of the target object. When the wall-climbing robot 1 operates on the magnetic tube wall of the basket arch 9, the telescopic arm 11 can be adjusted to fit the curved surface tightly against the tube wall, achieving reliable attachment through magnetic attraction and other means. This greatly enhances the robot's stability on the wall, effectively preventing the robot from falling due to unexpected circumstances (such as vibration, wind, etc.), ensuring the safety of the robot itself and the surrounding environment. It is particularly suitable for high-altitude operations and reduces the risk of equipment damage and safety accidents. In the basket arch 9 structure, the wall surface may have certain curvature variations and unevenness. The retractable curved design allows the holding and anti-fall device to adapt to these complex working conditions, maintaining effective contact and adsorption with the pipe wall. When encountering raised or recessed areas, the telescopic arm 11 flexibly extends and retracts, adjusting the fit of the curved surface to ensure the robot remains stably attached to the wall throughout the entire operation, providing a solid foundation for smooth inspection.

[0075] Optionally, a pulley 15 is installed in the middle of the telescopic arm 11;

[0076] The ultrasonic signal generator and ultrasonic signal receiver are relatively arranged at both ends of the telescopic arm 11. This layout can provide a more ideal propagation path for the ultrasonic signal. Because the curved surface of the telescopic arm 11 conforms to the pipe wall, the ultrasonic wave can be better coupled to the pipe wall during propagation, reducing signal reflection and loss at the interface, and improving the propagation efficiency and intensity of the ultrasonic signal. This helps to obtain structural information inside the pipe wall more clearly and accurately, and improves the sensitivity and accuracy of detection. The telescopic function of the telescopic arm 11 allows the distance between the ultrasonic signal generator and the receiver to be adjusted according to actual detection needs. During the detection process, the detection range can be changed by extending and retracting the telescopic arm 11, ensuring that all parts of the pipe wall of the basket arch 9 can be effectively detected and avoiding detection blind spots. At the same time, the relative arrangement can ensure that the ultrasonic signal is more evenly distributed within the detection area, improving the comprehensiveness and reliability of the detection results. The telescopic arm 11 can be extended or shortened accordingly so that the curved surface always conforms to the pipe wall, ensuring the normal implementation of the anti-fall holding and ultrasonic detection functions. This enhances the versatility and applicability of the wall-climbing robot 1, reduces the trouble of replacing equipment due to different pipe diameters, and improves the efficiency of detection operations.

[0077] Optionally, the holding and anti-falling device may include a telescopic arm 11, a drive mechanism, and a curved surface adsorption component. The telescopic arm 11 may include multiple levels of nested metal rods, similar to the telescopic structure of a telescope. These metal rods are connected by guide rails or slideways to ensure smooth and stable telescopic movement. One end of the telescopic arm 11 is connected to the main body of the wall-climbing robot 1, and the other end is equipped with a curved surface structure that can cooperate with the magnetic tube wall. The drive mechanism can use an electric push rod, hydraulic cylinder, or pneumatic cylinder as a drive source to provide power for the telescopic arm 11 to extend and retract. The drive mechanism is connected to the telescopic arm 11 through transmission components such as connecting rods and gears, transmitting power to the telescopic arm 11 to achieve its telescopic movement. The curved surface adsorption component is installed at the end of the telescopic arm 11 and is typically made of a material with a certain degree of elasticity and magnetism, such as a rubber magnetic strip or an electromagnetic suction cup. The shape of the curved surface is designed according to the curvature of the magnetic tube wall of the basket arch 9 to ensure a close fit with the tube wall and provide reliable adsorption force. When the wall-climbing robot 1 reaches a location where inspection or work is required, the drive mechanism activates, extending the telescopic arm 11 and gradually bringing the curved surface adsorption component closer to and into contact with the magnetic pipe wall. At this point, the curved surface adsorption component magnetically adheres to the pipe wall, providing additional support and fall prevention for the robot. When the robot needs to move to the next location, the drive mechanism reverses its action, retracting the telescopic arm 11 and releasing the adsorption state.

[0078] Optionally, the holding and anti-fall device may include an elastic clamping jaw, an opening and closing drive mechanism, and a guide mechanism. The elastic clamping jaw can be made of elastic metal or plastic material and have an arc-shaped or claw-like structure. A non-slip pulley 15 or magnetic adsorption material is installed on the inside of the clamping jaw to enhance friction and adsorption with the magnetic tube wall. One end of the clamping jaw is connected to the main body of the wall-climbing robot 1 via a rotating shaft or hinge, while the other end can open and close freely. The opening and closing drive mechanism can use a motor, an electromagnet 16, or a spring as a drive source to control the opening and closing of the clamping jaw. For example, a motor can be used to drive the opening and closing of the clamping jaw through a gear, rack, or screw-nut mechanism; an electromagnet 16 can be used to attract or release the clamping jaw through electromagnetic force; and a spring can be used to automatically open and close the clamping jaw. To ensure accuracy and stability during the opening and closing of the clamping jaw, a guide mechanism such as a guide rail, slider, or guide rod is typically provided. The guide mechanism is connected to the clamping jaw and guides the clamping jaw along a predetermined trajectory. When the wall-climbing robot 1 reaches its target position, the opening and closing drive mechanism activates, causing the gripper to open and approach the magnetic tube wall. The drive mechanism then reverses, causing the gripper to close under the action of elastic or electromagnetic forces, firmly gripping the magnetic tube wall. This provides both holding and fall prevention functions without affecting the robot's movement.

[0079] Optionally, the holding and anti-falling device may include a telescopic magnetic arm, a control circuit, and sensors. The telescopic magnetic arm combines a telescopic structure with a magnetic attraction function. The telescopic portion can utilize a multi-stage nested metal rod structure similar to a mechanical telescopic holding and anti-falling device, while the magnetic attraction portion comprises a powerful electromagnet 16 or a permanent magnet mounted at the end of the telescopic arm 11. The control circuit controls the on / off operation of the electromagnet 16 and the extension and retraction of the telescopic arm 11. The control circuit can automatically adjust the suction force of the electromagnet 16 and the extension and retraction length of the telescopic arm 11 based on the position and operational requirements of the wall-climbing robot 1. To achieve precise control and monitoring of the holding and anti-falling device, multiple sensors are typically included, such as distance sensors, pressure sensors, and magnetic sensors. The distance sensor detects the distance between the telescopic arm 11 and the magnetic pipe wall; the pressure sensor detects the pressure between the gripper or attraction component and the pipe wall; and the magnetic sensor monitors the suction force of the electromagnet 16. During movement of the wall-climbing robot 1, the control circuit controls the extension and retraction of the telescopic arm 11 based on signals from the distance sensor, bringing the magnetic attraction portion closer to the magnetic pipe wall. When the robot reaches the desired position, the control circuit energizes electromagnet 16, generating a strong suction force that firmly attaches telescopic arm 11 to the pipe wall. Simultaneously, pressure and magnetic sensors monitor the suction state in real time, ensuring that the suction force and pressure remain within safe limits. When the robot needs to move, the control circuit disconnects the power to electromagnet 16, retracting telescopic arm 11 and releasing suction.

[0080] In some specific embodiments, the telescopic arm 11 is equipped with a first ultrasonic transducer 14 and a second ultrasonic transducer 14. The first ultrasonic transducer 14 is used to receive electrical signals from an ultrasonic signal generator and convert them into ultrasonic waves for transmission. The second ultrasonic transducer 14 is used to convert the received ultrasonic waves into electrical signals and transmit them to a control device. The first ultrasonic transducer 14 and the second ultrasonic transducer 14 are respectively responsible for converting electrical signals into ultrasonic waves and ultrasonic waves into electrical signals, and are mounted on the telescopic arm 11. The telescopic arm 11 allows the positions of the two transducers to be precisely set, effectively controlling the propagation path of ultrasonic waves within the basket arch 9 structure. By precisely controlling the position and angle of the transducers, ultrasonic waves can be more specifically directed through key areas of the basket arch 9, thereby more clearly detecting internal defects and significantly improving detection accuracy. When the ultrasonic waves emitted by the first ultrasonic transducer 14 encounter defects (such as voids or cracks) within the basket arch 9, the propagation characteristics of the ultrasonic waves (such as propagation time, amplitude, and frequency) change. The second ultrasonic transducer 14 can sensitively capture these altered ultrasonic signals and convert them into electrical signals for transmission to the control device. By analyzing and processing these electrical signals, the control device can accurately determine the location, size, nature and other information of the defects, significantly improving the accuracy of the detection results.

[0081] The telescopic arm 11 has a retractable characteristic, which enables the spacing and position of the first and second ultrasonic transducers 14 to be flexibly adjusted according to the specific structural characteristics of the basket arch 9 (such as pipe diameter, wall thickness, etc.) and detection requirements. When detecting basket arches 9 of different specifications, the position of the transducer can be adjusted by the telescopic arm 11 to ensure that ultrasonic waves can be effectively transmitted and received, thereby enhancing the adaptability of the detection device to different working conditions. In the actual detection process, the surface of the basket arch 9 may have complex conditions such as unevenness and curvature changes. The telescopic arm 11 can be extended and adjusted according to these surface conditions to ensure that the first and second ultrasonic transducers 14 always maintain a good coupling state with the surface of the basket arch 9, thereby ensuring the stable transmission and reception of ultrasonic signals, so that the detection work can be carried out smoothly in a complex environment.

[0082] Optionally, the first ultrasonic transducer 14 and the second ultrasonic transducer 14 are located on the same plane, using a 180° beam pattern. This allows the ultrasonic wave to propagate along a relatively direct and stable path within the basket arch 9 structure. When the first ultrasonic transducer 14 transmits the ultrasonic wave, the sound wave can more evenly penetrate the detection area and be received by the second ultrasonic transducer 14 located opposite. This can reduce the scattering and refraction interference of the ultrasonic wave during propagation, allowing the received signal to more accurately reflect the actual situation within the detection area, such as the density of the concrete and the presence of defects such as voids, thereby improving the accuracy of the detection results.

[0083] When ultrasonic waves beamed at 180° angles encounter defects within the basket arch 9, such as cracks and voids, they produce noticeable variations in reflection, refraction, and attenuation. Because the two transducers beam at the same plane, these defect-induced signal variations can be more effectively captured. By analyzing and processing the received signals, the defect's location, size, and shape can be more accurately determined, improving defect recognition and detection accuracy.

[0084] In some specific embodiments, the control device includes a data receiving module, a data analysis module, an instruction sending module and a storage module. The data receiving module is used to receive the distance information from the ranging device, the sound signal and knocking force information transmitted by the pickup 13, and the electrical signal transmitted by the second ultrasonic transducer 14; the data analysis module is used to generate the defect detection result of the target object based on the knocking sound signal, and determine the void situation of the concrete in the target object by combining the ultrasonic signal and the knocking sound wave signal; the instruction sending module sends control instructions to the piezoelectric seismic source, the ultrasonic signal generator and the walking mechanism 2 according to the data analysis results and preset rules; the storage module is used to store preset rules, historical detection data and analysis results.

[0085] In this embodiment, the data receiving module can simultaneously receive different types of data from multiple components, including the ranging device, the microphone 13, and the second ultrasonic transducer 14, and centrally integrate them. This avoids the complexity and inefficiency of decentralized data processing, enabling the control device to uniformly manage and process all types of information during the detection process, providing a comprehensive and accurate data foundation for subsequent analysis and decision-making. Through efficient data integration, data processing speed is accelerated, improving the operational efficiency of the entire detection system. The data analysis module generates defect detection results for the target object based on the knocking sound signal, and simultaneously combines the ultrasonic signal and the knocking sound wave signal to determine the void content of the concrete. This multi-signal fusion analysis method fully utilizes the advantages of different detection methods, complementing and verifying each other. Compared with single signal analysis, it can more accurately identify the type, location, size, and severity of defects, improve the accuracy of the detection results, and provide a reliable basis for the structural safety assessment of the basket handle arch 9. The command sending module automatically sends control commands to components such as the piezoelectric seismic source, ultrasonic signal generator, and walking mechanism 2 based on the data analysis results and preset rules. This achieves automated and intelligent control of the detection process without the need for frequent human intervention. The wall-climbing robot 1 can automatically adjust its path, control the force and frequency of its taps, and emit ultrasonic waves based on detection requirements, thereby improving the efficiency and accuracy of detection work while reducing the errors and uncertainties caused by human operation. The storage module stores preset rules, historical detection data, and analysis results. The accumulation of historical data provides a reference for subsequent detection and evaluation. By analyzing and comparing historical data, it is possible to discover changing trends in the basket arch 9 structure, predict potential problems, and take maintenance and reinforcement measures in advance. At the same time, the stored preset rules also help ensure the consistency and standardization of the detection process, improving the comparability and reliability of the detection results.

[0086] The control unit's modular design provides excellent scalability and adaptability. As detection requirements change or new detection functions are added, individual modules can be easily upgraded or expanded. Adding new sensors or detection devices simply requires adjusting the data receiving module to receive and process the new data. This allows the entire detection system to better adapt to different detection scenarios and requirements, extending the system's service life.

[0087] In some specific embodiments, the wall-climbing robot-based basket arch detection device provided in the disclosed embodiments includes ultrasonic transmitting and receiving probes. The ultrasonic signals received by the receiving probes are converted into digital signals for transmission and analysis through a power amplifier, a filter, and a digital-to-analog converter. The ultrasonic signals are then transmitted to a data processing terminal 40. A coupling agent capsule 8 is filled with vaseline or other coupling agent, and the ultrasonic probe is placed within the capsule. The coupling agent is used to ensure that the ultrasonic probe and the structure to be inspected adhere to each other. An ultrasonic processing device transmits the signals to the data processing terminal 40 via a network. The ultrasonic transmitted wave signal is analyzed to determine internal material defects for evaluation and diagnosis. The received signal is digitally processed, including spectrum analysis, filtering, first-arrival removal, and power spectrum calculation, to determine the height and width of the concrete voids within the arch. The basket arch detection device and method provided by the present invention can continuously trigger the reception of ultrasonic and sound signals at fixed intervals at measuring points, eliminating the need for direct impact stimulation by an inspector to detect the basket arch. The robot is equipped with a holding anti-fall device to prevent accidental falls.

[0088] The detection method of the basket arch detection device based on the wall-climbing robot provided in the embodiment of the present disclosure includes the following steps: installing the wall-climbing robot 1 on the magnetic tube wall of the target object through the magnetic attraction structure 5; the control device controls the wall-climbing robot 1 to move on the target object, and at the same time the distance measuring device measures the distance walked by the wall-climbing robot 1, and controls the knocking component to perform the knocking action according to the distance information, the microphone 13 collects the knocking sound wave signal, and sends the knocking sound wave signal to the data processing terminal 40; the ultrasonic signal detection device transmits and receives the ultrasonic signal, and sends the ultrasonic signal to the data processing terminal 40; the data processing terminal 40 digitally processes the received signal to obtain the height and width values ​​of the concrete voids in the arch; the control and analysis center determines the void situation of the concrete in the steel tube of the basket arch 9 based on the processed data, and analyzes and evaluates the comprehensive safety level of the inside and outside of the wall surface.

[0089] The detection method of the basket arch detection device based on the wall-climbing robot provided in the embodiment of the present disclosure installs the wall-climbing robot 1 on the magnetic tube wall of the target object through the magnetic attraction structure 5. The control device can automatically control the movement of the robot. At the same time, the distance measuring device accurately measures the walking distance and controls the knocking component to perform the knocking action based on the distance information. This series of operations does not require a large amount of manual intervention. Compared with the traditional manual detection method, it greatly improves the detection efficiency. It is particularly suitable for the comprehensive detection of large-scale basket arch 9 structures. It can complete large-scale detection tasks in a short time, reducing manpower and time costs. The detection method uses knocking sound wave signals and ultrasonic signals for detection at the same time. The knocking sound wave signals generated by the knocking component can reflect the defect information of the target object being hollowed. The microphone 13 collects these signals and sends them to the data processing terminal 40. The ultrasonic signal emitted and received by the ultrasonic signal detection device can deeply detect defects such as the annular hollowing, spherical crown hollowing height and hollowing rate of the concrete inside the basket arch 9. The two signals complement each other, and the data processing terminal 40 digitally processes them. After comprehensive analysis, the height and width of the concrete voids within the arch can be more accurately determined, thereby improving the accuracy and comprehensiveness of the detection of structural defects in the basket handle arch 9. During the detection process, the percussion sound wave signal collected by the microphone 13 and the ultrasonic signal received by the ultrasonic signal detection device are both transmitted to the data processing terminal 40 in real time. The data processing terminal 40 promptly digitally processes the received signals, allowing the control and analysis center to quickly determine the concrete voids within the steel tube of the basket handle arch 9 based on the processed data. This real-time performance ensures the timeliness of the detection results, helps to promptly identify potential safety hazards and take appropriate measures, thereby improving the effectiveness of the detection and the ability to ensure structural safety. Based on the data processed by the data processing terminal 40, the control and analysis center can not only determine the concrete voids, but also analyze and evaluate the comprehensive safety level of the internal and external wall surfaces. By comprehensively considering multiple factors, such as the degree and location of the voids and their impact on the overall stability of the structure, a scientific and reasonable safety level assessment result can be obtained. This provides an important basis for decision-making regarding the maintenance, reinforcement, and management of the basket arch 9, helping to ensure the long-term safety and stable operation of the basket arch 9 structure. The wall-climbing robot 1 performs non-contact inspections by moving along the magnetic tube wall, eliminating the need for inspectors to work directly at high altitudes and in dangerous environments, thus ensuring their safety. Furthermore, this non-contact inspection method does not cause additional damage to the basket arch 9 structure, ensuring its integrity and safety during the inspection process.

[0090] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this embodiment can be achieved. This is not limited herein.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0092] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A basket arch detection device based on a wall-climbing robot, characterized in that: include: A wall-climbing robot (1), comprising a walking mechanism (2) and a magnetic attraction structure (5), wherein the magnetic attraction structure (5) comprises a plurality of magnets (16), and when the walking mechanism (2) is in motion, at least a portion of the magnetic attraction structure (5) can be magnetically attracted to a wall surface of a target object, thereby preventing the wall-climbing robot (1) from separating from the wall surface; An ultrasonic signal detection device, arranged on the wall-climbing robot (1); A knocking sound wave signal detection device is provided on the wall-climbing robot (1); a distance measuring device, arranged on the walking structure; The control device, the walking structure, the ultrasonic signal detection device, the knocking sound wave signal detection device and the distance measuring device are all connected to the control device; The distance measuring device is used to detect the distance information of the walking mechanism (2) and transmit the detected distance information to the control device. The control device controls the knocking sound wave signal detection device to perform a knocking test and controls the ultrasonic signal detection device to perform an ultrasonic test according to the distance information.

2. The basket arch detection device based on the wall-climbing robot according to claim 1, characterized in that: The knocking sound wave signal detection device comprises: A knocking component, used to perform a knocking test on the surface of a target object to obtain a knocking sound signal; A pickup (13) for receiving a knocking sound signal; The knocking assembly and the pickup (13) are both connected to the control device, and the control device is used to generate a defect detection result of the target object according to the knocking sound signal.

3. The basket arch detection device based on the wall-climbing robot according to claim 2, characterized in that: The striking assembly includes a piezoelectric source, a transducer, and an impact hammer (6). The piezoelectric source is used to generate an electrical signal according to the control device so as to control the strength and rhythm of the striking of the impact hammer (6). The transducer is used to convert the electrical signal output by the piezoelectric source into mechanical vibration. The impact hammer (6) is used to receive the mechanical vibration generated by the transducer to obtain kinetic energy and strike the target object.

4. The basket arch detection device based on the wall-climbing robot according to claim 3 is characterized in that: The distance measuring device includes a distance processor (20), the distance processor (20) is used to receive distance information of the wall-climbing robot (1), and the control device is used to send a pulse current to the piezoelectric seismic source at a set distance according to the distance information, so as to control the impact hammer (6) to strike the target object; The pickup (13) receives the sound signal generated by the knocking, and the pickup (13) is connected to the force sensor of the impact hammer (6) to obtain the knocking force information. The pickup (13) transmits the received sound signal and force information to the control device.

5. The basket arch detection device based on the wall-climbing robot according to claim 1, characterized in that: The ultrasonic signal detection device comprises an ultrasonic signal generator and an ultrasonic signal receiver. The ultrasonic signal receiver is used to receive the ultrasonic signal emitted by the ultrasonic signal generator and send it to a data processing terminal (40) through a network.

6. The basket arch detection device based on a wall-climbing robot according to claim 1, characterized in that: The distance measuring device comprises an encoder (3) coaxially mounted with the travel wheel, wherein the encoder (3) obtains distance information of the wall-climbing robot (1) according to the angular displacement, and sends a knocking instruction to a distance processor (20) according to the measured distance information, so as to control the knocking component to perform a knocking action.

7. The basket arch detection device based on a wall-climbing robot according to claim 1, characterized in that: The wall-climbing robot (1) includes a holding and anti-falling device, the holding and anti-falling device includes a telescopic arm (11), the telescopic arm (11) includes a telescopic curved surface, and the curved surface cooperates with the magnetic tube wall of the target object; The ultrasonic signal generator and the ultrasonic signal receiver are arranged opposite to each other, and the ultrasonic signal generator and the ultrasonic signal receiver are respectively arranged at two ends of the telescopic arm (11).

8. The basket arch detection device based on the wall-climbing robot according to claim 7, characterized in that: The telescopic arm (11) is provided with a first ultrasonic transducer (14) and a second ultrasonic transducer (14); The first ultrasonic transducer (14) is used to receive the electrical signal from the ultrasonic signal generator and convert the electrical signal into ultrasonic waves for emission; The second ultrasonic transducer (14) is used to convert the received ultrasonic waves into electrical signals and transmit them to the control device.

9. The basket arch detection device based on a wall-climbing robot according to claim 1, characterized in that: The control device comprises: A data receiving module is used to receive distance information from the distance measuring device, a sound signal and knocking force information transmitted by the pickup (13), and an electrical signal transmitted by the second ultrasonic transducer (14); A data analysis module is used to generate defect detection results of the target object based on the knocking sound signal, and to determine the void situation of concrete in the target object by combining the ultrasonic signal and the knocking sound wave signal; An instruction sending module sends control instructions to the piezoelectric vibrator, the ultrasonic signal generator and the walking mechanism (2) according to the data analysis results and preset rules; The storage module is used to store preset rules, historical detection data and analysis results.

10. A detection method for a basket arch detection device based on a wall-climbing robot, characterized in that: Including steps: The wall-climbing robot (1) is mounted on the magnetic tube wall of the target object via the magnetic attraction structure (5); The control device controls the wall-climbing robot (1) to move on the target object, while the distance measuring device measures the distance traveled by the wall-climbing robot (1), and controls the knocking component to perform a knocking action based on the distance information, and the pickup (13) collects knocking sound wave signals and sends the knocking sound wave signals to the data processing terminal (40); The ultrasonic signal detection device transmits and receives ultrasonic signals and sends the ultrasonic signals to a data processing terminal (40); The data processing terminal (40) digitally processes the received signal to obtain the height and width of the concrete void in the arch; Based on the processed data, the control and analysis center determines the hollowing condition of the concrete in the steel pipe of the basket arch (9) and analyzes and evaluates the comprehensive safety level of the internal and external wall surface.

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