Underwater concrete structure detection platform and detection method

Abstract

The invention discloses an underwater concrete structure detection platform and a detection method, and relates to the technical field of concrete structure detection equipment. The underwater concrete structure detection platform comprises a platform main body, a movable platform, a driving device, a surface detection device, a defect detection device and a detection control system, the movable platform is movably arranged on the platform main body, and the driving device is in transmission connection with the movable platform; the surface detection device and the defect detection device are both arranged on the movable platform, and the detection control system is electrically connected with the driving device, the surface detection device and the defect detection device. Based on the technical scheme disclosed by the invention, automatic operation of defect detection of the underwater concrete structure is realized, the operation is convenient, the flexibility is high, the detection efficiency is greatly improved, the detection requirement of a complex surface can be met, and the accuracy of a detection result is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete structure detection equipment, and in particular to an underwater concrete structure detection platform and a detection method. Background Art

[0002] In recent years, with the rapid development of my country's economy, the demand for infrastructure has also increased. The number, scale, and complexity of hydraulic projects have increased significantly compared to previous years, and the requirements for their quality and safety have also increased accordingly. Concrete structures are often the key foundation of hydraulic projects, transmitting loads and serving as important load-bearing components of the entire building.

[0003] For the inspection of concrete structures in hydraulic engineering projects, existing technologies primarily rely on manual diving or single-sensor technology. Manual diving is inefficient and risky, while single-sensor inspection methods struggle to meet the inspection requirements of complex surfaces and provide incomplete data, leading to inaccurate results. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose an underwater concrete structure detection platform and detection method to solve the technical problems in the existing technology such as low efficiency, high risk, inability to adapt to the detection needs of complex surface environments, and inaccurate detection results.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides an underwater concrete structure detection platform, comprising: Platform entity; A movable platform, wherein the movable platform is arranged on the platform body; A driving device, connected to the movable platform in a transmission manner and used to drive the movable platform to move; a surface detection device, disposed on the movable platform, for detecting surface features of the underwater concrete structure; a defect detection device, disposed on the movable platform, for detecting structural defects of the underwater concrete structure; and The detection control system is electrically connected to the driving device, the surface detection device and the defect detection device, and is used for receiving and processing data and controlling the operation of the driving device.

[0006] In some embodiments, the platform body is a mobile trolley platform, and a buffer pad is provided on the periphery of the mobile trolley platform.

[0007] In some embodiments, the driving device includes: A vertical connecting member is lifted and arranged on the platform body and connected to the movable platform; A first driving member is fixedly provided on the platform body and is in transmission connection with the vertical connecting member, and is used to drive the vertical connecting member to move up and down; a second driving member, fixedly disposed on the movable platform and drivingly connected to the vertical connecting member, for driving the movable platform to move up and down along the vertical connecting member; and The third driving member is fixedly arranged on the movable platform and is in transmission connection with the surface detection device, and is used for driving the surface detection device to move horizontally along the movable platform.

[0008] In some embodiments, the surface detection device comprises: A second carrier, used for connecting to the movable platform; and The linear contact probe is arranged on the second carrier and is electrically connected to the detection control system.

[0009] In some embodiments, the defect detection apparatus comprises: an electric percussion hammer, fixedly mounted on the movable platform and electrically connected to the detection and control system, for percussing the underwater concrete structure; and The signal receiving sensor is arranged on the movable platform and is electrically connected to the detection control system, and is used for receiving the stress wave generated by the knocking.

[0010] In some embodiments, a surface cleaning device is further included, wherein the surface cleaning device comprises: a cleaning device, the cleaning device being horizontally slidably disposed on the movable platform and electrically connected to the detection and control system, for cleaning attachments on the surface of the underwater concrete structure; and The identification component is arranged on the movable platform and is electrically connected to the detection control system, and is used for identifying attachments on the surface of the underwater concrete structure.

[0011] In some embodiments, the identification component is an ultrasonic detector and / or a camera.

[0012] In a second aspect, the present invention further provides an underwater concrete structure detection method, which is used for the above-mentioned underwater concrete structure detection platform, comprising: Determine the location to be inspected and fix the underwater concrete structure inspection platform; Obtain surface feature information of underwater concrete structures and generate a path planning map; According to the path planning diagram, the defect detection device is controlled to move, and defect detection is performed on different positions on the surface of the underwater concrete structure.

[0013] In some embodiments, obtaining surface feature information of the underwater concrete structure and generating a path planning map includes: Sample the surface of the underwater concrete structure to be inspected and construct a NURBS surface; According to the preset conditions, multiple feasible points are collected from the NURBS surface to the main cluster; Classify and sort all feasible points in the main cluster; determining a detection accuracy, and selecting a plurality of path planning points from the main cluster based on the detection accuracy; generating the path planning graph according to the plurality of path planning points; The preset condition is that the lateral contact angle of the surface at the sampling point is less than or equal to the maximum allowable lateral contact angle.

[0014] In some embodiments, controlling the movement of the defect detection device according to the path planning map and performing defect detection on different locations on the surface of the underwater concrete structure includes: According to the path planning diagram, the defect detection device is controlled to move to the point to be detected; Determine whether there is an attachment at the point to be detected; When it is determined that there is attachment at the point to be inspected, controlling the surface cleaning device to remove the attachment, and then using the defect detection device to perform defect detection on the point to be inspected; or When it is determined that there is no attachment at the point to be inspected, the defect detection device is directly used to perform defect detection on the point to be inspected.

[0015] Compared with the prior art, the present invention provides an underwater concrete structure detection platform and detection method. Under the control of a detection control system, a driving device drives a movable platform to move underwater, and a surface detection device is used to detect the surface features of the underwater concrete structure. Based on the surface features, the defect detection device is controlled to move, and defect detection is performed on the underwater concrete structure, thereby realizing the automatic operation of underwater concrete structure defect detection. The method is not only convenient to operate and highly flexible, greatly improving the detection efficiency, but also able to meet the detection needs of complex surfaces and greatly improving the accuracy of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a first structural schematic diagram of an underwater concrete structure detection platform according to one embodiment of the present invention; Figure 2 is a second structural schematic diagram of an underwater concrete structure detection platform according to one embodiment of the present invention; Figure 3 1 is a flow chart of a method for detecting underwater concrete structures according to an embodiment of the present invention; Figure 4 It is a schematic diagram of a process for generating a path planning graph in one embodiment of the present invention.

[0017] Explanation of the accompanying drawings: 100, underwater concrete structure; 1, detection and control system; 2, mobile trolley platform; 21, universal wheel; 22, buffer pad; 3, movable platform; 4, slide rail bracket; 5, first driving member; 6, second driving member; 7, first carrier; 8, second carrier; 9, linear contact probe; 10, third driving member; 11, electric percussion hammer; 12, signal receiving sensor; 13, water gun; 14, identification component. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] In order to solve the above technical problems, the present invention provides an underwater concrete structure detection platform and detection method, which can realize the automatic operation of underwater concrete structure defect detection. It is not only easy to operate and flexible, greatly improving the detection efficiency, but also can meet the detection needs of complex surfaces and greatly improve the accuracy of the detection results.

[0020] See also Figure 1 , Figure 1 This is a first structural diagram of an underwater concrete structure inspection platform according to one embodiment of the present invention. The platform comprises a platform body, a movable platform 3, and a drive mechanism. The movable platform 3 is movably mounted on the platform body and is in transmission connection with the drive mechanism. The drive mechanism enables the movable platform 3 to move on the platform body.

[0021] At the same time, the movable platform 3 is also provided with a surface detection device and a defect detection device, which are electrically connected to the detection control system 1. The surface detection device and the defect detection device can move with the movable platform 3, and the detection control system 1 can control the surface detection device and the defect detection device to perform surface detection and defect detection on the underwater concrete structure 100.

[0022] See also Figure 1-2 In this embodiment, the main function of the platform body is to provide a bearing body for the detection platform to facilitate the overall movement of the detection platform.

[0023] Taking into account the issue of convenient mobility, the platform body can be a mobile trolley platform 2. A plurality of universal wheels 21 with a self-locking function are provided at the bottom of the mobile trolley platform 2. With the help of the plurality of universal wheels 21, the mobile trolley platform 2 can move along the shore soil near the underwater concrete structure 100, so that the entire detection platform is close to the underwater concrete structure 100; and after moving to the designated position, with the help of the self-locking function of the universal wheels 21, the entire detection platform can be stabilized in the designated position.

[0024] At the same time, in order to prevent the mobile trolley platform 2 from colliding with other objects and damaging the detection platform, multiple buffer pads 22 can be set on the surrounding side of the mobile trolley platform 2. With the help of the elastic buffering effect of the buffer pads 22, the impact force during the collision is reduced, thereby reducing the risk of damage to various components on the detection platform.

[0025] It is understood that, although the platform body in this embodiment adopts the structure of a mobile trolley platform 2, the platform body may also adopt other similar structures. For example, in other embodiments, the platform body may also adopt a fixed platform, in which case it can be moved to the location to be inspected by manual or equipment handling.

[0026] See also Figure 1-2 The movable platform 3 can be set on one side of the mobile trolley platform 2 and be connected to the driving device in a transmission manner, so as to realize the lifting movement on one side of the mobile trolley platform 2.

[0027] In order to realize the lifting movement of the movable platform 3, the above-mentioned driving device may include a vertical connecting member and a first driving member 5. The first driving member 5 can drive the movable platform 3 to move up and down through the vertical connecting member.

[0028] In this embodiment, the vertical connecting member can be a vertically arranged slide rail bracket 4, which is slidingly connected to the side of the mobile trolley platform 2 close to the movable platform 3, so that it can slide up and down on the mobile trolley platform 2.

[0029] The first driving member 5 can be a stepper motor or a servo motor, which can be fixed on the mobile trolley platform 2 by bolts, and the first driving member 5 and the slide rail bracket 4 can be connected to each other through the cooperation of gears and racks. That is, a gear can be set on the output shaft of the first driving member 5, and a vertically mounted rack can be set on the sliding bracket. The gear and the rack are engaged to realize transmission.

[0030] It can be understood that in this embodiment, the first driving member 5 adopts a stepping motor or a servo motor, and accordingly, the first driving member 5 and the sliding bracket adopt a gear and rack transmission method, but the first driving member 5 can also be other driving members. On this basis, the transmission method between the first driving member 5 and the sliding bracket can also be adjusted accordingly.

[0031] For example, in other embodiments, the first driving member 5 may also be a cylinder, a hydraulic cylinder or a linear push rod; correspondingly, the first driving member 5 and the sliding bracket may be directly connected to realize transmission.

[0032] See also Figure 1-2 The movable platform 3 is slidably connected to the slide rail bracket 4 , and the driving device further includes a second driving member 6 , which can drive the movable platform 3 to move up and down along the slide rail bracket 4 .

[0033] Specifically, the movable platform 3 can be horizontally mounted as a whole between the slide rail brackets 4 on both sides, and the two ends of the movable platform 3 can be slidably connected with the slide rail brackets 4 by means of sliders and slide grooves, so that the movable platform 3 can slide up and down along the slide rail brackets 4.

[0034] The second driving member 6 can be a stepping motor or a servo motor; to install the second driving member 6, a first carrier 7 is fixedly provided at one end of the movable platform 3. The first carrier 7 can be a shell with a waterproof structure, and the second driving member 6 can be fixedly provided inside the first carrier 7.

[0035] The second driving member 6 and the slide rail bracket 4 can also be connected to each other through a gear and a rack. That is, a gear can be provided on the output shaft of the second driving member 6, and the gear can mesh with a rack vertically mounted on the slide rail bracket 4. In this way, the second driving member 6 can drive the gear to rotate, and the gear and rack mesh, thereby driving the movable platform 3 to move up and down along the slide rail bracket 4.

[0036] Similarly, under the premise of ensuring that the movable platform 3 can move up and down along the slide rail bracket 4, the second driving member 6 can also be adopted as other driving members. For details, please refer to the relevant description of the first driving member 5 above, which will not be repeated here.

[0037] It should be noted that the above-mentioned first driving member 5 can drive the movable platform 3 as a whole to move up and down on one side of the mobile trolley platform 2 through the slide rail bracket 4. Its purpose is to use the slide rail bracket 4 to transport the movable platform 3 together with the surface detection device and defect detection device arranged thereon to the underwater position to be inspected; and the second driving member 6 drives the movable platform 3 to move up and down along the slide rail bracket 4. Its purpose is to allow the movable platform 3 to adjust the detection position within a certain range underwater, so as to realize detection of different positions on the surface of the underwater concrete structure 100.

[0038] Since the detection platform is used to detect structural defects of the underwater concrete structure 100, its working environment is a water environment. In particular, the second driving member 6 needs to work directly underwater. Therefore, the first driving member 5 and the second driving member 6 need to be waterproof.

[0039] However, it is understood that regardless of whether the first drive member 5 and the second drive member 6 are stepper motors or servo motors, their waterproof design is a state of the art in this field and is not the focus of the present invention, so it will not be described in detail here. On this basis, other live components are preferably waterproof, and their specific waterproof structures will not be described here.

[0040] See also Figure 1-2 The above-mentioned surface detection device is mainly used to detect surface feature information of the underwater concrete structure 100. It can be horizontally slidably arranged on the movable platform 3 to improve the flexibility of its detection operation.

[0041] Specifically, the surface detection device may include a second carrier 8 , which can be horizontally slidably arranged on the movable platform 3 by means of a slide rail and a slide groove, so that the second carrier 8 can slide horizontally along the movable platform 3 .

[0042] In order to detect the surface feature information of the underwater concrete structure 100, a linear contact probe 9 is also provided on one side of the second carrier 8. The linear contact probe 9 is a high-precision contact sensor that can obtain geometric dimensions or topography data through direct contact between the probe and the surface of the object being measured.

[0043] In this embodiment, the linear contact probe 9 can be positioned on a side of the second carrier 8 proximal to the underwater concrete structure 100 and electrically connected to the aforementioned detection and control system 1. Through direct contact between the linear contact probe 9 and the surface of the underwater concrete structure 100, parameters such as the coordinate offset angle of the sampling point can be measured and recorded. Ultimately, in conjunction with the aforementioned detection and control system 1, surface feature information of the underwater concrete structure 100 can be acquired.

[0044] In order to realize the horizontal sliding of the surface detection device on the movable platform 3, the above-mentioned driving device also includes a third driving member 10. The third driving member 10 can be a stepping motor or a servo motor, which can be fixed to the movable platform 3 by bolts, and the third driving member 10 and the above-mentioned second carrier 8 can be connected by a lead screw to realize transmission connection, so that it can drive the surface detection device as a whole to move along the movable platform 3.

[0045] In the above manner, the surface detection device can move the movable platform 3 up and down on the slide rail bracket 4 on one hand, and can also slide horizontally on the movable platform 3 on the other hand, thereby being able to perform multi-point detection on the surface of the underwater concrete structure 100.

[0046] See also Figure 1-2The above-mentioned defect detection device is mainly used to detect structural defects of underwater concrete structures 100. It can include an electric percussion hammer 11 and a signal receiving sensor 12. The electric percussion hammer 11, in conjunction with the signal receiving sensor 12 and the above-mentioned detection control system 1, can realize defect detection of underwater concrete structures 100.

[0047] In this embodiment, the electric percussion hammer 11 can be fixedly mounted on the first carrier 7, located on a side of the first carrier 7 close to the underwater concrete structure 100, and electrically connected to the detection and control system 1. The signal receiving sensor 12 can be a stress wave sensor, which can be integrated with the linear contact probe 9 and also electrically connected to the detection and control system 1.

[0048] During actual operation, since the defect detection device is entirely arranged on the movable platform 3 , the detection control system 1 can indirectly control the position of the defect detection device, especially the striking position of the electric striking hammer 11 , by controlling the movement of the movable platform 3 .

[0049] At the same time, the detection and control system 1 can also directly control the start and stop and striking force of the electric striking hammer 11, so that it strikes the surface of the underwater concrete structure 100 at a selected position with a specified force and generates stress waves, which are transmitted into the interior of the underwater concrete structure 100; the reflected stress waves can form clear and repeatable signals, which are received by the signal receiving sensor 12, and the signal receiving sensor 12 further transmits the received signal data to the detection and control system 1.

[0050] It should be noted that, while ensuring the position adjustment function of the defect detection device is achieved, the above-mentioned electric hammer 11 and signal receiving sensor 12 can also be set in other positions, and there is no specific limitation on this. At the same time, how the detection control system 1 controls the start and stop of the electric hammer 11 and the striking force is a prior art in this field and will not be elaborated on here.

[0051] See also Figure 1-2 The underwater concrete structure 100 detection platform may further include a surface cleaning device, which can remove attachments on the surface of the underwater concrete structure 100 to facilitate the defect detection device to perform detection operations.

[0052] Specifically, the surface cleaning device includes a cleaning device and an identification component 14 . The identification component 14 can identify attachments on the surface of the underwater concrete structure 100 , and the cleaning device can further remove the corresponding attachments.

[0053] In this embodiment, the cleaning device can be a water gun 13, which can be fixedly mounted on the second carrier 8 and directed toward the surface of the underwater concrete structure 100. The water gun 13 can be connected to a pump mounted on the mobile platform 2 via a pipeline. The pump can be electrically connected to the detection and control system 1, so that the detection and control system 1 can control the pump to pump water nearby and spray it through the water gun 13 to flush away the attachments on the surface of the underwater concrete structure 100.

[0054] The above-mentioned identification component 14 can be an ultrasonic detector and / or a camera, which is electrically connected to the above-mentioned detection and control system 1, and can transmit the identified ultrasonic signal and / or image information to the detection and control system 1, and identify the attachment through the detection and control system 1.

[0055] During actual operation, the identification component 14 cooperates with the detection and control system 1 to identify attachments on the surface of the underwater concrete structure 100; when it is determined that there are attachments, the detection and control system 1 can control the pump body to start and remove the attachments through the water gun 13 to facilitate subsequent detection.

[0056] It should be noted that the above-mentioned cleaning device can also be other devices, for example, it can also use an electrically driven brush body, and the above-mentioned identification component 14 can also be underwater laser radar and other equipment, which are not specifically limited.

[0057] The above-mentioned detection and control system 1 at least includes a display device, a human-computer interaction system, a communication system, a data processing system and a storage system. For example, in one embodiment, the detection and control system 1 can be a control computer, and the control computer and the above-mentioned first driving member 5, second driving member 6, third driving member 10, linear contact probe 9, electric hammer 11, signal receiving sensor 12 and pump body can be connected by wire or wirelessly to realize signal transmission.

[0058] See also Figure 3 , Figure 3 Schematic diagram of the process of underwater concrete structure detection method in one embodiment of the present invention.

[0059] Based on the above-mentioned underwater concrete structure detection platform, the underwater concrete structure detection method includes the following steps: Determine the location to be inspected and fix the underwater concrete structure inspection platform; Acquire surface feature information of the underwater concrete structure 100 and generate a path planning map; According to the path planning diagram, the defect detection device is controlled to move, and defect detection is performed on different positions on the surface of the underwater concrete structure 100.

[0060] After determining the position of the underwater concrete structure 100, the underwater concrete structure inspection platform is first moved to the shore near the underwater concrete structure 100 to be inspected by the mobile trolley platform 2, and the multiple universal wheels 21 on the mobile trolley platform 2 are controlled to self-lock, thereby fixing the underwater concrete structure inspection platform as a whole on the shore of the underwater concrete structure 100.

[0061] After completing the above operations, the inspection and control system 1 is first deployed to ensure that system components such as the display device, data processing system, human-computer interaction system, and communication system are functioning properly. The inspection and control system 1 then controls the first drive member 5, which drives the slide rail bracket 4 downward, allowing the movable platform 3, along with the surface detection device and defect detection device thereon, to descend underwater, preparing for inspection operations.

[0062] See also Figure 4 When starting the inspection operation, it is necessary to first determine the moving path of the defect detection device based on the surface characteristics of the underwater concrete structure 100. In other words, it is necessary to "acquire the surface characteristic information of the underwater concrete structure 100 and generate a path planning map." The "acquire the surface characteristic information of the underwater concrete structure 100 and generate a path planning map" specifically includes: Sampling the surface of the underwater concrete structure 100 to be inspected and constructing a NURBS surface; According to the preset conditions, multiple feasible points are collected from the NURBS surface to the main cluster; Classify and sort all feasible points in the main cluster; Determine the detection accuracy and select multiple path planning points from the main cluster based on the detection accuracy; The path planning graph is generated according to a plurality of path planning points.

[0063] During actual operation, the detection and control system 1 can adjust the position of the linear contact probe 9 through the second driving member 6 and the third driving member 10 , and obtain surface feature information of the underwater concrete structure 100 through the linear contact probe 9 .

[0064] Specifically, the linear contact probe 9 can contact the surface of the underwater concrete structure 100, sampling and recording the coordinate offset angle of the sampling point. When the linear contact probe 9 contacts the surface of the underwater concrete structure 100, the position of the linear contact probe 9 changes due to the undulating shape of the surface of the underwater concrete structure 100. This change causes its coordinates and angles to shift relative to their initial state. The linear contact probe 9 records these coordinate and angle offsets and transmits them to the detection control system 1.

[0065] Based on the coordinate and angle offset data obtained from the sampling points, a NURBS (Non-Uniform Rational B-Splines) surface can be constructed, with control points and surface normals uniformly distributed at the desired points. In a NURBS surface, control points are a set of points that define the surface shape. Adjusting the positions of these control points can change the surface shape. For each point on the surface, the surface normal is a vector perpendicular to the plane in which the point lies.

[0066] Specifically, when constructing a NURBS surface, we first determine some evenly distributed points on the surface through the coordinates and coordinate offset angle data of the sampling points, use them as control points, and calculate the surface normal vectors at these points. Then, we substitute them into the NURBS surface modeling method to construct the required NURBS surface.

[0067] The calculation formula of NURBS surface is:

[0068] Where, is a NURBS surface; Forming a bidirectional control point network; is the weight; and is a non-rational B-spline basis function; are piecewise rational basis functions.

[0069] On this basis, the above-mentioned “collecting multiple feasible points from the NURBS surface to the main cluster according to preset conditions” includes the following steps: Calculate the lateral contact angle of the surface at the sampling point and set all lateral contact angles less than or equal to The feasible points are collected into a main cluster.

[0070] The calculation formula of the lateral contact angle is:

[0071] Where r is the radius of the sphere; μ is the lateral contact angle; is the error of the ball tip radius caused by the lateral contact angle μ.

[0072] It is understandable that the above-mentioned precondition is that the lateral contact angle is less than or equal to ";in, The maximum allowed lateral contact angle.

[0073] Based on the above main clusters, combined with the DBSCAN (density-based spatial clustering) algorithm, the feasible points can be classified and sorted. The DBSCAN algorithm is a density-based spatial clustering algorithm that divides areas with sufficient density into clusters and treats points in low-density areas as noise points.

[0074] Specifically, the DBSCAN algorithm selects a random point p from the set of feasible points as the starting point for investigation. For the selected point p, the DBSCAN algorithm draws a neighborhood centered on p with a radius of ε and counts the number of points within the neighborhood. If the number of points in the neighborhood exceeds a pre-defined minimum number of points, Pmin, then the points are considered density-reachable from point p.

[0075] If the number of points in the ε neighborhood of point p reaches or exceeds Pmin, then point p is a core point (or seed point). Based on this core point, the DBSCAN algorithm will continuously expand through density reachability, adding all points that are densely connected to it to the same cluster, thus generating a cluster.

[0076] If the number of points in the ε neighborhood of point p is less than Pmin, but the point falls within the neighborhood of a core point, then point p is a border point. When point p is identified as a border point, the DBSCAN algorithm does not generate a new cluster based on it, but skips it and continues to select the next point in the database for evaluation.

[0077] It is understandable that the neighborhood radius ε and the minimum number of points Pmin are two important parameters of the DBSCAN algorithm. By adjusting these two parameters, you can affect the formation and merging of clusters. If two clusters of different densities are close to each other in space, the appropriate neighborhood radius ε and minimum number of points Pmin settings will enable the DBSCAN algorithm to merge them into a larger cluster.

[0078] Based on the DBSCAN algorithm, the points in the main cluster are counted and sorted in descending order. Duplicate points are then searched for in the smaller clusters, and duplicate points are removed until no points are found in any clusters with multiple duplicates. Based on this, the scan is divided into X main clusters according to the rotation angle of each point. This means that measurements are performed at X angles, such as A°, B°, C°, and so on.

[0079] Since the points in the main cluster may be concentrated in N different areas, the DBSCAN algorithm regroups the data obtained from the main cluster into N separate subclusters, and sorts the points of each subcluster according to the neighborhood radius ε and the minimum number of points Pmin, thus completing the classification and sorting of all feasible points.

[0080] Based on the above steps, the above "determining the detection accuracy and selecting multiple path planning points from the main cluster based on the detection accuracy" is specifically as follows: After sorting all feasible points in the main cluster, the DBSCAN algorithm further sorts all clusters. Based on this, the corresponding neighborhood radius ε and minimum number of points Pmin can be determined according to the predetermined detection accuracy. By adjusting the neighborhood radius ε and minimum number of points Pmin, multiple path planning points can be selected from the sorted clusters. Based on these selected path planning points, the desired path planning graph can be generated.

[0081] After generating the path planning map, the underwater concrete structure detection method further includes the following steps: According to the path planning diagram, control the defect detection device to move to the point to be detected; Determine whether there is any attachment at the point to be detected; When it is determined that there is attachment at the point to be inspected, the surface cleaning device is controlled to remove the attachment, and then the defect detection device is used to perform defect detection at the point to be inspected; or When it is determined that there is no attachment at the point to be inspected, the defect detection device is directly used to perform defect detection on the point to be inspected.

[0082] Specifically, after generating the path planning map, the detection control system 1 can control the movement of the defect detection device through the driving device, so that it moves to a point to be detected on the path planning map.

[0083] After moving to the inspection point, since the attachments on the surface of the underwater concrete structure 100 may affect the defect detection, the attachments on the surface of the underwater concrete structure 100 may be removed by a surface cleaning device. Specifically: First determine whether there is any attachment at the point to be detected. The point to be detected can be detected and / or photographed using an ultrasonic detector and / or camera, and the acquired detection data is transmitted to the detection control system 1. The detection control system 1 can identify whether there is any attachment at the point to be detected based on the matching algorithm.

[0084] It is understandable that the method of identifying foreign objects through ultrasonic detectors and / or cameras (such as industrial cameras) in conjunction with industrial computers belongs to the existing technology in this field, and its specific identification process and algorithm are not the focus of the present invention, so they will not be repeated here.

[0085] Based on the recognition result of the attachment by the recognition component 14, the underwater concrete structure detection method includes the following two situations: First, when it is determined that there is an attachment at the point to be detected, the detection control system 1 can control the water gun 13 to move to the position of the point to be detected, and then control the pump body to start. Under the continuous water supply of the pump body, the water gun 13 can clean the attachment at the point to be detected.

[0086] After cleaning is completed, the detection and control system 1 can further control the electric hammer 11 to start working, and the electric hammer 11 strikes the point to be detected to generate stress waves, which can be transmitted to the interior of the underwater concrete structure 100; the reflected stress waves can form clear and repeatable signals, which are received by the signal receiving sensor 12 and further transmitted to the detection and control system 1. Finally, the detection and control system 1 determines whether there are structural defects at the corresponding position based on the received signals.

[0087] Secondly, when it is determined that there is no attachment at the point to be inspected, the inspection and control system 1 can directly control the defect detection device to perform defect detection on the point to be inspected. The inspection process can refer to the relevant description of the previous case and will not be repeated here.

[0088] By repeating the above process, the underwater concrete structure inspection platform can sequentially inspect each inspection point along the planned path. After completing the inspection of all inspection points, the inspection control system 1 can control the slide rail bracket 4 and movable platform 3 to return to their initial positions through the drive device, allowing the surface detection device and defect detection device to leave the water surface, thereby preventing damage to the devices due to prolonged immersion in water.

[0089] It can be understood that based on the above-mentioned underwater concrete structure detection platform, combined with the underwater concrete structure detection method, the automatic operation of underwater concrete structure 100 defect detection is realized, which is easy to operate, highly flexible, and greatly improves the detection efficiency.

[0090] During the actual inspection process, by constructing NURBS surfaces and combining them with the DBSCAN algorithm, a path planning diagram can be automatically generated, allowing the defect detection device to perform defect detection sequentially according to the path planning diagram. By adjusting the neighborhood radius ε and the minimum number of points Pmin, different levels of detection accuracy can be achieved. A surface cleaning device can also remove debris from the inspection points. This makes the underwater concrete structure inspection platform adaptable to inspecting concrete structure morphologies in various waters and on complex surfaces, significantly improving the accuracy of inspection results.

[0091] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0092] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0093] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. An underwater concrete structure detection platform, characterized in that: include: Platform entity; A movable platform, wherein the movable platform is arranged on the platform body; a driving device, in transmission connection with the movable platform, for driving the movable platform to move; a surface detection device, disposed on the movable platform, for detecting surface features of the underwater concrete structure; a defect detection device, disposed on the movable platform, for detecting structural defects of the underwater concrete structure; as well as The detection control system is electrically connected to the driving device, the surface detection device and the defect detection device, and is used for receiving and processing data and controlling the operation of the driving device.

2. The underwater concrete structure detection platform according to claim 1, characterized in that: The platform body is a mobile trolley platform, and a buffer pad is provided on the peripheral side of the mobile trolley platform.

3. The underwater concrete structure detection platform according to claim 1, characterized in that: The driving device comprises: A vertical connecting member is lifted and arranged on the platform body and connected to the movable platform; A first driving member is fixedly provided on the platform body and is in transmission connection with the vertical connecting member, and is used for driving the vertical connecting member to move up and down; a second driving member, fixedly disposed on the movable platform and drivingly connected to the vertical connecting member, for driving the movable platform to move up and down along the vertical connecting member; and The third driving member is fixedly arranged on the movable platform and is in transmission connection with the surface detection device, and is used for driving the surface detection device to move horizontally along the movable platform.

4. The underwater concrete structure detection platform according to claim 1, characterized in that: The surface detection device comprises: A second carrier, used for connecting to the movable platform; and The linear contact probe is arranged on the second carrier and is electrically connected to the detection control system.

5. The underwater concrete structure detection platform according to claim 1, characterized in that: The defect detection device comprises: an electric percussion hammer, fixedly mounted on the movable platform and electrically connected to the detection and control system, for percussing the underwater concrete structure; and The signal receiving sensor is arranged on the movable platform and is electrically connected to the detection control system, and is used for receiving the stress wave generated by the knocking.

6. The underwater concrete structure detection platform according to claim 1, characterized in that: Also included is a surface cleaning device, the surface cleaning device comprising: a cleaning device, the cleaning device being horizontally slidably disposed on the movable platform and electrically connected to the detection and control system, for cleaning attachments on the surface of the underwater concrete structure; and The identification component is arranged on the movable platform and is electrically connected to the detection control system, and is used for identifying attachments on the surface of the underwater concrete structure.

7. The underwater concrete structure detection platform according to claim 6, characterized in that: The identification component is an ultrasonic detector and / or a camera.

8. A method for detecting underwater concrete structures, characterized in that: The underwater concrete structure detection platform according to any one of claims 1 to 7 comprises: Determine the location to be inspected and fix the underwater concrete structure inspection platform; Obtain surface feature information of underwater concrete structures and generate a path planning map; According to the path planning diagram, the defect detection device is controlled to move, and defect detection is performed on different positions on the surface of the underwater concrete structure.

9. The underwater concrete structure detection method according to claim 8, characterized in that: The obtaining of surface feature information of the underwater concrete structure and generating a path planning map includes: Sample the surface of the underwater concrete structure to be inspected and construct a NURBS surface; According to the preset conditions, multiple feasible points are collected from the NURBS surface to the main cluster; Classify and sort all feasible points in the main cluster; determining a detection accuracy, and selecting a plurality of path planning points from a main cluster based on the detection accuracy; generating the path planning graph according to the plurality of path planning points; The preset condition is that the lateral contact angle of the surface at the sampling point is less than or equal to the maximum allowable lateral contact angle.

10. The underwater concrete structure detection method according to claim 8, characterized in that: The method of controlling the movement of the defect detection device according to the path planning diagram and performing defect detection on different positions on the surface of the underwater concrete structure includes: According to the path planning diagram, the defect detection device is controlled to move to the point to be detected; Determine whether there is an attachment at the point to be detected; When it is determined that there is attachment at the point to be inspected, controlling the surface cleaning device to remove the attachment, and then using the defect detection device to perform defect detection on the point to be inspected; or When it is determined that there is no attachment at the point to be inspected, the defect detection device is directly used to perform defect detection on the point to be inspected.

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