Bridge underwater part detection equipment and detection method thereof

Abstract

The invention relates to the technical field of bridge underwater part detection, in particular to bridge underwater part detection equipment which comprises a mounting frame, a sealed waterproof shell is fixedly arranged at the upper end of the mounting frame, a lifting frame is hinged to one side of the lower end of the mounting frame, and floating cylinders are fixedly arranged on the two sides of the lower end of the mounting frame; a propeller is fixedly arranged at the rear part of the mounting frame, a detection mechanism is arranged at the lower end of the lifting frame, a wireless signal transceiver is fixedly arranged at the upper end of the sealed waterproof shell, and remote control is realized through the propeller and the wireless signal transceiver, so that the equipment can be autonomously navigated to a to-be-detected area, and the risk and cost of manual diving operation are reduced; the lifting frame adopts a multi-degree-of-freedom adjusting hydraulic cylinder, a motor I and a motor II, so that the position and angle of the detection mechanism can be flexibly adjusted to adapt to piers or underwater structures with different depths and different gradients, and the detection coverage rate and precision are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge underwater part detection, in particular to a bridge underwater part detection device and a detection method thereof. BACKGROUND

[0002] The bridge pier foundation is the main bearing structure of the bridge, and its working state directly affects the bearing capacity of the bridge. The bridge pier foundation is usually placed in water and is subjected to complex hydrogeology for a long time, and is subjected to water erosion and corrosion, so that the diseases of the bridge pier foundation are increasing and serious. The disease positions are underwater, and are difficult to be found during conventional inspection, which is a great safety hazard of the bridge structure. Therefore, comprehensively and systematically understanding and mastering the condition of the underwater component of the bridge provides scientific and reasonable technical data and decision basis for the maintenance and repair of the bridge, so as to ensure the safety of the bridge structure, and the detection of the underwater structure of the bridge is very important.

[0003] At present, there are few cases of bridge underwater detection, and the technical scheme is not prepared. The traditional underwater detection is mostly limited to inland bridges, and the traditional method is to use divers to explore and visually detect underwater. The underwater defects such as concrete spalling, honeycomb, underwater structure crack, exposed reinforcement, hole and mechanical damage found during operation are photographed and positioned underwater. The traditional method for measuring the height of the riverbed section is to use a side depth rod to measure the water depth of a specific point, so as to measure the data and draw a riverbed section graph, obtain the riverbed section erosion or deposition condition, and obtain the actual pile foundation embedding depth, and then judge the safety condition.

[0004] However, due to the deep water level and the turbulent river, the underwater conditions are complex, so there are certain hidden dangers in safety control. Moreover, the detection means is traditional, so the detection efficiency is low.

[0005] Therefore, a bridge underwater part detection device and a detection method thereof are needed to improve the above problems. SUMMARY

[0006] The purpose of the present application is to provide a bridge underwater part detection device and a detection method thereof to solve the problems in the background art.

[0007] To achieve the above purpose, the present application provides the following technical scheme: a bridge underwater part detection device, comprising a mounting frame, a sealed waterproof shell body is fixedly arranged at the upper end of the mounting frame, a lifting frame is hingedly arranged at one side of the lower end of the mounting frame, floating cylinders are fixedly arranged at both sides of the lower end of the mounting frame, a propeller is fixedly arranged at the rear part of the mounting frame, a detection mechanism is installed at the lower end of the lifting frame, a wireless signal transceiver is fixedly arranged at the upper end of the sealed waterproof shell body, a controller is fixedly arranged in the sealed waterproof shell body, a storage battery is arranged at one side of the controller, and a hydraulic pump is arranged at one side of the storage battery.

[0008] As a preferred scheme of the present application, the lifting frame comprises a first rotary arm, a second rotary arm and a hydraulic cylinder, and the hydraulic cylinder is driven by a hydraulic pump.

[0009] As a preferred scheme of the present application, one end of the first rotary arm is hinged to the mounting frame, and a motor one is fixed on the surface of the other end of the first rotary arm, and the output end of the motor one is in transmission connection with the second rotary arm through a driving shaft.

[0010] As a preferred scheme of the present application, one end of the hydraulic cylinder is hinged to the mounting frame, and the other end of the hydraulic cylinder is hinged to the first rotary arm through a first rotating shaft.

[0011] As a preferred scheme of the present application, the detection mechanism comprises a mounting cylinder, and a plurality of magnetostrictive guided wave array sensors are fixed on the surface of the mounting cylinder.

[0012] As a preferred scheme of the present application, a transparent cover is fixed on the surface of the mounting cylinder, and a blue-green laser polarization imager and an underwater camera are fixedly installed on the inner side of the transparent cover.

[0013] As a preferred scheme of the present application, the controller is an ARM microprocessor, and the controller is wirelessly connected with a terminal through a wireless signal transceiver.

[0014] As a preferred scheme of the present application, the magnetostrictive guided wave array sensors, the blue-green laser polarization imager and the underwater camera in the detection mechanism are electrically connected with the controller through wires.

[0015] As a preferred scheme of the present application, one end of the second rotary arm is connected with a motor two through a second rotating shaft, and the motor two is in transmission connection with the mounting cylinder of the detection mechanism.

[0016] A detection method of a bridge underwater part detection device comprises the following steps:

[0017] S1. The present application provides buoyancy through the floating cylinder, so that the device is stably floated on the water surface, the propeller is driven to move under the instruction of the controller, the terminal instruction is received through the wireless signal transceiver, and the bridge to be detected area is accurately positioned;

[0018] S2. The present application drives the hydraulic cylinder to stretch and retract through the hydraulic pump, drives the first rotary arm to rotate around the hinge point, realizes the preliminary lifting of the detection mechanism, drives the second rotary arm to rotate through the driving shaft by the motor one, further adjusts the horizontal angle of the detection mechanism, adapts to different bridge pier distances, drives the mounting cylinder to rotate through the second rotating shaft by the motor two, and ensures that the magnetostrictive guided wave array sensors and the imager scan the surface of the bridge pier in all directions.

[0019] S3. The application transmits high-frequency guided waves along the surface of the pier through the magnetostrictive guided wave array sensor, detects internal cracks and corrosion defects through reflected signals, and transmits data to the controller in real time. The blue-green laser polarization imager scans the surface of the pier using the underwater blue-green laser with strong penetration, and the polarization imaging technology enhances the contrast of surface texture, identifies fine cracks or biological attachments, and captures high-definition videos through the underwater camera to assist manual review of defect position and shape.

[0020] S4. The application integrates sensors and imaging data through an ARM microprocessor, performs preliminary analysis such as defect size calculation and image enhancement, and transmits the results to a terminal such as a computer or a mobile phone in real time through a wireless signal transceiver for remote evaluation by engineers. The battery powers the entire device, supporting long-term underwater operations.

[0021] Compared with the prior art, the application has the following advantages:

[0022] 1. Remote control is achieved through propellers and wireless signal transceivers, allowing the device to navigate autonomously to the detection area, reducing the risk and cost of manual diving operations, and the lifting frame uses multi-degree-of-freedom adjustment hydraulic cylinders, motors one and two to flexibly adjust the position and angle of the detection mechanism, adapting to piers or underwater structures of different depths and inclinations, and improving detection coverage and accuracy.

[0023] 2. The magnetostrictive guided wave array sensor is used to detect internal defects such as cracks and corrosion in metal components, combined with the blue-green laser polarization imager to enhance underwater surface imaging, effectively identifying fine cracks, biological attachments or coating detachment, and providing high-definition video verification through the underwater camera, forming a "internal + surface + visual" three-in-one detection system, significantly reducing the miss rate.

[0024] 3. The floating cylinder provides stable buoyancy to ensure smooth operation of the device in turbulent water or low visibility environments. The blue-green laser polarization imaging technology overcomes the problem of severe scattering of traditional optical devices underwater, significantly improving imaging clarity. The ARM microprocessor processes sensor data in real time, such as defect size calculation and image enhancement, and transmits the results to the terminal through the wireless signal transceiver, supporting engineers to make remote and rapid decisions, and shortening the detection cycle.

[0025] 4. The sealed waterproof housing integrates the controller, battery and hydraulic system to ensure the reliability of the device for long-term underwater operation. Modular design facilitates maintenance or upgrading of sensor components, reducing the cost of later use. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic diagram of the overall three-dimensional overhead structure of the application;

[0027] Figure 2It is an overall perspective view of the structure of the application;

[0028] Figure 3 It is an overall front view of the structure of the application;

[0029] Figure 4 It is an overall side view of the structure of the application;

[0030] Figure 5 It is an overall top view of the structure of the application;

[0031] Figure 6 It is an overall perspective view of the structure of the application;

[0032] Figure 7 It is an overall detection mechanism structure schematic diagram of the application.

[0033] In the figure: 1, sealed waterproof shell; 2, mounting frame; 3, floating cylinder; 4, propeller; 5, lifting frame; 6, detection mechanism; 7, wireless signal transceiver; 8, first rotary arm; 9, first rotary shaft; 10, motor one; 11, second rotary arm; 12, second rotary shaft; 13, drive shaft; 14, hydraulic cylinder; 15, motor two; 16, mounting cylinder; 17, magnetostrictive guided wave array sensor; 18, blue-green laser polarization imager; 19, underwater camera; 20, transparent cover; 21, controller; 22, hydraulic pump; 23, battery. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0035] In order to facilitate the understanding of the application, the application will be described more fully below with reference to the related. Several embodiments of the application are given. However, the application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the application more thorough and comprehensive.

[0036] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. The use herein of the terms "and / or" includes a set of one or more associated listed items.

[0038] Referring to Figures 1-7 The application provides a technical solution: a bridge underwater part detection equipment, including mounting frame 2, the upper end of mounting frame 2 is fixedly provided with sealed waterproof shell 1, the lower end of mounting frame 2 is hingedly provided with lifting frame 5 on one side, the lower end of mounting frame 2 is fixedly provided with floating cylinder 3 on both sides, the rear part of mounting frame 2 is fixedly provided with propeller 4, the lower end of lifting frame 5 is provided with detection mechanism 6, the upper end of sealed waterproof shell 1 is fixedly provided with wireless signal transceiver 7, the inside of sealed waterproof shell 1 is fixedly provided with controller 21, one side of controller 21 is provided with storage battery 23, one side of storage battery 23 is provided with hydraulic pump 22, the floating force is provided by floating cylinder 3, the positioning is driven by propeller 4, the detection mechanism 6 is driven to dive by lifting frame 5, and the intelligent detection of the underwater part of the bridge is realized.

[0039] As an example of the application, the lifting frame 5 includes the first rotary arm 8, the second rotary arm 11 and the hydraulic cylinder 14, the hydraulic cylinder 14 is driven by the hydraulic pump 22, the hydraulic cylinder 14 can quickly change the pitch angle of the first rotary arm 8 through extension and retraction, and the requirement of various underwater operation depths is met.

[0040] As an example of the application, one end of the first rotary arm 8 is hingedly connected with the mounting frame 2, and the other end of the first rotary arm 8 is fixedly provided with motor one 10 on the surface, and the output end of the motor one 10 is in transmission connection with the second rotary arm 11 through the driving shaft 13, the motor one 10 rotates the second rotary arm 11 in the horizontal plane, expands the detection range, and adapts to different pier spacing.

[0041] As an example of the application, one end of the hydraulic cylinder 14 is hingedly connected with the mounting frame 2, and the other end of the hydraulic cylinder 14 is hingedly connected with the first rotary arm 8 through the first rotating shaft 9, the double-hinged structure makes the lifting action stable and reliable, and reduces the underwater resistance.

[0042] As an example of the application, the detection mechanism 6 includes the mounting cylinder 16, a plurality of magnetostrictive guided wave array sensors 17 are fixedly arranged on the surface of the mounting cylinder 16, the array arrangement can emit guided waves at 360°, internal defects such as cracks and corrosion are quickly identified, and data is real-time returned.

[0043] As an example of the present application, the surface of the mounting cylinder 16 is fixedly provided with a transparent cover 20, the inside of the transparent cover 20 is fixedly provided with a blue-green laser polarization imager 18 and an underwater camera 19, the transparent cover 20 is waterproof and pressure-resistant, the blue-green laser has strong penetration ability in muddy water, the polarization imaging can highlight the surface texture, the camera provides high-definition video review, and the three work together to improve the detection accuracy.

[0044] As an example of the present application, the controller 21 is an ARM microprocessor, the controller 21 is wirelessly connected to the terminal through the wireless signal transceiver 7, the ARM processor has low power consumption and high performance, can process multi-source data in real time and quickly return to the shore-based terminal through the wireless signal transceiver 7, and realizes remote monitoring and diagnosis.

[0045] As an example of the present application, the magnetostrictive guided wave array sensor 17, the blue-green laser polarization imager 18 and the underwater camera 19 in the detection mechanism 6 are electrically connected to the controller 21 through wires, unified wiring reduces underwater joints, improves system reliability, and facilitates fault troubleshooting.

[0046] As an example of the present application, one end of the second rotary arm 11 is connected to the motor two 15 through the second rotating shaft 12, the motor two 15 is drivingly connected to the mounting cylinder 16 of the detection mechanism 6, the motor two 15 can accurately control the rotation angle of the mounting cylinder 16, so that the sensor and the imager always face the surface of the pier, and no dead angle scanning is realized.

[0047] A detection method of a bridge underwater part detection device, comprising the following steps:

[0048] S1. The device is stably floated on the water surface by providing buoyancy through the floating cylinder 3, the propeller 4 drives the device to move under the instruction of the controller 21, the terminal instruction is received through the wireless signal transceiver 7, and the device is accurately positioned to the bridge to be detected area;

[0049] S2. The first rotary arm 8 is rotated around the hinge point by driving the hydraulic cylinder 14 to extend and retract through the hydraulic pump 22, the detection mechanism 6 is preliminarily lifted, the motor one 10 drives the second rotary arm 11 to rotate through the driving shaft 13, the horizontal angle of the detection mechanism 6 is further adjusted, different pier spacings are adapted, the motor two 15 drives the mounting cylinder 16 to rotate through the second rotating shaft 12, and the magnetostrictive guided wave array sensor 17 and the imager 18 are ensured to scan the surface of the pier in all directions;

[0050] S3. High-frequency guided waves are transmitted along the surface of the pier by the magnetostrictive guided wave array sensor 17, internal cracks and corrosion defects are detected through reflected signals, data is transmitted to the controller 21 in real time, the surface of the pier is scanned by the blue-green laser polarization imager 18 using the underwater strong blue-green laser, the polarization imaging technology enhances the contrast of the surface texture, identifies fine cracks or biological attachments, and high-definition videos are shot by the underwater camera 19 to assist manual review of the defect position and shape.

[0051] S4. Preliminary analysis such as defect size calculation, image enhancement is conducted by integrating sensor and imaging data through the controller 21, and the results are transmitted in real time to the terminal such as computer or mobile phone through the wireless signal transceiver 7 for remote evaluation by engineers. The storage battery 23 provides power supply for the whole equipment to support long time underwater operation.

[0052] Example 1

[0053] 1. Equipment deployment and positioning; the detection personnel will put the equipment into the water near the pier, and the buoyancy of the floating cylinder 3 provides stability for the equipment to float. Through the terminal (such as tablet computer), the wireless signal transceiver 7 receives the instruction, and the controller 21 (ARM microprocessor) starts the propeller 4 to drive the equipment to move to the target pier, with a positioning error of less than 10 cm.

[0054] 2. Multi-stage adjustment of detection mechanism posture; depth adjustment: the hydraulic pump 22 drives the hydraulic cylinder 14 to extend and retract, pushing the first rotary arm 8 to tilt down by 30°, so that the detection mechanism 6 is submerged to 5 m underwater (the area where the pier corrosion is prone to occur); horizontal expansion: the motor 10 drives the second rotary arm 11 to rotate horizontally by 60° through the drive shaft 13, adapting to the narrow environment of 2.5 m distance between piers; precise alignment: the motor 15 rotates the installation cylinder 16, so that the magnetostrictive guided wave array sensor 17 is directed to the surface of the pier, ensuring that there is no dead angle in scanning.

[0055] 3. Multi-modal collaborative detection; internal defect detection: the array sensor 17 emits 500 kHz guided waves, detects a transverse crack with a depth of 1.2 mm (the reflected signal amplitude exceeds the threshold value), and transmits the data to the controller in real time; surface imaging: the blue-green laser polarization imager 18 penetrates through turbid water (visibility <0.5 m), identifies a surface crack with a width of 0.3 mm (polarization contrast improves by 40%), and the underwater camera 19 synchronously shoots high-definition video to confirm the extension direction of the crack; data fusion: the ARM processor performs fusion analysis on the guided wave signals and images, and marks the defect coordinates as (X: 3.2 m, Y: -4.7 m, relative to the pier base).

[0056] 4. Real-time transmission and decision-making; the detection results are transmitted to the terminal through 4G wireless signal, and an evaluation report containing defect location, size, and image is generated. The engineer remotely determines whether reinforcement treatment is needed, and the whole process takes only 25 minutes (traditional diving detection takes 4 hours). Advantages: efficient: the hydraulic cylinder 14 and the motor cooperate to realize fast posture adjustment (response time <2 s). Precise: the blue-green laser and the guided wave array cooperate, with a false detection rate of <5%. Reliable: the sealed waterproof shell 1 (IP68) and the unified wiring design allow 8 hours of continuous operation without failure. This example verifies the feasibility of the equipment to realize efficient and high-precision detection of underwater structures of bridges under complex hydrological conditions.

[0057] Example 2

[0058] 1. Equipment rapid deployment and anti-flow positioning; During the flood season in mountainous areas, the water flow is turbulent (flow rate up to 2.0 m / s), and traditional underwater detection cannot be implemented. The detection team throws the equipment onto the bridge pier 50 m upstream by a drone, and the floating cylinder 3 automatically inflates to adjust the buoyancy. The propeller 4 is controlled by the controller 21 (carrying an adaptive PID algorithm) to counteract the flow and resist the impact of the water flow. Within 10 minutes, it is stably positioned to the bridge pier scour pit area (GPS+sonar composite positioning, error <15 cm).

[0059] 2. Dynamic diving and anti-interference detection; Anti-scour terrain adjustment: hydraulic cylinder 14 is divided into three stages, driving the first rotary arm 8 to dive in "stepped" mode (2 m pause scan per stage) to avoid riverbed rocks; Active obstacle avoidance: motor 10 adjusts the angle of the second rotary arm 11 in real time to avoid collision with exposed reinforcement; Motor 15 keeps the installation cylinder 16 at a distance of 5 cm from the wall to prevent sensor wear; Turbid water penetration scheme: for high-sand-content water bodies (NTU>500), close the laser polarization imager 18, and preferentially run the magnetostrictive guided wave array sensor 17 (1 MHz high-frequency mode) to detect the internal cavity of the foundation, and simultaneously start the turbidity mode (HDR+image enhancement) of the camera 19.

[0060] 3. Scour and structural damage collaborative diagnosis; Scour pit mapping: the guided wave array detects a cavity 2.5 m below the pile foundation (reflected signal time delay anomaly), combined with the riverbed terrain shot by the camera 19, generates a three-dimensional model of the scour pit (maximum depth 1.8 m); Hidden crack identification: the guided wave finds a diagonal crack (length 40 cm, depth 2 cm) in the water level fluctuation area of the pile foundation, which is locally reviewed through the macro zoom function of the camera 19; Real-time risk assessment: the ARM processor calculates the scour coefficient (SF=1.25>critical value 1.0), triggering an alarm signal and recommending immediate riprap protection.

[0061] 4. Emergency response and data linkage; The equipment transmits data to the shore base station through LoRa wireless relay (signal blind area in mountainous areas), automatically generates a detection report and pushes it to the maintenance unit's mobile phone APP; Combined with historical data comparison, it confirms that the scour rate of this bridge pier has increased by 30% compared with the same period last year, and the command department mobilizes the riprap ship for operation within 1 hour; Extreme environment adaptability: the propeller 4 adopts a ducted design (thrust increased by 35%), which can stabilize at a flow rate of 3 m / s; Intelligent noise reduction: the guided wave signal is processed by wavelet transform algorithm, and the signal-to-noise ratio in turbid water is improved by 50%; Lightweight collaboration: the total weight of the equipment is <30 kg, suitable for drone delivery, and the detection efficiency is improved by 4 times compared with traditional sonar ship detection.

[0062] This embodiment verifies the rapid response capability of the equipment under complex hydrogeological conditions, providing key technical support for flood prevention and rescue of bridges in mountainous areas.

[0063] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A bridge underwater part detection device, comprising a mounting frame (2), characterized in that: A sealed waterproof housing (1) is fixedly provided at the upper end of the mounting frame (2), a lifting frame (5) is hingedly provided at one side of the lower end of the mounting frame (2), floating cylinders (3) are fixedly provided on both sides of the lower end of the mounting frame (2), a propeller (4) is fixedly provided at the rear of the mounting frame (2), a detection mechanism (6) is installed at the lower end of the lifting frame (5), a wireless signal transceiver (7) is fixedly provided at the upper end of the sealed waterproof housing (1), a controller (21) is fixedly provided inside the sealed waterproof housing (1), a battery (23) is provided on one side of the controller (21), and a hydraulic pump (22) is provided on one side of the battery (23).

2. The underwater bridge detection device according to claim 1, characterized in that: The lifting frame (5) comprises a first swing arm (8), a second swing arm (11) and a hydraulic cylinder (14), and the hydraulic cylinder (14) is driven by a hydraulic pump (22).

3. The underwater bridge detection device according to claim 2, characterized in that: One end of the first swing arm (8) is hinged to the mounting frame (2), and a motor (10) is fixedly provided on the surface of the other end of the first swing arm (8). The output end of the motor (10) is transmission-connected to the second swing arm (11) via a drive shaft (13).

4. The underwater bridge detection device according to claim 3, characterized in that: One end of the hydraulic cylinder (14) is hinged to the mounting frame (2), and the other end of the hydraulic cylinder (14) is hinged to the first swing arm (8) via a first rotating shaft (9).

5. The underwater bridge detection device according to claim 4, characterized in that: The detection mechanism (6) comprises a mounting tube (16), and a plurality of magnetostrictive guided wave array sensors (17) are fixedly provided on the surface of the mounting tube (16).

6. The underwater bridge detection device according to claim 5, characterized in that: A transparent cover (20) is fixedly provided on the surface of the installation cylinder (16), and a blue-green laser polarization imager (18) and an underwater camera (19) are fixedly installed on the inner side of the transparent cover (20).

7. The underwater bridge detection device according to claim 6, characterized in that: The controller (21) is an ARM microprocessor, and the controller (21) is wirelessly connected to the terminal via a wireless signal transceiver (7).

8. The underwater bridge detection device according to claim 7, characterized in that: The magnetostrictive guided wave array sensor (17), the blue-green laser polarization imager (18) and the underwater camera (19) in the detection mechanism (6) are all electrically connected to the controller (21) via wires.

9. The underwater bridge detection device according to claim 8, characterized in that: One end of the second rotary arm (11) is connected to the second motor (15) via the second rotating shaft (12), and the second motor (15) is in transmission connection with the mounting cylinder (16) of the detection mechanism (6).

10. A detection method for detecting underwater parts of bridges according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. The float (3) provides buoyancy to allow the device to float stably on the water surface. The propeller (4) drives the device to move under the command of the controller (21). The terminal command is received through the wireless signal transceiver (7) to accurately locate the bridge to be inspected. S2. The hydraulic cylinder (14) is driven to extend and retract by the hydraulic pump (22), pushing the first rotary arm (8) to rotate around the hinge point, thereby achieving the initial lifting and lowering of the detection mechanism (6). The first motor (10) drives the second rotary arm (11) to rotate through the drive shaft (13), further adjusting the horizontal angle of the detection mechanism (6) to adapt to different pier spacings. The second motor (15) drives the mounting cylinder (16) to rotate through the second rotating shaft (12), ensuring that the magnetostrictive guided wave array sensor (17) and the imager (18) can scan the pier surface in all directions. S3. A magnetostrictive guided wave array sensor (17) is used to transmit high-frequency guided waves along the surface of the bridge pier. Internal cracks and corrosion defects are detected through reflected signals. The data is transmitted to the controller (21) in real time. A blue-green laser polarization imager (18) is used to scan the surface of the bridge pier using a blue-green laser with strong underwater penetration. Polarization imaging technology enhances surface texture contrast and identifies fine cracks or biological attachments. An underwater camera (19) is used to capture high-definition video to assist in manual verification of defect location and morphology. S4. The controller (21) integrates the sensor and imaging data to perform preliminary analysis such as defect size calculation and image enhancement. The results are transmitted back to the terminal in real time through the wireless signal transceiver (7) for remote evaluation by engineers. The battery (23) powers the entire equipment to support long-term underwater operations.

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