Detection device for internal defects of underwater concrete member

Abstract

The invention relates to a detection device, in particular to a detection device for internal defects of an underwater concrete member. The problems that in the prior art, a sonar array unit is large in size, the detection range cannot be changed, underwater maneuverability is insufficient, and the detection work efficiency is low are solved. The underwater concrete member detection device is simple in structure, the included angle between the second linear motor and the first linear motor can be adjusted through the driving motor, when the underwater concrete member detection device moves underwater, the first linear motor and the second linear motor are kept in a parallel state, and when the underwater concrete member detection device detects an underwater concrete member, the included angle between the first linear motor and the second linear motor is adjusted. The resistance of the device in the underwater moving process is reduced; and secondly, the positions of the underwater transducer and the hydrophone can be randomly adjusted in the length direction of the linear motor, so that the detection range of the underwater detection unit is enlarged. The invention belongs to the technical field of nondestructive testing of underwater concrete members.

Description

TECHNICAL FIELD

[0001] The present application relates to a detection device, in particular to a detection device for internal defects of underwater concrete members, and belongs to the technical field of nondestructive testing of underwater concrete members. BACKGROUND

[0002] In the field of ocean development, the detection of underwater structures is an important part. During the preparation and long-term service of concrete members, various environmental loads and accidental loads are easy to cause the expansion and cracking of the concrete inside, accompanied by the rusting of the steel bars, which seriously affects the safety and functionality of the concrete structure.

[0003] For example, the invention patent with publication number CN119595664A uses a traditional single-beam sonar or multi-beam sonar as the main equipment for underwater detection. The sonar is carried on an underwater propeller, which can perform nondestructive testing on underwater members. However, there are some problems when it is used underwater:

[0004] 1. The sonar array unit is large in size, which increases the resistance when adjusting the position underwater, limiting its underwater mobility.

[0005] 2. The position of the sonar on the sonar array unit is not adjustable, and the detection range of the detection sound wave is limited to a fixed area. When the detection range needs to be increased, the underwater propeller must be moved, which increases the detection time and reduces the work efficiency.

[0006] In summary, how to solve the above technical problems and provide a detection device for internal defects of underwater concrete members has become a problem that needs to be solved by technical personnel in the field. SUMMARY

[0007] The present application provides a detection device for internal defects of underwater concrete members to overcome the shortcomings of the prior art.

[0008] The technical scheme of the present application is as follows: a detection device for internal defects of underwater concrete members, comprising a underwater detection unit and an underwater robot, the underwater detection unit and the underwater robot are both connected with an upper computer.

[0009] The underwater detection unit comprises a fixed seat, a driving motor, a rotating seat, two first linear motors and two second linear motors.

[0010] The fixed seat is installed at the front end of the underwater robot, and the driving motor is installed on the fixed seat.

[0011] The rotating seat is installed on the rotor of the driving motor, and a laser ranging probe is installed on the rotating seat.

[0012] Two first linear motors are installed on the fixed seat, and the two first linear motors are arranged in a straight line, and a hydrophone is installed on the mover sliding seat of the two first linear motors.

[0013] Two second linear motors are installed on the rotating seat, and the two second linear motors are arranged in a straight line, and an underwater transducer is installed on the mover sliding seat of the two second linear motors.

[0014] Compared with the prior art, the present application has the following effects:

[0015] The present application has the following effects: BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is the axonometric view of the present application;

[0017] Figure 2 is the axonometric view of the underwater detection unit 100 of the present application;

[0018] Figure 3 is Figure 2 is the enlarged view of the I part in

[0019] Figure 4 is the schematic view of the present application when detecting underwater.

[0020] In the figure: 100, underwater detection unit; 110, fixed seat; 120, driving motor; 130, rotating seat; 131, laser ranging probe; 140, first linear motor; 141, hydrophone; 150, second linear motor; 151, underwater transducer; 160, extension rod; 200, underwater robot. DETAILED DESCRIPTION

[0021] In order to make the invention purpose, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application.

[0022] Specific embodiment one: in combination with Figures 1 to 4The embodiment is illustrated, and the device for detecting internal defects of an underwater concrete member in the embodiment comprises an underwater detection unit 100 and an underwater robot 200, and the underwater detection unit 100 and the underwater robot 200 are in communication connection with an upper computer.

[0023] The underwater detection unit 100 comprises a fixing seat 110, a driving motor 120, a rotating seat 130, two first linear motors 140 and two second linear motors 150.

[0024] The fixing seat 110 is installed at the front end of the underwater robot 200, and the driving motor 120 is installed on the fixing seat 110.

[0025] The rotating seat 130 is installed on the rotor of the driving motor 120, and a laser ranging probe 131 is installed on the rotating seat 130, and further, the laser ranging probe 131 is coaxially arranged with the rotor of the driving motor 120.

[0026] The two first linear motors 140 are both installed on the fixing seat 110 and arranged in a linear shape, and a hydrophone 141 is installed on the moving slide of each of the two first linear motors 140, so that the moving slide can drive the hydrophone 141 to slide along the length direction of the first linear motor 140, so as to adjust the position of the hydrophone 141 in the length direction of the first linear motor 140.

[0027] The two second linear motors 150 are both installed on the rotating seat 130 and arranged in a linear shape, so that the second linear motor 150 can rotate with the rotor of the driving motor 120, so as to adjust the included angle between the second linear motor 150 and the first linear motor 140, so that the first linear motor 140 and the second linear motor 150 can be kept in parallel state when the device moves underwater, so as to reduce the resistance during the movement of the device underwater, and the first linear motor 140 and the second linear motor 150 can be kept in perpendicular state when the device detects the underwater concrete member, so that the underwater transducer 151 and the hydrophone 141 are arranged in a Mills cross array at this time.

[0028] The moving slide of each of the two second linear motors 150 is installed with an underwater transducer 151, so that the moving slide can drive the transducer 151 to slide along the length direction of the second linear motor 150, so as to adjust the position of the transducer 151 in the length direction of the second linear motor 150.

[0029] The underwater robot 200 in the embodiment adopts prior art, such as the underwater robot disclosed in the announcement No. CN209972747U, wherein a plurality of groups of thrusters are installed on the robot body, the thrusters can provide driving force in at least three directions, so as to realize control of the position and posture of the underwater robot, full-angle hovering control and movement control.

[0030] The laser ranging probe 131 in the embodiment is an underwater laser range finder of SXCJ-PI type of Hangzhou Lanke Optoelectronics Technology Co., Ltd.

[0031] The underwater transducer 151 is an icTalk intelligent transmitting transducer of Beijing Hecheng System Technology Co., Ltd.

[0032] The hydrophone 141 is an AS-1 type hydrophone of Beijing Hecheng System Technology Co., Ltd.

[0033] Specific implementation method two: combination Figures 1 to 4 In the embodiment, the underwater detection unit 100 further comprises an extension rod 160, and the fixed seat 110 is connected with the front end of the underwater robot 200 through the extension rod 160. The other components and connection relationship are the same as those in the specific implementation method one.

[0034] Specific implementation method three: combination Figures 1 to 4 In the embodiment, the driving motor 120 is a servo motor.

[0035] Further, the driving motor 120 is installed on the fixed seat 110 through an inner hexagonal bolt.

[0036] The other components and connection relationship are the same as those in the specific implementation method one or two.

[0037] Working principle

[0038] In the working process of the present application, the following steps are performed:

[0039] Step one, the position of the underwater transducer 151 on the second linear motor 150 and the position of the hydrophone 141 on the first linear motor 140 are adjusted according to the size of the underwater concrete member.

[0040] Step two, the laser ranging probe 131 obtains the distance between the underwater transducer 151 and the underwater concrete member, and transmits the ranging signal to the upper computer, and the upper computer controls the posture of the underwater robot 200 through the ranging signal, so that the underwater transducer 151 and the underwater concrete member maintain the best detection distance.

[0041] Step three, first, the driving motor 120 is started, so that the first linear motor 140 and the second linear motor 150 are in a vertical state, at this time, the underwater transducer 151 and the hydrophone 141 are arranged in a Mills cross array.

[0042] Then, the host computer applies a signal to the underwater transducer 151, so that the underwater transducer 151 emits a sound wave, and the echo signal received by the hydrophone 141 is transmitted to the host computer in real time for correlation analysis, so as to obtain the image of the internal defects of the underwater concrete member.

[0043] The Mills cross array technology has unique advantages in the field of underwater acoustics, and can effectively improve the resolution and anti-interference ability of the sonar system. As shown in FIG. 4, when detecting the underwater concrete member, two transducers 151 radiate sound wave signals to a strip-shaped area on the surface of the member, and two hydrophones 141 receive echo signals of a strip-shaped area. Therefore, when the hydrophone 141 receives the echo signal of the transducer 151, there is a rectangular intersection area between the two strip-shaped areas, so that the echo signals of multiple measurement points on the entire strip can be obtained by using one-time emission of the sound wave signal.

[0044] The present application has been disclosed in the preferred embodiments as above, however, is not intended to limit the present application, any person skilled in the art, without departing from the technical solution of the present application, according to the technical essence of the present application, any simple modification, equivalent change and modification of the above embodiments, still belongs to the technical solution range of the present application.

Claims

1. A device for detecting internal defects of underwater concrete components, characterized by: It comprises an underwater detection unit (100) and an underwater robot (200), wherein both the underwater detection unit (100) and the underwater robot (200) are communicatively connected to a host computer; The underwater detection unit (100) comprises a fixed seat (110), a drive motor (120), a rotating seat (130), two first linear motors (140), and two second linear motors (150); The fixing seat (110) is installed at the front end of the underwater robot (200), and the driving motor (120) is installed on the fixing seat (110); The rotating seat (130) is mounted on the rotor of the driving motor (120), and a laser ranging probe (131) is mounted on the rotating seat (130); The two first linear motors (140) are both mounted on the fixed seat (110), and the two first linear motors (140) are arranged in a straight line. The mover slides of the two first linear motors (140) are both mounted with a hydrophone (141). The two second linear motors (150) are both mounted on the rotating seat (130), and the two second linear motors (150) are arranged in a straight line. Underwater transducers (151) are both mounted on the mover slides of the two second linear motors (150).

2. The device for detecting internal defects of underwater concrete components according to claim 1, characterized in that: The underwater detection unit (100) further comprises an extension rod (160), and the fixing seat (110) is connected to the front end of the underwater robot (200) via the extension rod (160).

3. The device for detecting internal defects of underwater concrete components according to claim 2, characterized in that: The driving motor (120) is a servo motor.

4. The device for detecting internal defects of underwater concrete components according to claim 3, characterized in that: The driving motor (120) is mounted on the fixing seat (110) via hexagon socket bolts.

5. The device for detecting internal defects of underwater concrete components according to claim 4, characterized in that: The laser ranging probe (131) is coaxially arranged with the rotor of the drive motor (120).

Images