An underwater bridge pier damage detection device and method

Abstract

The application discloses an underwater bridge pier damage detection device and method, and belongs to the technical field of bridge maintenance. The application cooperatively detects functions and self-adapts cleaning, and comprises five parts of a variable frame, a double locking mechanism, a cleaning mechanism, a detection mechanism and a central control mechanism. The variable frame can be sleeved on the outside of a bridge pier, a detachable mounting base is arranged on the variable frame, and an abutting wheel mechanism is arranged on the inner side of the variable frame; the double locking mechanism is arranged through the upper and lower end faces of the mounting base, is used for locking and fixing the detection mechanism and tightly fixing the bridge pier; the cleaning mechanism and the detection mechanism are arranged on the mounting base, the cleaning mechanism is used for cleaning the surface of the bridge pier, and the detection mechanism is used for detecting the underwater bridge pier damage; and the central control mechanism is used for controlling the operation of the abutting wheel mechanism, the cleaning mechanism and the detection mechanism. The application can be self-adapted to bridge piers with different shapes and sizes in underwater environment, integrates the cleaning and detection functions, and improves the efficiency of underwater bridge pier maintenance work.

Description

Technical Field

[0001] This invention relates to the field of bridge maintenance technology, specifically to an underwater bridge pier damage detection device and method. Background Technology

[0002] As crucial supporting components of various bridges, bridge piers are vital to the overall structure's safety and stability. With the continuous construction of bridges spanning rivers and seas, the inspection and maintenance of underwater bridge piers has become increasingly important. Currently, the inspection and maintenance of underwater bridge piers mainly rely on manual diving operations or large specialized vessels. Manual diving inspection requires professional divers to work underwater, which not only poses significant safety risks but is also severely limited by environmental factors such as water depth, current, and visibility, resulting in low inspection efficiency. While large specialized vessels can provide a more stable working platform, they are expensive, lack maneuverability, and are difficult to operate in certain narrow waters.

[0003] In recent years, with the development of mechanical automation technology, some automated or semi-automated testing and maintenance equipment has gradually emerged. For example, CN114810518B discloses a multifunctional adaptive maintenance device for wind turbine towers. This device forms a ring structure with several climbing units, enabling horizontal rotation and vertical lifting relative to the tower. It is equipped with a roller brush cleaning mechanism, a steam cleaning mechanism, and a spraying mechanism. However, this device is mainly designed for wind turbine towers and lacks adaptability to the special environment of underwater bridge piers.

[0004] In the field of anchor hole wall cleaning and inspection, CN223011359U discloses an adaptive anchor hole wall cleaning and inspection device, including a fixing rod, a cleaning mechanism, and an inspection mechanism, which can clean and inspect the inner wall of the anchor hole. However, this device is mainly designed for the internal environment of the anchor hole and cannot be applied to the inspection and maintenance work on the outer surface of the bridge pier.

[0005] CN218090993U discloses a pile foundation testing device for civil engineering. The device includes a base, support rods, a top plate, a testing mechanism, a drilling mechanism, and a cleaning mechanism, capable of testing pile foundations and cleaning the soil from the probe surface. However, this device is mainly suitable for land-based pile foundation testing and lacks underwater operation capabilities and adaptability to pile foundations of different shapes.

[0006] CN210497498U discloses a cleaning mechanism for a pole-climbing cleaning machine adaptable to different diameters, including a sliding drive mechanism, an adaptive change control mechanism, a sliding frame, a clamping ring structure, and a brush cleaning assembly, capable of adapting to cleaning work on poles of different diameters. The adaptive clamping ring structure of this device offers some inspiration for the design of variable frames, but its cleaning mechanism is relatively simple and lacks comprehensive detection capabilities.

[0007] In summary, the existing technology has the following shortcomings:

[0008] 1. Existing testing and maintenance equipment is mostly designed for single functions and lacks integrated devices that combine cleaning and testing, resulting in low maintenance efficiency and requiring the use of multiple devices in combination;

[0009] 2. Existing devices are not adaptable to objects of different sizes, especially to cylindrical bridge piers;

[0010] 3. In turbid underwater environments, existing detection equipment struggles to obtain clear images of the bridge pier surface, affecting the accuracy of the detection results;

[0011] 4. Existing devices mostly adopt a fixed structure, lack self-driving capability, and are difficult to achieve comprehensive inspection and maintenance of the bridge pier surface;

[0012] 5. Existing cleaning and detection devices are often designed separately. Wastewater generated during the cleaning process can affect the image quality of subsequent detection, and there is a lack of an effective collaborative working mechanism.

[0013] Therefore, there is an urgent need for a bridge pier maintenance device that can adapt to different shapes and sizes of inspection objects, integrate cleaning and inspection functions, and work efficiently in underwater environments, so as to improve the quality and efficiency of underwater bridge pier maintenance work. Summary of the Invention

[0014] This application provides an underwater bridge pier damage detection device and method. The main purpose is to realize an underwater bridge pier maintenance device that can adapt to bridge piers of different shapes and sizes, integrate cleaning and detection functions, and work efficiently in the underwater environment, thereby improving the efficiency and quality of maintenance work.

[0015] To achieve the above objectives, this application provides an underwater bridge pier damage detection device, comprising:

[0016] A variable frame that can be fitted onto the outside of the bridge pier;

[0017] The mounting base is detachably mounted on the variable frame;

[0018] The testing mechanism is fixedly installed on the mounting base;

[0019] A dual locking mechanism is installed through the upper and lower end faces of the mounting base to simultaneously lock and fix the detection mechanism on the mounting base and to clamp and fix the variable frame to the pier.

[0020] A cleaning mechanism, mounted on the mounting base, is used to clean the surface of the bridge piers;

[0021] An abutment wheel mechanism is disposed inside the variable frame. The abutment wheel axis of the abutment wheel mechanism is inclined relative to the pier axis, and the abutment wheel is a self-driving wheel.

[0022] The central control unit is used to control the operation of the abutment wheel mechanism, the cleaning mechanism, and the detection mechanism.

[0023] In one feasible implementation, the variable frame is a foldable polygonal frame hinged together from multiple individual frames, with locking teeth on its outer side; the double locking mechanism engages with the locking teeth.

[0024] In one feasible embodiment, the double locking mechanism includes a fixed base, an adjusting end, a pull rod, and a sliding base; the pull rod is rotatably mounted on the fixed base, and the adjusting end is used to realize the rotation of the pull rod; the two sliding bases are respectively threaded to the two reverse threads of the pull rod, wherein a locking pin is provided between two adjacent sliding bases, and the locking pin can be engaged in the locking teeth.

[0025] In one feasible implementation, the cleaning mechanism includes: a cleaning power unit comprising a cleaning motor and an eccentric shaft driven by the cleaning motor; a longitudinal rod connected to the eccentric shaft, capable of reciprocating linear motion under the drive of the cleaning motor; a cleaning wiping device connected to the longitudinal rod via a crossbar; and an elastic force-applying component connected between the moving and fixed parts of the cleaning mechanism for providing an elastic clamping force to the cleaning wiping device pointing towards the pier surface.

[0026] In one feasible implementation, the elastic force-applying component includes a sleeve, a protrusion, and a spring; the protrusion is slidably disposed within the sleeve and fixedly sleeved on the crossbar, and the spring is disposed within the sleeve and provides elastic force to the protrusion.

[0027] In one feasible implementation, the detection mechanism includes: a transparent inflatable membrane with its expanded end facing the surface of the bridge pier; an air supply device communicating with the internal cavity of the inflatable membrane via an air supply pipe, the air supply device being a bidirectional air supply device capable of both inflation and deflation; and a camera lens aimed at the expanded end of the transparent membrane wall of the inflatable membrane.

[0028] In one feasible implementation, the detection mechanism further includes an expansion sensing component; the expansion sensing component includes a mounting base, a pendulum rod, and a rotary encoder; the pendulum rod is rotatably mounted on the mounting base, with its free end in contact with or adjacent to the outer surface of the inflatable membrane; the rotary encoder is used to detect the rotation angle of the pendulum rod.

[0029] In one feasible implementation, the central control mechanism is signal-connected to the rotary encoder and the air supply device, and is configured to control the start and stop of the air supply device and the solenoid valve according to the swing arm angle signal fed back by the rotary encoder, so as to inflate the air membrane to a predetermined shape.

[0030] In one feasible implementation, the abutting wheel mechanism is further connected to an abutting adjustment mechanism; the abutting adjustment mechanism includes an adjustment block, an adjustment screw, a connecting block, and a screw-in block; rotating the adjustment screw can drive the connecting block to move, thereby changing the position of the abutting wheel in the horizontal direction.

[0031] A method for using an underwater bridge pier damage detection device, comprising the following steps: (The device is described in the foregoing technical solution.)

[0032] S1. Frame installation and angle pre-adjustment: Unfold the folded variable frame and fit it onto the outside of the pier to be maintained; adjust the tilt angle of the abutment wheel by operating the abutment adjustment mechanism.

[0033] S2, Double locking and fixing: By operating the adjustment end of the double locking mechanism, the pull rod is driven to rotate, so that the two sliding seats move towards each other, and the detection mechanism is locked and fixed on the mounting base at the same time, and the variable frame is clamped to the pier by the engagement of the locking pin and the locking tooth.

[0034] S3. Descending and Cleaning: The self-driven abutting wheel of the abutting wheel mechanism is activated by the central control mechanism. The device moves around the bridge pier and downward under the drive of the inclined abutting wheel. When it reaches the underwater set position, the cleaning mechanism is activated, so that the cleaning wiper can wipe the surface of the bridge pier back and forth.

[0035] S4. Inspection Preparation and Intelligent Fitting: After cleaning is completed, the cleaning mechanism stops working; the central control mechanism controls the air supply device to inflate the transparent inflatable membrane; the swing arm of the expansion sensing component swings with the expansion of the inflatable membrane, and the rotary encoder detects the angle of the swing arm in real time; the central control mechanism determines whether the inflatable membrane has expanded to the predetermined shape based on the swing arm angle signal, and controls the air supply device to stop inflating when the predetermined shape is reached, so that the inflatable membrane fits tightly against the surface of the bridge pier to form a transparent observation cavity;

[0036] S5. Image Acquisition and Position Migration: With the inflatable membrane in place, control the camera to acquire images of the bridge pier surface; after completing the position detection, control the air supply device to draw in air, causing the inflatable membrane to contract and detach from the bridge pier surface; restart the abutment wheel mechanism to move the device to the next work station.

[0037] This application provides an underwater bridge pier damage detection device and method, employing a modular variable frame structure. This structure allows for folding and storage as well as rapid deployment, significantly improving the convenience of transport and on-site deployment. The polygonal variable frame can adapt to bridge piers of different sizes, expanding its application range. Detection mechanisms on both sides of the device, combined with a double locking mechanism, ensure stable fixation under different pier diameters, guaranteeing device stability during cleaning and detection. The contact wheel mechanism, through tilt adjustment and self-drive, enables the device to automatically move and descend along the pier. The cleaning mechanism uses eccentric drive for reciprocating wiping and maintains constant contact pressure through elastic force application components, efficiently removing adhering substances from the pier surface while avoiding excessive wear. The detection section incorporates an inflatable membrane and a bidirectional air supply device, working in conjunction with an expansion sensing component to achieve closed-loop control. This allows the inflatable membrane to reliably adhere to the bridge pier in turbid water environments, forming a transparent imaging window and significantly improving camera image clarity. Simultaneously, the bidirectional air supply can promptly re-absorb gas during switching between imaging and movement, causing the inflatable membrane to detach from the pier surface, preventing scratches and extending its service life. Through the unified coordination of cleaning, gas supply, locking and imaging processes by the central control mechanism, the entire device achieves a comprehensive effect of lightweight structure, high cleaning efficiency, clear imaging and reliable operation, and can effectively solve the problems of poor adaptability, incomplete cleaning and unclear imaging in existing technologies. Attached Figure Description

[0038] Figure 1 This paper presents a three-dimensional structural schematic diagram of the underwater bridge pier damage detection device provided in an embodiment of this application;

[0039] Figure 2 This paper shows a schematic diagram of the planar structure of the underwater bridge pier damage detection device provided in an embodiment of this application;

[0040] Figure 3 This illustration shows a structural diagram of the combined state of the variable frame and mounting base provided in an embodiment of this application;

[0041] Figure 4 This illustration shows a structural diagram of the variable frame and mounting base in a separated state according to an embodiment of this application;

[0042] Figure 5 A schematic diagram of the structure of the monolithic frame provided in an embodiment of this application is shown;

[0043] Figure 6 A schematic diagram of the abutment adjustment mechanism provided in an embodiment of this application is shown;

[0044] Figure 7 It shows Figure 2 A magnified schematic diagram of the structure at point A in the diagram;

[0045] Figure 8A schematic diagram of the detection device provided in an embodiment of this application is shown;

[0046] Figure 9 This invention provides a schematic diagram of the structure of an inflatable membrane in an inflated state according to an embodiment of the present application.

[0047] Figure 10 A schematic diagram of the structure of the clean power device provided in the embodiment of this application is shown;

[0048] Figure 11 It shows Figure 3 A magnified schematic diagram of the structure at point B in the diagram.

[0049] In the diagram: 10. Variable frame; 20. Mounting base; 30. Detection device; 40. Double locking mechanism; 50. Cleaning mechanism; 60. Central control mechanism; 11. Single frame; 12. Abutting wheel mechanism; 13. Clamping tooth; 14. Abutting adjustment mechanism; 121. Sealing slide plate; 122. Rotating seat; 123. Abutting wheel; 124. Rotating rod; 125. Locking element; 141. Adjusting block; 142. Adjusting screw; 143. Connecting block; 144. Threaded block; 31. Air supply device; 32. Inflation device. 33. Membrane, 34. Camera, 35. Expansion sensing component, 36. Air supply pipe, 37. Solenoid valve, 341. Mounting base, 342. Rotary encoder, 343. Swing arm, 41. Fixed base, 42. Adjusting end, 43. Pull rod, 44. Sliding seat, 51. Cleaning power unit, 52. Longitudinal rod, 53. Elastic force application component, 54. Crossbar, 55. Cleaning wipe, 511. Cleaning motor, 512. Eccentric shaft, 513. Reinforcing base, 531. Sleeve, 532. Protrusion, 533. Spring. Detailed Implementation

[0050] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0051] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0052] Please see Figures 1 to 11 As shown in the figure, this application provides a bridge pier maintenance device with adaptive cleaning and detection functions, including: a variable frame 10, an abutment wheel mechanism 12, a mounting base 20, a detection mechanism, a double locking mechanism 40, a cleaning mechanism 50, and a central control mechanism 60.

[0053] Specifically, the variable frame 10 is fitted onto the outside of the pier; the mounting base 20 is detachably mounted on the variable frame 10; the detection mechanism is fixedly mounted on the mounting base 20; the double locking mechanism 40 is disposed through the upper and lower end faces of the mounting base 20, used to simultaneously lock and fix the detection mechanism on the mounting base 20 and the variable frame 10 to the pier; the cleaning mechanism 50 is disposed on the mounting base 20, used to clean the surface of the pier; the abutting wheel mechanism 12 is disposed inside the variable frame 10, the axis of the abutting wheel 123 of the abutting wheel mechanism 12 is inclined relative to the axis of the pier, and the abutting wheel 123 is a self-driving wheel; the central control mechanism 60 is used to control the operation of the abutting wheel mechanism 12, the cleaning mechanism 50 and the detection mechanism.

[0054] This technical solution utilizes a variable frame 10 and a pier-mounted structure to adapt the device to piers of different sizes. The detachable design of the mounting base 20 facilitates modular assembly of the detection and cleaning components. The dual locking mechanism 40, through its vertical locking action penetrating the mounting base 20, simultaneously secures the detection mechanism and clamps the frame onto the pier, simplifying the operation process. The cleaning mechanism 50 directly acts on the pier surface, resolving detection interference caused by underwater biological attachment. The design of the tilting self-driven abutment wheel 123, with its non-perpendicular arrangement of the wheel axis and the pier axis, allows the device to generate axial displacement during rotation around the pier, achieving automatic downward movement. The central control mechanism 60 integrates the coordinated control of drive, cleaning, and detection, ensuring that each stage operates according to preset logic. The tilting cooperation between the self-driven abutment wheel 123 and the frame constitutes a spiral downward movement mechanism, overcoming the limitation of traditional maintenance devices requiring external traction. The synchronous action design of the dual locking mechanism achieves the two independent functions of fixing the detection mechanism and clamping the frame through a single operation, significantly improving installation efficiency.

[0055] like Figure 4 , Figure 5 and Figure 6 As shown, in some examples, the abutment wheel mechanism 12 further includes a sealing slide plate 121 that can slide along the length of the single frame 11. A rotating seat 122 is provided at the middle of one end of the sealing slide plate 121 facing the inner side of the single frame 11. A rotating rod 124 is provided on the rotating seat 122. The rotating rod 124 extends outward from the sealing slide plate 121 away from the pier. The abutment wheel 123 is rotatably mounted on the rotating seat 122. By rotating the rotating rod 124, the entire rotating seat 122 and the abutment wheel 123 can be tilted, so that the device can move down synchronously during rotation. A locking member 125 is provided on the outer side of the rotating rod 124. The locking member 125 can be set as a locking plate with multiple locking bolts. After the rotating seat is rotated to the desired angle, the locking bolts on the locking plate are rotated to make the locking bolts tightly connected to the wall of the single frame 11 to achieve the locking effect of the current rotation angle of the abutment wheel 123.

[0056] like Figure 4 and Figure 5 As shown, in some examples, the variable frame 10 is further a foldable polygonal frame formed by hinged multiple individual frames 11, with locking teeth 13 on its outer side; the double locking mechanism 40 engages with the locking teeth 13.

[0057] In this example, by designing the variable frame 10 as a foldable polygonal frame formed by the hinged connection of multiple individual frames 11, the frame can be folded and unfolded through the hinge points, solving the problems of large size and inconvenient transportation of traditional fixed frames. The locking teeth 13 on the outer side engage with the double locking mechanism 40. When the locking mechanism is activated, the toothed structure of the locking teeth 13 can provide multi-point engagement and locking, which not only achieves circumferential clamping and fixation of the pier after the variable frame 10 is unfolded, but also adapts to the size changes of piers with different diameters through the distribution spacing of the locking teeth 13. The cooperation mechanism between the double locking mechanism 40 and the locking teeth 13 allows the shape fixation of the variable frame 10 to be completed simultaneously with the locking detection mechanism, forming a double constraint effect and avoiding deformation and displacement of the frame due to force during operation.

[0058] like Figure 11 As shown, in some examples, the double locking mechanism 40 further includes a fixed base 41, an adjusting end 42, a pull rod 43, and a sliding seat 44; the pull rod 43 is rotatably mounted on the fixed base 41, and the adjusting end 42 is used to realize the rotation of the pull rod 43; the two sliding seats 44 are respectively threaded to the two reverse threads of the pull rod 43, wherein a locking pin is provided between the two adjacent sliding seats 44, and the locking pin can be engaged in the locking teeth 13.

[0059] In this example, the technical solution transforms a single operation into a bidirectional synchronous centering and clamping motion by setting a pull rod 43 with a reverse thread structure. As a basic support component, it provides stable rotation conditions for the pull rod 43; the adjusting end 42 serves as the operating interface, enabling rotation control via manual or mechanical drive; the two-section reverse thread design causes the two sliding seats 44 to displace in opposite directions or away from each other when the pull rod rotates, forming a symmetrical mechanical transmission. A specially designed locking pin engages with the frame locking teeth 13 when the sliding seats 44 move in opposite directions, both fixing the detection mechanism to the mounting base 20 through the clamping force generated by the displacement of the sliding seats 44, and achieving radial clamping of the variable frame 10 onto the pier through the meshing linkage of the locking pin and the locking teeth 13. This breaks through the traditional step-by-step locking operation mode, making the frame deformation constraint and the detection module fixation form a single operation process, simultaneously completing a double locking action in a single operation.

[0060] like Figure 2 , Figure 5 and Figure 10As shown, in some examples, the cleaning mechanism 50 further includes: a cleaning power unit 51, a longitudinal rod 52, an elastic force application component 53, a crossbar 54, and a cleaning wipe 55. The cleaning power unit 51 includes a cleaning motor 511 and an eccentric shaft 512 driven by the cleaning motor 511. The longitudinal rod 52 is connected to the eccentric shaft 512 and is capable of reciprocating linear motion under the drive of the cleaning motor 511. The cleaning wipe 55 is connected to the longitudinal rod 52 via the crossbar 54. The elastic force application component 53 is connected between the moving part and the fixed part of the cleaning mechanism 50 and is used to provide an elastic clamping force to the cleaning wipe 55 pointing towards the surface of the pier.

[0061] In this example, the rotational motion is converted into the linear reciprocating motion of the longitudinal rod 52 via the eccentric shaft 512, providing the basic driving force for the cleaning wipe 55. The elastic force application component 53 forms a flexible connection between the moving and stationary components, ensuring that the cleaning wipe 55, driven by the crossbar 54, always receives a normal clamping force pointing towards the pier during its reciprocating motion. When the pier surface is uneven, the elastic force application component 53 can automatically compensate for displacement deviations, absorbing mechanical vibrations through the deformation of the spring 533. This ensures continuous and effective contact between the cleaning wipe 55 and the pier surface while avoiding equipment damage caused by rigid impacts. The crossbar 54, as an intermediate force transmission component, converts the linear motion of the longitudinal rod 52 into the lateral wiping action of the cleaning wipe 55. Combined with the adaptive adjustment function of the elastic force application component 53, stable cleaning operations are achieved under complex surface morphologies.

[0062] In order to ensure the stable and reliable movement of the longitudinal rod 52, the device is also equipped with a reinforcing base 513 fixed to the lower outer side of the cleaning motor 511 cover. The longitudinal rod 52 can be locked in the reinforcing base 513 and move, while ensuring the structural strength of the longitudinal rod during operation and avoiding bending deformation.

[0063] like Figure 7 As shown, in some examples, the elastic force-applying component 53 further includes a sleeve 531, a protrusion 532, and a spring 533; the protrusion 532 is slidably disposed within the sleeve 531 and fixedly sleeved on the crossbar 54, and the spring 533 is disposed within the sleeve 531 and provides elastic force to the protrusion 532.

[0064] In this example, the sleeve 531 serves as a fixed support structure, providing an installation reference for the elastic force-applying component 53. The fixed sleeve relationship between the protrusion 532 and the crossbar 54 allows the crossbar 54 to drive the protrusion 532 to slide within the sleeve 531 during the reciprocating motion of the longitudinal rod 52. The spring force of the spring 533 is coaxial with the sliding direction of the protrusion 532, forming an elastic constraint on the crossbar 54, thereby transmitting the spring force to the cleaning wipe 55. This allows the spring 533 to automatically compress or rebound according to the unevenness of the pier surface when the cleaning wipe 55 contacts it, maintaining continuous contact pressure between the cleaning wipe 55 and the pier surface to improve the cleaning effect, while also buffering the rigid collision between the cleaning wipe 55 and the pier surface. The adjustable preload of the spring 533 (achieved by replacing the spring 533 or by adjusting the spring 533 compression mechanism) allows the device to adapt to the cleaning needs of pier surfaces of different materials or levels of contamination.

[0065] like Figure 3 , Figure 8 and Figure 9 As shown, in some examples, the detection mechanism further includes: an air supply device 31, a transparent inflatable membrane 32, and a camera 33. The inflatable membrane 32 has its expanded end facing the surface of the pier. The air supply device 31 is connected to the internal cavity of the inflatable membrane 32 through an air supply pipe 35. The air supply device 31 is a bidirectional air supply device 31 capable of both inflation and deflation. The lens of the camera 33 is aimed at the expanded end of the transparent membrane wall of the inflatable membrane 32.

[0066] In this example, the expansion and contraction mechanism of the transparent inflatable membrane 32 is used. The expansion end of the inflatable membrane 32 is designed to expand outward when inflated, forming a transparent isolation layer in contact with the bridge pier surface, blocking turbid water from the outside of the inflatable membrane 32. The bidirectional air supply device 31 expands the membrane to fit the bridge pier surface when inflated and contracts to detach the membrane when inhaled. This feature ensures that the inflatable membrane 32 and the bridge pier are closely fitted during detection to form an observation space free from water interference, and avoids damage caused by friction between the membrane and the bridge pier when the device moves. The arrangement of the camera 33's lens pointing at the transparent membrane wall allows imaging light to directly penetrate the inflatable membrane 32 to obtain information about the bridge pier surface, solving the problem of image distortion caused by suspended matter in water in traditional underwater detection. The bidirectional control characteristics of the air supply device 31 further enable rapid switching of the working state of the inflatable membrane 32, allowing the detection process and device displacement to be executed in stages, balancing detection accuracy and equipment protection requirements.

[0067] like Figure 2 , Figure 3 , Figure 5 , Figure 8As shown, in some examples, the detection mechanism further includes an expansion sensing component 34; the expansion sensing component 34 includes a mounting base 341, a rocker arm 343 and a rotary encoder 342; the rocker arm 343 is rotatably mounted on the mounting base 341, and its free end is in contact with or adjacent to the outer surface of the inflatable membrane 32; the rotary encoder 342 is used to detect the rotation angle of the rocker arm 343.

[0068] In this example, a mechanical expansion sensing component 34 is added to the detection mechanism to achieve real-time monitoring and closed-loop control of the expansion state of the inflatable membrane 32. The mounting base 341 serves as a fixed foundation, providing a stable rotation fulcrum for the swing arm 343. The design of the free end of the swing arm 343 contacting the outer surface of the inflatable membrane 32 allows the deformation generated during the expansion process of the inflatable membrane 32 to be directly converted into the angular displacement of the swing arm 343. The rotary encoder 342 accurately detects the rotation angle of the swing arm 343, converting the degree of expansion of the inflatable membrane 32 into a quantifiable electrical signal. When the inflatable membrane 32 is not fully expanded, the swing arm 343 is at its initial angle thanks to the characteristics of the rotary spring 533, at which point the control system continues to inflate. As the inflatable membrane 32 gradually adheres to the surface of the pier, the swing arm 343 experiences an angle change due to pressure from the membrane wall. The rotary encoder 342 provides real-time feedback of this angle value until a preset threshold angle is reached, at which point inflation stops, ensuring that the inflatable membrane 32 can form an effective observation cavity without over-expanding and becoming damaged. Compared with traditional air pressure sensors, this mechanical linkage detection method can more directly reflect the actual contact state between the inflatable membrane 32 and the bridge pier, solving the problem that air pressure detection in complex underwater environments is easily affected by water depth pressure.

[0069] like Figure 8 As shown, in some examples, the central control unit 60 is further connected to the rotary encoder 342 and the air supply device 31 and is configured to control the start and stop of the air supply device 31 and the solenoid valve 36 according to the angle signal of the rocker arm 343 fed back by the rotary encoder 342, so as to inflate the air membrane 32 to a predetermined shape.

[0070] Specifically, the central control mechanism 60, rotary encoder 342, and air supply device 31 form a signal linkage, enabling the rotary encoder 342 to detect changes in the angle of the swing arm 343, providing real-time feedback on the expansion degree of the inflatable membrane 32. When the inflatable membrane 32 has not reached the predetermined shape, the central control mechanism 60 continuously controls the air supply device 31 to inflate, and maintains unobstructed airflow through the solenoid valve 36. When the rotary encoder 342 detects that the rotation angle of the swing arm 343 has reached a preset threshold (corresponding to the inflatable membrane 32 expanding to the predetermined shape), the central control mechanism 60 immediately stops the air supply device 31 and closes the solenoid valve, thereby precisely controlling the inflation volume. This active control method based on physical deformation feedback solves the problem of adhesion failure of the traditional inflatable membrane 32 caused by changes in water depth and pressure, and avoids the lag of manual adjustment. At the same time, the coordinated control of the solenoid valve 36 can quickly cut off the airflow when the device moves, preventing friction damage between the inflatable membrane 32 and the bridge pier surface, achieving a balance between protection and functional execution.

[0071] like Figure 6 As shown, in some examples, the abutting wheel mechanism 12 is further connected to an abutting adjustment mechanism 14; the abutting adjustment mechanism 14 includes an adjustment block 141, an adjustment screw 142, a connecting block 143 and a screw block 144; rotating the adjustment screw 142 can drive the connecting block 143 to move, thereby changing the position of the abutting wheel 123 in the horizontal direction.

[0072] In this example, a mechanical transmission structure including an adjusting screw 142 and a connecting block 143 is used to precisely adjust the horizontal position of the abutment wheel 123. The rotational motion of the adjusting screw 142 is converted into the linear displacement of the connecting block 143, allowing the operator to fine-tune the horizontal abutment position of the abutment wheel 123 through rotation, thereby adapting to piers of different sizes and achieving a more suitable clamping and fixing effect. The threaded engagement structure between the screw block 144 and the adjusting screw 142 ensures a self-locking function after adjustment, preventing displacement deviation caused by vibration during device operation. The adjusting block 141 provides rotational support for the screw and limits the movement trajectory of the connecting block 143. The horizontal position adjustment capability allows the abutment wheel 123 to be adaptively adjusted according to the unevenness of the pier surface or different diameter requirements, improving the operational reliability of the device under complex working conditions.

[0073] This application also provides a detection method for an underwater bridge pier damage detection device 30, which specifically includes the following steps:

[0074] S1. Frame installation and angle pre-adjustment: Unfold the variable frame 10 in the folded state and fit it on the outside of the pier to be maintained; adjust the tilt angle of the abutment wheel 123 by operating the abutment adjustment mechanism 14.

[0075] S2, Double locking and fixing: By operating the adjustment end 42 of the double locking mechanism 40, the pull rod 43 is driven to rotate, so that the two sliding seats 44 move towards each other, and the detection mechanism is locked and fixed on the mounting base 20 in a synchronous manner, and the variable frame 10 is clamped to the pier by the engagement of the locking pin and the locking tooth 13.

[0076] S3, Descending and Cleaning: The self-driven abutting wheel 123 of the abutting wheel mechanism 12 is activated by the central control mechanism 60. The device moves around the bridge pier and downward under the drive of the inclined abutting wheel 123. When it reaches the underwater set position, the cleaning mechanism 50 is activated, so that the cleaning wiper 55 reciprocates to wipe and clean the surface of the bridge pier.

[0077] S4. Inspection Preparation and Intelligent Fitting: After cleaning is completed, the cleaning mechanism 50 stops working; the central control mechanism 60 controls the air supply device 31 to inflate the transparent inflatable membrane 32; the swing arm 343 of the expansion sensing component 34 swings with the expansion of the inflatable membrane 32, and the rotary encoder 342 detects the angle of the swing arm 343 in real time; the central control mechanism 60 determines whether the inflatable membrane 32 has expanded to the predetermined shape according to the angle signal of the swing arm 343, and controls the air supply device 31 to stop inflating when the predetermined shape is reached, so that the inflatable membrane 32 fits tightly against the surface of the bridge pier to form a transparent observation cavity;

[0078] S5. Image Acquisition and Position Migration: With the inflatable membrane 32 in place, the camera 33 is controlled to acquire images of the pier surface; after the position detection is completed, the air supply device 31 is controlled to suck in air, causing the inflatable membrane 32 to contract and detach from the pier surface; the abutment wheel mechanism 12 is restarted to move the device to the next work station.

[0079] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An underwater bridge pier damage detection device, characterized in that, include: A variable frame (10) is capable of being fitted onto the outside of the bridge pier; The mounting base (20) is detachably mounted on the variable frame (10); The testing mechanism (30) is fixedly installed on the mounting base (20); A double locking mechanism (40) is provided through the upper and lower end faces of the mounting base (20) to simultaneously realize the locking and fixing of the detection mechanism (30) on the mounting base (20) and the clamping and fixing of the variable frame (10) on the pier; A cleaning mechanism (50) is provided on the mounting base (20) for cleaning the surface of the bridge pier; The abutting wheel mechanism (12) is located inside the variable frame (10). The axis of the abutting wheel (123) of the abutting wheel mechanism (12) is inclined relative to the axis of the pier, and the abutting wheel (123) is a self-driving wheel. A central control unit (60) is used to control the operation of the contact wheel mechanism (12), the cleaning mechanism (50), and the detection mechanism (30); The double locking mechanism (40) includes a fixed base (41), an adjusting end (42), a pull rod (43), and a sliding seat (44); the pull rod (43) is rotatably mounted on the fixed base (41), and the adjusting end (42) is used to realize the rotation of the pull rod (43); the two sliding seats (44) are respectively threaded to the two reverse threads of the pull rod (43), wherein a locking post is provided between two adjacent sliding seats (44), and the locking post can be locked in the locking tooth (13); The cleaning mechanism (50) includes: Cleaning power unit (51), the cleaning power unit (51) includes a cleaning motor (511) and an eccentric shaft (512) driven by the cleaning motor (511). The longitudinal rod (52) is connected to the eccentric shaft (512) and can reciprocate linearly under the drive of the cleaning motor (511); The cleaning wipe (55) is connected to the longitudinal bar (52) via the crossbar (54); An elastic force-applying component (53) is connected between the moving part and the fixed part of the cleaning mechanism (50) for providing an elastic clamping force to the cleaning wipe (55) pointing toward the pier surface; The elastic force-applying component (53) includes a sleeve (531), a protrusion (532), and a spring (533); the protrusion (532) is slidably disposed in the sleeve (531) and fixedly sleeved on the crossbar (54); the spring (533) is disposed in the sleeve (531) and provides elastic force to the protrusion (532).

2. The underwater bridge pier damage detection device according to claim 1, characterized in that, The variable frame (10) is a foldable polygonal frame formed by hinged multiple single frames (11), and has locking teeth (13) on its outer side; the double locking mechanism (40) engages with the locking teeth (13).

3. The underwater bridge pier damage detection device according to claim 1, characterized in that, The testing organization (30) includes: A transparent inflatable membrane (32) with its expanded end facing the surface of the pier; An air supply device (31) is connected to the internal cavity of the inflatable membrane (32) via an air supply pipe (35). The air supply device (31) is a bidirectional air supply device capable of both inflation and deflation. The camera (33) has its lens aimed at the expanded end of the transparent membrane wall of the inflatable membrane (32).

4. The underwater bridge pier damage detection device according to claim 3, characterized in that, The detection mechanism (30) further includes an expansion sensing component (34); the expansion sensing component (34) includes a mounting base (341), a swing arm (343), and a rotary encoder (342); the swing arm (343) is rotatably mounted on the mounting base (341), and its free end is in contact with or adjacent to the outer surface of the inflatable membrane (32); the rotary encoder (342) is used to detect the rotation angle of the swing arm (343).

5. The underwater bridge pier damage detection device according to claim 4, characterized in that, The central control unit (60) is signal-connected to the rotary encoder (342) and the air supply device (31), and is configured to control the start and stop of the air supply device (31) and the solenoid valve (36) according to the swing arm angle signal fed back by the rotary encoder (342) so as to inflate the air membrane (32) to a predetermined shape.

6. The underwater bridge pier damage detection device according to claim 5, characterized in that, The abutting wheel mechanism (12) is also connected to an abutting adjustment mechanism (14); the abutting adjustment mechanism (14) includes an adjustment block (141), an adjustment screw (142), a connecting block (143) and a screw block (144); rotating the adjustment screw (142) can drive the connecting block (143) to move, thereby changing the position of the abutting wheel (123) in the horizontal direction.

7. A method of using an underwater bridge pier damage detection device, comprising using the underwater bridge pier damage detection device as described in claim 6, characterized in that, Includes the following steps: S1. Frame installation and angle pre-adjustment: Unfold the variable frame (10) in the folded state and put it on the outside of the pier to be maintained; adjust the tilt angle of the abutment wheel (123) by operating the abutment adjustment mechanism (14); S2, Double locking and fixing: Operate the adjustment end (42) of the double locking mechanism (40) to drive the pull rod (43) to rotate, so that the two sliding seats (44) move towards each other, and simultaneously realize the locking and fixing of the detection mechanism (30) on the mounting base (20), and the engagement of the locking pin and the locking tooth (13) to make the variable frame (10) hug the pier; S3, Descending and Cleaning: The self-driven abutting wheel (123) of the abutting wheel mechanism (12) is activated by the central control mechanism (60). The device moves around the pier and downward under the drive of the inclined abutting wheel (123). When it reaches the underwater set position, the cleaning mechanism (50) is activated, so that the cleaning wiper (55) wipes and cleans the surface of the pier repeatedly. S4. Inspection Preparation and Intelligent Fitting: After cleaning is completed, the cleaning mechanism (50) stops working; the central control mechanism (60) controls the air supply device (31) to inflate the transparent inflatable membrane (32); the swing arm (343) of the expansion sensing component (34) swings with the expansion of the inflatable membrane (32), and the rotary encoder (342) detects the angle of the swing arm in real time; the central control mechanism (60) determines whether the inflatable membrane (32) has expanded to the predetermined shape according to the swing arm angle signal, and controls the air supply device (31) to stop inflating when the predetermined shape is reached, so that the inflatable membrane (32) fits tightly against the surface of the pier to form a transparent observation cavity; S5. Image acquisition and position migration: While the inflatable membrane (32) is in place, control the camera (33) to acquire images of the pier surface; after the position detection is completed, control the air supply device (31) to suck in air, so that the inflatable membrane (32) shrinks and separates from the pier surface; start the abutment wheel mechanism (12) again to move the device to the next station.

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