Underwater Crack Detection Device and Method

Abstract

This invention provides an underwater crack detection device and method. The underwater crack detection device includes a positioning cylinder, a water-blocking mechanism, an adsorption mechanism, and a detection module. Compared with existing technologies, the underwater crack detection device provided by this invention, through the vertical setting of the positioning cylinder, ensures that the detection module remains perpendicular to the surface of the bridge pile foundation to be inspected, guaranteeing the accuracy of the detection angle and avoiding detection errors caused by angle deviation. The water-blocking mechanism, through multiple extendable folding telescopic parts and a flexible waterproof layer, effectively blocks the interference of water flow on the detection area, creating a stable detection environment for the detection module. The adsorption part of the adsorption mechanism is located at the extended end of the folding telescopic parts, which can firmly fix the device to the surface of the bridge pile foundation, ensuring the stability of the device even under strong water flow, thereby improving the accuracy and reliability of the detection. This combined design enables the device to work stably in complex underwater environments.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater detection, and particularly relates to an underwater crack detection device and method. BACKGROUND

[0002] Underwater crack detection is a technology for identifying surface or internal cracks of underwater structures (such as offshore platforms, bridge pile foundations, reservoir dams, etc.), and is widely used in the fields of marine engineering, bridge construction, water conservancy and hydropower, etc. The underwater detection device is a device for detecting and monitoring the underwater environment and objects, generally including a sonar, an underwater camera, an underwater laser radar, etc. The underwater camera collects underwater light radiation through a lens and converts it into an image signal, and can obtain the image of the underwater target in real time.

[0003] In the prior art, when the underwater crack of the bridge pile foundation is detected by the underwater camera, the underwater camera detects the crack by underwater visual detection. The flow disturbance will affect the imaging quality, equipment stability and crack recognition accuracy. The flow velocity gradient changes will cause uneven water density, irregular refraction of light when passing through, and the shape and position of the crack will be distorted in the image (for example, a straight crack is imaged as a curved line). The thrust of the flow will also cause the underwater camera to translate or rotate, resulting in rapid changes in the camera angle of view, and the crack target may move out of the picture or fail to focus (for example, the crack detection requires the lens to be perpendicular to the structure surface, and the flow deviation will cause the shooting angle to deviate). A waterproof cover is generally used for water separation operation, but the waterproof cover is difficult to accurately fix at the detection position during underwater transportation due to the influence of the flow, and has poor adaptability and poor practicality. SUMMARY

[0004] The underwater crack detection device and method provided by the embodiments of the application can solve the problem of poor adaptability and poor practicality caused by flow disturbance when the underwater crack is detected by the underwater camera.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the application is as follows: a kind of underwater crack detection device and method are provided, and the underwater crack detection device comprises:

[0006] The positioning cylinder can be arranged vertically with the surface of the bridge pile foundation to be detected, and the positioning cylinder has a detection cylinder cavity.

[0007] The water blocking mechanism is arranged on the positioning cylinder, and has a plurality of folding telescopic parts capable of extending radially along the positioning cylinder. The plurality of folding telescopic parts are annularly and spacedly arranged along the axis of the positioning cylinder. A spacing space is formed between any two folding telescopic parts. The water blocking mechanism is provided with a flexible waterproof layer. The flexible waterproof layer is arranged on each spacing space. When each folding telescopic part extends and unfolds, the flexible waterproof layer is arranged on each spacing space. When each folding telescopic part is retracted and stored, the flexible waterproof layer is retracted into each spacing space.

[0008] The adsorption mechanism is provided with a plurality of adsorption parts. Each adsorption part is arranged corresponding to the corresponding folding telescopic part. Each adsorption part is arranged on the extending end of the folding telescopic part. Each adsorption part is used for adsorbing on the surface of the bridge pile foundation.

[0009] The detection module is arranged in the detection cylinder cavity and is used for detecting the surface of the bridge pile foundation to be detected.

[0010] In a possible implementation, the water blocking mechanism comprises:

[0011] The plurality of connecting rod telescopic frames are annularly and spacedly arranged along the axis of the positioning cylinder. Each connecting rod telescopic frame has two hinged driving parts and one hinged extending part. When the distance between the two hinged driving parts is reduced, the hinged extending part extends outward. The connecting rod telescopic frame is the folding telescopic part.

[0012] The driving assembly has two sliding parts which are slidably arranged on the outer side wall of the positioning cylinder along the axis direction of the positioning cylinder. The two sliding parts are spacedly arranged along the axis direction of the positioning cylinder. The two sliding parts are hinged with the two hinged driving parts of each connecting rod telescopic frame.

[0013] The flexible waterproof cloth is arranged on the plurality of connecting rod telescopic frames. The flexible waterproof cloth is the flexible waterproof layer.

[0014] The outer side wall of the positioning cylinder is provided with a sliding rail for the sliding of the two sliding parts.

[0015] In a possible implementation, the two sliding parts of the driving assembly are respectively a first sliding seat and a second sliding seat. The first sliding seat is slidably arranged on the outer side wall of the positioning cylinder along the axis direction of the positioning cylinder. The second sliding seat is slidably arranged on the outer side wall of the positioning cylinder along the axis direction of the positioning cylinder and is spacedly arranged along the axis direction of the positioning cylinder with the first sliding seat.

[0016] In a possible implementation, each connecting rod telescopic frame comprises:

[0017] a first driving rod, one end of which is hingedly connected to the first sliding seat, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, and the other end of which extends outward along the radial direction of the detection cylinder cavity;

[0018] a second driving rod, one end of which is hingedly connected to the second sliding seat, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, and the other end of which is hingedly connected to the middle section of the first driving rod;

[0019] an auxiliary driving rod, one end of which is hingedly connected to the middle section of the second driving rod, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, and the other end of which extends outward along the radial direction of the detection cylinder cavity;

[0020] an auxiliary connecting rod, one end of which is hingedly connected to the extending end of the auxiliary driving rod, and the other end of which is hingedly connected to the extending end of the first driving rod, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis;

[0021] an elastic rod, which penetrates through the first driving rod, one end of which is hingedly connected to the section of the auxiliary driving rod close to the hinging end of the auxiliary connecting rod, the middle section of which is fixedly connected to the auxiliary connecting rod, and the other end of which extends outward;

[0022] an extending rod, one end of which is hingedly connected to the extending end of the elastic rod, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, and the other end of which extends outward.

[0023] In a possible implementation, the adsorption mechanism comprises:

[0024] a plurality of hinging seats, each of which is arranged corresponding to each of the extending rods, and each of which is hingedly connected to the extending end of the corresponding extending rod, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis;

[0025] a plurality of suction cups, each of which is arranged corresponding to each of the hinging seats, and each of which is fixedly arranged on the corresponding hinging seat, and each of which is connected to a gas supply unit, and the suction cup is the adsorption part.

[0026] In a possible implementation, the adsorption mechanism further comprises a positioning adsorption seat, which is arranged at one end of the positioning cylinder, and is used for abutting against the surface of the bridge pile foundation to be detected, and is connected to a gas supply unit.

[0027] In a possible implementation, the underwater crack detection device further comprises a plurality of flow guide structures, each of the flow guide structures is arranged corresponding to each of the extension rods, each of the flow guide structures is hinged on the middle section of the extension rod, and each of the flow guide structures comprises:

[0028] a hinged connecting rod, a hinged block is arranged on the hinged connecting rod, the hinged block is located on the middle section of the hinged connecting rod, the hinged block is hinged on the middle section of the extension rod, and a hinged axis is arranged in a tangential direction of the detection cylinder cavity axis;

[0029] two flow guide plates, the two flow guide plates are hinged on the two sides of the hinged connecting rod respectively, and the hinged axes of the flow guide plates are arranged in the extension direction of the hinged connecting rod;

[0030] two first torsion springs, the two first torsion springs are arranged corresponding to the two flow guide plates, and each of the first torsion springs is used to make the corresponding flow guide plate have a tendency to always expand.

[0031] In a possible implementation, the underwater crack detection device further comprises a flow guide cover plate, the flow guide cover plate is slidingly arranged on the positioning cylinder, and the flow guide cover plate comprises:

[0032] a cover plate sliding seat, the cover plate sliding seat is slidingly arranged on the positioning cylinder in the axis direction of the detection cylinder cavity;

[0033] a plurality of hinged beams, the hinged beams are annularly and spacedly arranged along the axis of the detection cylinder cavity, one end of each of the hinged beams is hinged on the cover plate sliding seat, and the other end of each of the hinged beams extends in the radial direction of the detection cylinder cavity;

[0034] a plurality of fan-shaped cover plate groups, each of the fan-shaped cover plate groups is arranged corresponding to each of the hinged beams, each of the fan-shaped cover plate groups comprises two fan-shaped plates, the two fan-shaped plates are hinged on the two sides of the hinged beam respectively, and the hinged axes of the fan-shaped plates are arranged in the extension direction of the hinged beam;

[0035] two second torsion springs, the two second torsion springs are arranged corresponding to the two fan-shaped plates, and each of the second torsion springs is used to make the corresponding fan-shaped plate have a tendency to always expand.

[0036] In a possible implementation, the positioning cylinder is provided with a shock absorption structure, and the shock absorption structure comprises:

[0037] a reset cylinder, the reset cylinder is coaxially arranged in the detection cylinder cavity, and the reset cylinder is arranged in a spaced manner with the positioning cylinder;

[0038] The reset spring is provided with a plurality of reset springs, each of which is arranged between the reset cylinder and the positioning cylinder, and is used to make the axis of the reset cylinder have a tendency to always be collinear with the axis of the positioning cylinder.

[0039] In one possible implementation, the underwater crack detection method comprising the underwater crack detection device includes the following steps:

[0040] The underwater crack detection device is moved to the surface of the bridge pile foundation to be detected by the underwater robot;

[0041] The positioning cylinder is abutted at the detection point, and then each folding and stretching part of the water blocking mechanism is unfolded, and the adsorption part on each folding and stretching part is attached to the surface of the bridge pile foundation;

[0042] The adsorption mechanism is fixed in position, and after the adsorption mechanism is determined in position, the water flow is blocked by the flexible waterproof layer of the water blocking mechanism;

[0043] The underwater camera is moved to the surface of the bridge pile foundation to be detected by the underwater robot, and the underwater camera is inserted into the detection cylinder cavity;

[0044] The underwater camera is controlled to move in the detection cylinder cavity towards the surface of the bridge pile foundation to be detected for detection.

[0045] Compared with the prior art, in the present implementation, the detection module can be kept perpendicular to the surface of the bridge pile foundation to be detected by the vertical positioning cylinder, ensuring the accuracy of the detection angle and avoiding detection errors caused by angle deviation. The water blocking mechanism effectively blocks the water flow interference to the detection area by the multiple extendable folding and stretching parts and the flexible waterproof layer, creating a stable detection environment for the detection module. The adsorption part of the adsorption mechanism is arranged at the extending end of the folding and stretching part, which can firmly fix the device on the surface of the bridge pile foundation, ensuring the stability of the device even in the case of strong water flow, thereby improving the detection accuracy and reliability. This combined design enables the device to work stably in complex underwater environments, effectively solving the influence of water flow disturbance on detection in the prior art, improving the accuracy and stability of underwater crack detection, and having good adaptability and practicality. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 Structure diagram of the underwater crack detection device provided by the embodiment of the present application Figure 1 ;

[0047] Figure 2 Structure diagram of the underwater crack detection device provided by the embodiment of the present application Figure 2 ;

[0048] Figure 3 For Figure 2 An enlarged structural schematic view at A in the figure;

[0049] Figure 4 A structural schematic view of a flow guide cover plate of an underwater crack detection device provided by an embodiment of the present application;

[0050] Figure 5 A top view structural schematic view of a positioning cylinder of an underwater crack detection device provided by an embodiment of the present application;

[0051] Figure 6 A step schematic view of an underwater crack detection method provided by an embodiment of the present application.

[0052] Legend of reference signs:

[0053] 10, positioning cylinder; 11, reset cylinder; 12, reset spring; 20, water blocking mechanism; 21, connecting rod telescopic frame; 211, first driving rod; 212, second driving rod; 213, auxiliary driving rod; 214, auxiliary connecting rod; 215, elastic rod; 216, extending rod; 22, driving assembly; 221, first sliding seat; 222, second sliding seat; 23, flexible waterproof cloth; 30, adsorption mechanism; 31, hinged seat; 32, suction cup; 33, positioning adsorption seat; 40, flow guide structure; 41, hinged connecting rod; 42, flow guide plate; 50, flow guide cover plate; 51, cover plate sliding seat; 52, hinged beam; 53, fan-shaped cover plate group; 531, fan-shaped plate. DETAILED DESCRIPTION

[0054] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0055] It should be noted that the terms "length", "width", "height", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0056] It also needs to be explained that unless there is an explicit provision and limitation, the terms such as "installation", "connection", "fixation", "arrangement" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated. It can be mechanical connection, or electrical connection. It can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements or interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In addition, the meaning of "multiple", "several" is two or more, unless otherwise explicitly specified.

[0058] Please refer to Figures 1 to 6 , the underwater crack detection device and method provided by the present application will be described. The underwater crack detection device comprises a positioning cylinder 10, a water blocking mechanism 20, an adsorption mechanism 30 and a detection module. The positioning cylinder 10 can be arranged vertically on the surface of the bridge pile foundation to be detected, and the positioning cylinder 10 has a detection cylinder cavity. The water blocking mechanism 20 is arranged on the positioning cylinder 10, and the water blocking mechanism 20 has a plurality of folding and telescopic parts which can extend radially along the positioning cylinder 10. The plurality of folding and telescopic parts are arranged in a ring shape along the axis of the positioning cylinder 10. The space between any two folding and telescopic parts forms a spacing space. The water blocking mechanism 20 is provided with a flexible waterproof layer, and the flexible waterproof layer is arranged on each spacing space. When each folding and telescopic part is extended and unfolded, the flexible waterproof layer is arranged on each spacing space. When each folding and telescopic part is retracted and stored, the flexible waterproof layer is retracted into each spacing space. The adsorption mechanism 30 is provided with a plurality of adsorption parts, each adsorption part is arranged corresponding to the corresponding folding and telescopic part, and each adsorption part is arranged on the extension end of the folding and telescopic part. Each adsorption part is used for adsorbing on the surface of the bridge pile foundation. The detection module is arranged in the detection cylinder cavity, and the surface of the bridge pile foundation to be detected is detected.

[0059] The underwater crack detection device provided in this embodiment, compared with the prior art, ensures that the detection module remains perpendicular to the surface of the bridge pile foundation to be detected by vertically setting the positioning cylinder 10, thus guaranteeing the accuracy of the detection angle and avoiding detection errors caused by angle deviation. The water-blocking mechanism 20, through multiple extendable folding telescopic parts and a flexible waterproof layer, effectively blocks the interference of water flow on the detection area, creating a stable detection environment for the detection module. The adsorption part of the adsorption mechanism 30 is located at the extended end of the folding telescopic parts, which can firmly fix the device to the surface of the bridge pile foundation, ensuring the stability of the device even under strong water flow, thereby improving the accuracy and reliability of the detection. This combined design enables the device to work stably in complex underwater environments, effectively solving the problem of water flow disturbance affecting the detection in the prior art, improving the accuracy and stability of underwater crack detection, and demonstrating good adaptability and practicality.

[0060] In some embodiments, the water-blocking mechanism 20 may employ, for example... Figure 2 The structure shown. See also Figure 2 The water-blocking mechanism 20 includes a linkage telescopic frame 21, a drive assembly 22, and a flexible waterproof cloth 23. Multiple linkage telescopic frames 21 are provided, arranged annularly at intervals along the axis of the positioning cylinder 10. Each linkage telescopic frame 21 has two hinged drive parts and one hinged extension part. The hinged extension part extends outward when the distance between the two hinged drive parts decreases; the linkage telescopic frame 21 is a folding telescopic part. The drive assembly 22 has two sliding parts slidably disposed on the outer wall of the positioning cylinder 10 along the axial direction of the positioning cylinder 10. The two sliding parts are spaced apart along the axial direction of the positioning cylinder 10, and both sliding parts are hinged to the two hinged drive parts of each linkage telescopic frame 21. The flexible waterproof cloth 23 covers the multiple linkage telescopic frames 21, and the flexible waterproof cloth 23 is a flexible waterproof layer.

[0061] The outer wall of the positioning cylinder 10 is provided with a slide rail for the two sliding parts to slide.

[0062] The water blocking mechanism 20 composed of the link telescopic frame 21, the driving assembly 22 and the flexible waterproof cloth 23 has strong flexibility and adaptability. The link telescopic frame 21 can flexibly adjust the extension length and angle of the folding telescopic part according to different pile foundation surface shapes and detection requirements through the cooperation of multiple hinged components, and better fit the pile foundation surface. The two sliding parts of the driving assembly 22 are hinged with the link telescopic frame 21, which can accurately control the unfolding and contraction of the link telescopic frame 21, making the operation of the water blocking mechanism 20 more stable and reliable. The flexible waterproof cloth 23 can effectively cover the interval space and block the water flow when the link telescopic frame 21 is unfolded. When the link telescopic frame 21 is contracted, it can be conveniently stored in the interval space without affecting the operation of other devices. This design not only ensures the water blocking effect, but also does not affect the overall mobility of the device, improving the adaptability of the device in different underwater environments.

[0063] In some embodiments, the above-mentioned driving assembly 22 can adopt the structure as shown in Figure 2 . Referring to Figure 2 , the two sliding parts of the driving assembly 22 are respectively the first sliding seat 221 and the second sliding seat 222. The first sliding seat 221 is slidingly arranged on the outer sidewall of the positioning cylinder 10 along the axis direction of the positioning cylinder 10. The second sliding seat 222 is slidingly arranged on the outer sidewall of the positioning cylinder 10 along the axis direction of the positioning cylinder 10 and is spaced apart from the first sliding seat 221 along the axis direction of the positioning cylinder 10.

[0064] The first sliding seat 221 and the second sliding seat 222 as the sliding parts of the driving assembly 22 can accurately slide along the axis direction of the positioning cylinder 10. They are hinged with the hinged driving parts of each link telescopic frame 21, and by controlling the distance change between the two sliding seats, the movement of the link telescopic frame 21 can be accurately controlled. This design makes the unfolding and contraction process of the water blocking mechanism 20 more stable, can flexibly adjust the state of the water blocking mechanism 20 according to the actual detection requirements, and improves the reliability and controllability of the water blocking mechanism 20. At the same time, the setting of the two sliding seats also makes the structure of the driving assembly 22 simpler, facilitating installation and maintenance.

[0065] In some embodiments, the above-mentioned link telescopic frame 21 can adopt the structure as shown in Figure 2 , Figure 3 . Referring to Figure 2 , Figure 3The first driving rod 211 is hingedly connected at one end to the first sliding seat 221, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, and the other end extends outward along the radial direction of the detection cylinder cavity. The second driving rod 212 is hingedly connected at one end to the second sliding seat 222, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, and the other end is hingedly connected to the middle section of the first driving rod 211. The auxiliary driving rod 213 is hingedly connected at one end to the middle section of the second driving rod 212, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, and the other end extends outward along the radial direction of the detection cylinder cavity. The auxiliary connecting rod 214 is hingedly connected at one end to the extending end of the auxiliary driving rod 213, and the section of the auxiliary connecting rod 214 close to the hinging end of the auxiliary driving rod 213 is hingedly connected to the extending end of the first driving rod 211, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis. The elastic rod 215 penetrates through the first driving rod 211, one end of the elastic rod 215 is hingedly connected to the section close to the hinging end of the auxiliary driving rod 213 and the auxiliary connecting rod 214, the middle section of the elastic rod 215 is fixedly connected to the auxiliary connecting rod 214, and the other end of the elastic rod 215 extends outward. The extending rod 216 is hingedly connected at one end to the extending end of the elastic rod 215, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, the section of the extending rod 216 close to the hinging end of the elastic rod 215 is hingedly connected to the auxiliary connecting rod 214, and the hinging axis is arranged along the tangential direction of the detection cylinder cavity axis, and the other end of the extending rod 216 extends outward.

[0066] The structure of the connecting rod telescopic frame 21 composed of the connecting rods, the elastic rod 215 and the extending rod 216 can effectively convert the driving force of the driving assembly 22 into the extending and retracting movement of the extending rod 216 through the multi-rod hinging mode, thereby ensuring the stability and reliability of the movement. The arrangement of the elastic rod 215 can not only provide certain buffering during the extending and retracting of the extending rod 216, thereby avoiding damage to the device due to rigid collision, but also can automatically adjust the position of the extending rod 216 according to the unevenness of the pile foundation surface, so that the adsorption part is better attached to the pile foundation surface. This structural design enables the connecting rod telescopic frame 21 to adapt to the complex and changeable underwater environment, thereby improving the adaptability and reliability of the device.

[0067] In some embodiments, the adsorption mechanism 30 described above can adopt the structure as shown in Figure 2 , Figure 3 . Referring to Figure 2 , Figure 3The adsorption mechanism 30 includes a plurality of hinged seats 31 and a plurality of suction cups 32. Each hinged seat 31 is arranged corresponding to each extension rod 216, and each hinged seat 31 is hinged to the extension end of the corresponding extension rod 216, with the hinged axis arranged along the tangential direction of the detection cylinder cavity axis. Each suction cup 32 is arranged corresponding to each hinged seat 31, and each suction cup 32 is fixed to the corresponding hinged seat 31. Each suction cup 32 is connected to the gas supply unit, and the suction cup 32 is the adsorption part.

[0068] The adsorption mechanism 30 composed of the hinged seats 31 and the suction cups 32 plays an important role in enhancing the stability and adaptability of adsorption. The hinged seats 31 are hinged to the extension end of the extension rod 216, which enables the suction cups 32 to flexibly adjust the angle within a certain range and better fit the different shapes and angles of the bridge pile foundation surface. No matter whether the pile foundation surface is flat, curved or has a certain inclination, the suction cups 32 can find the best adsorption position through the rotation of the hinged seats 31, thereby enhancing the stability of adsorption. The gas supply unit is connected to the suction cups 32, which can accurately control the air pressure in the suction cups 32 and realize the adjustment of adsorption force. Under different water flow velocities and water pressures, the adsorption effect of the suction cups 32 can be ensured by adjusting the gas supply, thereby improving the adaptability and controllability of the adsorption mechanism 30.

[0069] In some embodiments, the above-mentioned adsorption mechanism 30 can adopt the structure as shown in Figure 2 , Figure 3 . Referring to Figure 2 , Figure 3 , the adsorption mechanism 30 further includes a positioning adsorption seat 33, which is arranged at one end of the positioning cylinder 10. The positioning adsorption seat 33 is used to abut against the surface of the bridge pile foundation to be detected, and the positioning adsorption seat 33 is connected to the gas supply unit.

[0070] The positioning adsorption seat 33 is arranged at one end of the positioning cylinder 10, and it abuts against the surface of the bridge pile foundation to be detected first when the device is detecting, thereby playing the role of auxiliary initial positioning. It can help the device to quickly and accurately find the detection position, thereby improving the detection efficiency. At the same time, the positioning adsorption seat 33 also shares part of the adsorption force, together with the suction cups 32 on the extension rods 216, to firmly fix the device on the pile foundation surface. In the case of large water flow or uneven pile foundation surface, the presence of the positioning adsorption seat 33 can enhance the overall stability of the device, make the detection process more reliable, and reduce the detection errors caused by the shaking of the device.

[0071] In some embodiments, the above-mentioned underwater crack detection device can adopt the structure as shown in Figure 1 . Referring to Figure 1The underwater crack detection device further comprises a plurality of flow guiding structures 40, each of which is arranged corresponding to each of the extension rods 216, and each of which is hinged to the middle section of the extension rod 216. Each of the flow guiding structures 40 comprises a hinged connecting rod 41, a flow guiding plate 42, and a first torsion spring. The hinged connecting rod 41 is provided with a hinge block at the middle section thereof, which is hinged to the middle section of the extension rod 216, and the hinge axis is arranged along the tangential direction of the detection cylinder cavity axis. The flow guiding plate 42 is provided with two, which are respectively hinged to the two sides of the hinged connecting rod 41, and the hinge axis of each of the flow guiding plates 42 is arranged along the extension direction of the hinged connecting rod 41. The first torsion spring is provided with two, which are arranged corresponding to the two flow guiding plates 42, and each of the first torsion springs is used to make the corresponding flow guiding plate 42 have a tendency to always expand.

[0072] The flow guiding structure 40 has a significant effect on reducing the impact force of water flow, protecting the device, and optimizing the detection environment. The combination of the hinged connecting rod 41 and the flow guiding plate 42 can automatically adjust the angle of the flow guiding plate 42 according to the direction and speed of the water flow, effectively change the direction of the water flow, make the water flow around the device, and reduce the impact force on the device. The function of the first torsion spring is to keep the flow guiding plate 42 always in an expanded state, ensuring the effectiveness of the flow guiding structure 40. In the case of large changes in water flow, the first torsion spring can quickly restore the flow guiding plate 42 to the optimal flow guiding angle, ensuring the stability of the flow guiding structure 40. Through the action of the flow guiding structure 40, not only the device is protected from the direct impact of water flow, prolonging the service life of the device, but also the detection environment is optimized, reducing the interference of water flow on the detection result, and improving the accuracy of detection.

[0073] In some embodiments, the above-mentioned underwater crack detection device can adopt the structure as shown in Figure 1 , Figure 4 . Referring to Figure 1 , Figure 4The underwater crack detection device further comprises a flow guide cover plate 50 slidingly arranged on the positioning cylinder 10. The flow guide cover plate 50 comprises a cover plate sliding seat 51, a hinged beam 52, a plurality of fan-shaped cover plate groups 53, and a second torsion spring. The cover plate sliding seat 51 is slidingly arranged on the positioning cylinder 10 along the axis direction of the detection cylinder cavity. The hinged beam 52 is provided with a plurality of hinged beams 52, which are annularly and spacedly arranged along the axis of the detection cylinder cavity. One end of each hinged beam 52 is hinged to the cover plate sliding seat 51, and the other end of each hinged beam 52 extends along the radial direction of the detection cylinder cavity. The fan-shaped cover plate group 53 is provided with a plurality of groups of fan-shaped cover plates, each group of fan-shaped cover plates being arranged corresponding to each hinged beam 52. Each fan-shaped cover plate group 53 comprises two fan-shaped plates 531 hinged to the two sides of the hinged beam 52 respectively. The hinged axis of each fan-shaped plate 531 is arranged along the extension direction of the hinged beam 52. The second torsion spring is provided with two second torsion springs arranged corresponding to the two fan-shaped plates 531. Each second torsion spring is used to make the corresponding fan-shaped plate 531 have a tendency to always unfold.

[0074] The flow guide cover plate 50 is of great significance in optimizing the water flow environment, protecting the detection module, and improving the overall performance of the device. The cover plate sliding seat 51, the hinged beam 52, the fan-shaped cover plate group 53, and the second torsion spring work together. When the water flow impacts the device, the fan-shaped cover plate group 53 unfolds under the action of the second torsion spring, blocks the water flow from impacting the detection cylinder cavity, and protects the detection module from the direct impact of the water flow. At the same time, the flow guide cover plate 50 can also guide the water flow for the second time, further optimizing the water flow environment and reducing the interference of the water flow on the device. When the device is moving or does not need to be detected, the flow guide cover plate 50 can be stored through the sliding of the cover plate sliding seat 51, without affecting other operations of the device. This design improves the overall performance and adaptability of the device, enabling the device to work in more severe underwater environments.

[0075] In some embodiments, the above-mentioned positioning cylinder 10 can adopt a structure as shown in Figure 5 . Referring to Figure 5 , the positioning cylinder 10 is provided with a shock absorption structure. The shock absorption structure comprises a reset cylinder 11 and a plurality of reset springs 12. The reset cylinder 11 is coaxially arranged in the detection cylinder cavity, and the reset cylinder 11 is arranged in a spaced manner with the positioning cylinder 10. The reset spring 12 is provided with a plurality of reset springs 12, each of which is arranged between the reset cylinder 11 and the positioning cylinder 10. The reset spring 12 is used to make the axis of the reset cylinder 11 have a tendency to always be collinear with the axis of the positioning cylinder 10.

[0076] The shock absorption structure plays a key role in reducing the impact of underwater vibration on the detection module, ensuring detection accuracy and equipment life. The shock absorption cylinder and the reset spring 12 work together to effectively buffer the impact of underwater vibration on the detection module. When the device is subjected to vibration, the shock absorption cylinder can displace relative to the positioning cylinder 10 under the action of the reset spring 12, absorb vibration energy, and reduce the vibration received by the detection module to a minimum. This not only ensures that the detection module can work stably in a vibrating environment, improves detection accuracy, but also reduces damage to internal components of the detection module, prolongs the service life of the equipment, and reduces the maintenance cost of the equipment.

[0077] In some embodiments, the above-mentioned underwater crack detection method can adopt the steps as shown in Figure 6 . Referring to Figure 6 , the steps include: fixing preparation, positioning cylinder 10 position determination, adsorption mechanism 30 position fixation, underwater camera detection preparation, and underwater camera detection. The fixing preparation is to move the underwater crack detection device carried by the underwater robot to the surface of the bridge pile foundation to be detected. The positioning cylinder 10 position determination is to abut the positioning cylinder 10 at the detection point, and then expand each folding and telescopic part of the water blocking mechanism 20, and the adsorption part on each folding and telescopic part is attached to the surface of the bridge pile foundation. The adsorption mechanism 30 position fixation is to block the water flow by the flexible waterproof layer of the water blocking mechanism 20 after the adsorption mechanism 30 position is determined. The underwater camera detection preparation is to move the underwater camera carried by the underwater robot to the surface of the bridge pile foundation to be detected, and insert the underwater camera into the detection cylinder cavity. The underwater camera detection is to control the underwater camera to move in the detection cylinder cavity towards the surface of the bridge pile foundation to be detected for detection.

[0078] The underwater crack detection method fully utilizes the functions of each part of the device through multiple steps of orderly operation. First, the underwater robot accurately transports the device to the detection position, providing a basis for subsequent operations. Then, through the cooperative work of the positioning cylinder 10, the water blocking mechanism 20 and the adsorption mechanism 30, the stable fixation of the device on the pile foundation surface and the water flow blocking are realized, creating good conditions for the detection of the underwater camera. Finally, the underwater camera detects in the detection cylinder cavity, which can obtain high-quality crack images and data. This method can effectively improve the detection efficiency and accuracy, reduce errors and interference in the detection process, and provide an efficient and reliable operation process for underwater crack detection.

[0079] The working process of the underwater crack detection device provided by the embodiment is as follows: in the preparation stage, first, the operator formulates a detailed detection plan according to the position of the bridge pile foundation to be detected and the underwater environmental information, including the travel route of the underwater robot, the debugging parameters of the detection device and the like. Then, the underwater crack detection device is stably connected with the underwater robot to ensure the safety and stability of the device during transportation. The underwater robot is started, and each function of the underwater robot is comprehensively checked, such as the power system, the propeller, the sensor, the communication module and the like, to ensure that the robot can work normally. At the same time, the underwater crack detection device is preliminarily debugged, and the perpendicularity of the positioning cylinder 10, the folding and stretching function of the water blocking mechanism 20, the adsorption force of the adsorption mechanism 30 and the working state of the detection module are checked, to ensure that each part of the device is in good working condition. Then, the underwater robot carries the underwater crack detection device and moves along the preset route to the surface of the bridge pile foundation to be detected. During the movement, the underwater robot uses the sonar, camera and other sensors carried by the underwater robot to perceive the surrounding underwater environment in real time, to avoid obstacles and ensure safe arrival at the detection position. In the positioning and fixing stage, when the underwater robot carrying the detection device reaches the vicinity of the surface of the bridge pile foundation to be detected, the positioning cylinder 10 is accurately butted against the detection point by the high-precision positioning system. At this time, the drive assembly 22 of the water blocking mechanism 20 is started, so that the two sliding parts (the first sliding seat 221 and the second sliding seat 222) slide relative to each other along the axis direction of the positioning cylinder 10. With the sliding of the sliding parts, the interval between the two hinge driving parts of the hinge telescopic frame 21 connected with the sliding parts is reduced, so that the hinge extending part (the extending rod 216) extends outward, and the plurality of hinge telescopic frames 21 are synchronously unfolded. In the process that the extending rod 216 extends outward, the hinge seat 31 of the adsorption mechanism 30 moves together with the extending rod 216, and the suction cup 32 gradually approaches the surface of the bridge pile foundation. When the suction cup 32 contacts the surface of the pile foundation, the gas supply unit supplies gas into the suction cup 32, so that negative pressure is formed in the suction cup 32, and the suction cup 32 is tightly adsorbed on the surface of the bridge pile foundation. At the same time, the positioning adsorption seat 33 is also butted against the surface of the bridge pile foundation to be detected, to assist the device in initial positioning and share part of the adsorption force. After each adsorption part is attached to the surface of the bridge pile foundation, the flexible waterproof cloth 23 of the water blocking mechanism 20 is laid on each interval space under the action of the unfolding of the hinge telescopic frame 21, to form an effective water blocking barrier to block the interference of the water flow on the detection area. The two sliding parts (the first sliding seat 221 and the second sliding seat 222) can be driven by the underwater robot, or can be driven by the driving unit such as a rodless motor and a hydraulic cylinder. In the detection stage, after the device is positioned and fixed, the underwater robot carries the underwater camera and moves to the position of the surface of the bridge pile foundation to be detected, and inserts the underwater camera into the detection cylinder cavity. The underwater camera establishes a communication connection with the detection module and receives the control instruction. The control unit sends a control instruction to control the underwater camera to move in the detection cylinder cavity towards the surface of the bridge pile foundation to be detected.During the movement, the underwater camera uses its high-definition lens and advanced image sensor to collect images row by row and column by column on the surface of the bridge pile foundation. The collected image data is transmitted in real time to the control center or data processing terminal on the water through the communication line. During the image collection process, if a large change in water flow speed or direction is detected, the flow guide structure 40 and the flow guide cover plate 50 will automatically function. The flow guide plate 42 of the flow guide structure 40 automatically adjusts the angle through the rotation of the hinged connecting rod 41 under the action of the water flow, changes the direction of the water flow, and reduces the impact force of the water flow on the device. The fan-shaped cover plate group 53 of the flow guide cover plate 50 expands under the action of the second torsional spring, further blocking the water flow impact detection cylinder cavity, protecting the underwater camera and detection module from the direct influence of the water flow, and ensuring the stability and accuracy of image collection. At the same time, the shock-absorbing structure in the positioning cylinder 10 also effectively buffers the underwater vibration, ensuring that the underwater camera works in a stable environment and improving the quality of image collection. In the end stage, after the underwater camera completes the image collection of the predetermined detection area, the control unit issues an instruction to stop the movement of the underwater camera and take it out of the detection cylinder cavity. Then, the gas supply unit releases gas into the suction cup 32, causing the suction cup 32 to detach from the adsorbed state on the surface of the bridge pile foundation. At the same time, the driving assembly 22 moves in reverse, causing the two sliding parts to slide back along the axis direction of the positioning cylinder 10, the interval between the hinged driving parts of the connecting rod telescopic bracket 21 increases, the extension rod 216 retracts inward for storage, and the flexible waterproof cloth 23 of the water blocking mechanism 20 is also retracted into the space as the interval space decreases. The underwater robot carrying the underwater crack detection device follows the preset return route and detaches from the surface of the bridge pile foundation and returns to the water surface or the designated recovery position. During the return process, the sensors carried by the underwater robot are used again to monitor the surrounding environment in real time to ensure safe return. After returning to the water surface or the recovery position, the detection device is detached from the underwater robot, and the device is cleaned, maintained, and inspected to prepare for the next detection task. At the same time, the image data collected by the underwater camera is further processed and analyzed, and image processing software and crack recognition algorithms are used to accurately measure and evaluate the parameters such as the position, length, width, and depth of the crack, and generate a detailed detection report.

[0080] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater crack detection device, characterized by, The utility model relates to a bridge pile foundation surface detection device, including: Positioning cylinder, with the bridge pile foundation surface to be detected vertical setting, the positioning cylinder has detection cylinder cavity; Water retaining mechanism, set up on the positioning cylinder, the water retaining mechanism has a plurality of can along the positioning cylinder radial stretch out folding telescopic part, a plurality of folding telescopic part along the axis of the positioning cylinder annular interval setting;Any two folding telescopic part forms interval space between, the water retaining mechanism is equipped with flexible waterproof layer, the flexible waterproof layer is in each interval space, the flexible waterproof layer is in each folding telescopic part stretch out and spread, when, the flexible waterproof layer is in each interval space, in each folding telescopic part retraction and is collected, the flexible waterproof layer is collected to each interval space of reducing in; Suction mechanism, be equipped with a plurality of suction part, each suction part with corresponding folding telescopic part corresponding setting, each suction part all sets up in the stretch out end of folding telescopic part, each suction part is used for adsorbing on the bridge pile foundation surface; Detection module, set up in the detection cylinder cavity, carries out detection to the bridge pile foundation surface to be detected; The water retaining mechanism includes: Connecting rod telescopic frame, be equipped with a plurality of, a plurality of connecting rod telescopic frame along the axis of the positioning cylinder annular interval setting, each connecting rod telescopic frame all has two articulated drive parts and one articulated stretch out part, each connecting rod telescopic frame is used for when the interval of two articulated drive parts reduces, make articulated stretch out part outward stretch out, the connecting rod telescopic frame is folding telescopic part; Driving assembly, have two along the positioning cylinder axis direction sliding setting in the outer lateral wall of the positioning cylinder, two sliding parts along the axis direction interval of the positioning cylinder setting, two sliding parts all with two articulated drive parts of each connecting rod telescopic frame articulate; Flexible waterproof cloth, cover sets up in a plurality of connecting rod telescopic frame, the flexible waterproof cloth is the flexible waterproof layer; Wherein, the outer lateral wall of the positioning cylinder is equipped with the slide rail of two sliding parts sliding.

2. The underwater crack detection apparatus of claim 1, wherein Two sliding parts of the driving assembly are first sliding seat and second sliding seat respectively;The first sliding seat along the axis direction of the positioning cylinder sliding setting in the outer lateral wall of the positioning cylinder;The second sliding seat along the axis direction of the positioning cylinder sliding setting in the outer lateral wall of the positioning cylinder, and with the first sliding seat along the axis direction interval of the positioning cylinder setting.

3. The apparatus of claim 2, wherein, Each connecting rod telescopic frame includes: First drive rod, one end articulates in the first sliding seat, articulation axis along the tangent direction of the axis of the detection cylinder cavity setting, the other end along the radial direction of the detection cylinder cavity outward stretch out; Second drive rod, one end articulates in the second sliding seat, articulation axis along the tangent direction of the axis of the detection cylinder cavity setting, the other end articulates in the middle section of the first drive rod; Auxiliary drive rod, one end articulates in the middle section of the second drive rod, articulation axis along the tangent direction of the axis of the detection cylinder cavity setting, the other end along the radial direction of the detection cylinder cavity outward stretch out; An auxiliary connecting rod is hinged to an extending end of the auxiliary driving rod, and a section of the auxiliary connecting rod close to the hinged end of the auxiliary driving rod is hinged to an extending end of the first driving rod, and the hinged axis is arranged along a tangent direction of the cavity axis of the detection cylinder; An elastic rod is arranged through the first driving rod, one end of the elastic rod is hinged to a section of the auxiliary driving rod close to the hinged end of the auxiliary connecting rod, a middle section of the elastic rod is fixedly connected to the auxiliary connecting rod, and the other end of the elastic rod extends outward; An extending rod is hinged to an extending end of the elastic rod, the hinged axis is arranged along a tangent direction of the cavity axis of the detection cylinder, a section of the extending rod close to the hinged end of the elastic rod is hinged to the auxiliary connecting rod, the hinged axis is arranged along a tangent direction of the cavity axis of the detection cylinder, and the other end of the extending rod extends outward.

4. The apparatus of claim 3, wherein, The adsorption mechanism comprises: A plurality of hinged seats are arranged, each hinged seat is arranged corresponding to each extending rod, each hinged seat is hinged to an extending end of the corresponding extending rod, and the hinged axis is arranged along a tangent direction of the cavity axis of the detection cylinder; A plurality of suction cups are arranged, each suction cup is arranged corresponding to each hinged seat, each suction cup is fixedly arranged on the corresponding hinged seat, each suction cup is connected to a gas supply unit, and the suction cup is the adsorption part.

5. The apparatus of claim 4, wherein, The adsorption mechanism further comprises a positioning adsorption seat, the positioning adsorption seat is arranged at one end of the positioning cylinder, the positioning adsorption seat is used for abutting against the surface of the bridge pile to be detected, and the positioning adsorption seat is connected to a gas supply unit.

6. The apparatus of claim 3, wherein, The underwater crack detection device further comprises a plurality of flow guide structures, each flow guide structure is arranged corresponding to each extending rod, each flow guide structure is hinged to a middle section of the extending rod, and each flow guide structure comprises: A hinged connecting rod is provided with a hinged block, the hinged block is located at a middle section of the hinged connecting rod, the hinged block is hinged to a middle section of the extending rod, and the hinged axis is arranged along a tangent direction of the cavity axis of the detection cylinder; Two flow guide plates are arranged, the two flow guide plates are respectively hinged to two sides of the hinged connecting rod, and the hinged axes of the flow guide plates are arranged along the extension direction of the hinged connecting rod; Two first torsion springs are arranged, the two first torsion springs are arranged corresponding to the two flow guide plates, and each first torsion spring is used for making the corresponding flow guide plate have a tendency to always expand.

7. The underwater crack detection apparatus of claim 1, wherein The underwater crack detection device further comprises a flow guide cover plate, the flow guide cover plate is slidingly arranged on the positioning cylinder, and the flow guide cover plate comprises: A cover plate sliding seat is slidingly arranged on the positioning cylinder along the axis direction of the detection cylinder cavity; A plurality of hinged beams are arranged, each hinged beam is annularly and interval ly arranged along the axis of the detection cylinder cavity, one end of each hinged beam is hinged to the cover plate sliding seat, and the other end of each hinged beam extends along the radial direction of the detection cylinder cavity. The fan-shaped cover plate group is provided with multiple groups, each group of the fan-shaped cover plate is correspondingly arranged with each of the articulated beams, each of the fan-shaped cover plate groups comprises two fan-shaped plates, and the two fan-shaped plates are respectively articulated on both sides of the articulated beam. The articulated axis of each of the fan-shaped plates is arranged along the extension direction of the articulated beam; The second torsion spring is provided with two, and the two second torsion springs are correspondingly arranged with the two fan-shaped plates. Each of the second torsion springs is used to make the corresponding fan-shaped plate have a tendency to always expand.

8. The underwater crack detection apparatus of claim 1, wherein, The positioning cylinder is provided with a shock absorption structure, and the shock absorption structure comprises: The reset cylinder is coaxially arranged in the detection cylinder cavity, and the reset cylinder is arranged in the positioning cylinder. The reset spring is provided with multiple, each of the reset springs is arranged between the reset cylinder and the positioning cylinder, and the reset spring is used to make the axis of the reset cylinder have a tendency to always be collinear with the axis of the positioning cylinder.

9. An underwater crack detection method, comprising the underwater crack detection device according to any one of claims 1-8, and the steps comprising: Fixed preparation, the underwater crack detection device is carried by the underwater robot to move to the surface of the bridge pile foundation to be detected; Positioning cylinder position determination, the positioning cylinder is abutted at the detection point, and then each of the folding and telescopic parts of the water blocking mechanism is unfolded, and the adsorption part on each of the folding and telescopic parts is attached to the surface of the bridge pile foundation; Adsorption mechanism position fixing, after the adsorption mechanism position is determined, the water flow is blocked by the flexible waterproof layer of the water blocking mechanism; Underwater camera detection preparation, the underwater camera is carried by the underwater robot to move to the surface of the bridge pile foundation to be detected, and the underwater camera is inserted into the detection cylinder cavity; Underwater camera detection, the underwater camera is controlled to move in the detection cylinder cavity to the direction of the surface of the bridge pile foundation to be detected for detection.

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