A sensor-based lock floor crack detection device

Abstract

The application discloses a kind of based on sensor's ship lock floor crack detection device, it is related to ship lock floor crack detection technical field, including vehicle body, the hanger ring is fixed in the vehicle body upper end face, driving mechanism is fixed in the vehicle body, driving mechanism is connected with walking mechanism installed on vehicle body, for driving walking mechanism to carry out sustained motion or intermittent motion by driving mechanism.This based on sensor's ship lock floor crack detection device, through the intermittent meshing transmission characteristics of incomplete gear, clever linkage walking mechanism and detection mechanism, realize the automation of alternate operation of equipment walking movement and crack scanning detection, equipment can first complete fixed point displacement by walking mechanism, after positioning detection area, it is automatically stopped moving, then triggers detection mechanism to complete sectorial arc scanning detection, without manual positioning, debugging equipment repeatedly, completely avoid the error and tedious process of manual operation, greatly improve the operation efficiency of large-area floor crack detection.

Description

Technical Field

[0001] This invention relates to the field of lock bottom plate crack detection technology, specifically a sensor-based lock bottom plate crack detection device. Background Technology

[0002] Ship locks are important hydraulic structures that ensure navigation on inland waterways. Their bottom slabs are submerged underwater for extended periods and are constantly subjected to various factors such as water flow erosion, ship loads, foundation settlement, and concrete freeze-thaw cycles, corrosion, and aging. This makes them highly susceptible to cracking. The formation and development of cracks can reduce the structural strength of the bottom slab, cause leakage risks, and even affect the overall safe and stable operation of the ship lock. Therefore, efficient and accurate detection of cracks in the bottom slab of the ship lock is a key aspect of ensuring the normal service and safe operation and maintenance of the ship lock.

[0003] Currently, the detection of cracks in the bottom plate of ship locks mostly relies on manual underwater inspection or traditional fixed inspection equipment, which has many drawbacks: 1. Manual underwater inspection is carried out in harsh environments with low underwater visibility, posing high risks to inspectors. Furthermore, manual inspection suffers from blind spots, poor accuracy, and low efficiency, making it difficult to achieve comprehensive and detailed inspection of the entire bottom plate. 2. Traditional testing equipment has a simple structure and function, with only basic detection capabilities. The bottom plate of the lock has long accumulated mud, silt and various impurities. The impurities cover the cracks in the bottom plate, making the detection probe easy to be contaminated by mud and sand, which seriously affects the detection accuracy and makes it easy to miss or misdetect.

[0004] 3. Existing testing equipment cannot achieve automated coordinated control of walking movement and scanning detection. Most of them require manual segmented positioning and repeated debugging of equipment positions. The testing process is cumbersome, with a low degree of automation. It is difficult to adapt to continuous testing operations on large-area lock bottom plates and cannot meet the current needs for routine, high-precision, and high-efficiency safety testing of lock bottom plates. Summary of the Invention

[0005] The purpose of this invention is to provide a sensor-based device for detecting cracks in the bottom plate of a lock, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a sensor-based lock bottom plate crack detection device, comprising a vehicle body, a lifting ring fixed to the upper end face of the vehicle body, a drive mechanism fixed inside the vehicle body, the drive mechanism being interconnected with a traveling mechanism mounted on the vehicle body, the drive mechanism being used to drive the traveling mechanism to perform continuous or intermittent movement, the drive mechanism being interconnected with a detection mechanism mounted on the vehicle body, the drive mechanism driving the detection mechanism to perform arc-shaped scanning detection when the traveling mechanism stops moving, the drive mechanism being interconnected with a cleaning mechanism mounted on the vehicle body, the cleaning mechanism being used to clean sludge and impurities from the surface of the lock bottom plate, an arc-shaped baffle fixed to the lower end face of the vehicle body being provided between the cleaning mechanism and the detection mechanism, with the convex side of the arc-shaped baffle facing the cleaning mechanism, and the arc-shaped baffle being made of rubber.

[0007] Preferably, a storage battery is fixed inside the vehicle body, and a communication module and a control module are also fixed inside the vehicle body. A searchlight and a camera are also fixed on the outside of the vehicle body. The storage battery can power the entire device, the communication module and the control module can provide a basic guarantee for the remote control of the device, and the searchlight and camera can provide a basic guarantee for the detection of the underwater environment.

[0008] Preferably, the driving mechanism includes an electric telescopic rod fixed inside the vehicle body, and a movable platform is fixed to the output end of the electric telescopic rod. The movable platform is slidably connected to the guide rail fixed to the vehicle body. A reduction motor is fixed to the movable platform, and a drive gear and an incomplete gear are fixed to the output end of the reduction motor. The movable platform is moved by the electric telescopic rod. With the sliding guidance between the movable platform and the guide rail, the stability of the movable platform's movement can be ensured, thus providing a basic guarantee for the position adjustment of the drive gear and the incomplete gear, and thus ensuring the normal operation of the device.

[0009] Preferably, the walking mechanism includes a first rotating shaft connected to the vehicle body by a bearing, and a walking wheel is fixed on the first rotating shaft. A driven gear is also fixed on the first rotating shaft. The driven gear meshes with the driving gear or an incomplete gear to achieve transmission. The meshing transmission between the driven gear and the driving gear can provide a basic guarantee for the continuous walking of the vehicle body. The meshing transmission between the driven gear and the incomplete gear can provide a basic guarantee for the intermittent walking of the vehicle body.

[0010] Preferably, the driven gear and the locking block are engaged, and a first spring is fixed between the locking block and the support plate. The support plate is fixed inside the vehicle body. A movable rod is also fixed on the locking block. The movable rod is slidably connected to the support plate, and it is also slidably connected to the bracket and the inclined block. The inclined block and the bracket are fixed to each other, and the bracket is fixed to the movable platform. With the above structure, a basic force can be provided for the positioning of the vehicle body when the vehicle body moves intermittently.

[0011] Preferably, the detection mechanism includes a reciprocating lead screw with a bearing connected to the vehicle body, and a first gear is fixed on the reciprocating lead screw. The first gear and the incomplete gear are meshed together. Through the meshing transmission between the first gear and the incomplete gear, a basic force can be provided for the intermittent rotation of the reciprocating lead screw.

[0012] Preferably, the reciprocating screw drives the movable block to reciprocate back and forth, and a sliding rod is fixed on the movable block. The sliding rod is slidably connected to the slide plate. At the same time, the slide plate is fixed to one end of the second rotating shaft. The second rotating shaft is connected to the vehicle body by a bearing, and a swing rod is fixed to the other end of the second rotating shaft. The movable block drives the sliding rod to move. In conjunction with the sliding action between the sliding rod and the slide plate, a basic force can be provided for the swing of the second rotating shaft and the swing rod, thereby ensuring the normal operation of the device.

[0013] Preferably, the swing arm and the vertical arm are slidably connected, and the vertical arm and the protective cover are fixed to each other. A second spring is fixed between the protective cover and the swing arm. Meanwhile, rolling balls are evenly installed on the lower end face of the protective cover. The balls are flush with the lower end face of the traveling wheel. An ultrasonic detector is fixed inside the protective cover, and the distance between the ultrasonic detector and the lower end face of the balls is 0.5cm-1.5cm. Through the function of the protective cover, the ultrasonic detector can be protected, and the mud and sand adhering to the surface of the ultrasonic detector can be avoided, which would affect the accuracy of the detection data.

[0014] Preferably, the cleaning mechanism includes a cam shaft fixed on an incomplete gear, and the cam shaft is slidably connected to the movable frame. The movable frame is also slidably connected to a guide block fixed in the vehicle body. A toothed plate is also fixed on the movable frame. The toothed plate meshes with a second gear, and the second gear is fixed on a third rotating shaft. The third rotating shaft is bearing-connected to the vehicle body. The incomplete gear drives the cam shaft to rotate. Combined with the sliding action between the cam shaft and the movable frame, it can provide a basic force for the reciprocating movement of the movable frame and the toothed plate. Furthermore, the meshing of the toothed plate with the second gear can provide a basic force for the rotation of the third rotating shaft.

[0015] Preferably, a mounting frame is fixed at equal angles on the third rotating shaft, and a round rod is slidably connected to the mounting frame. A third spring is fixed between the round rod and the mounting frame. A scraper is also fixed on the round rod. The lower end face of the scraper is flush with the lower end face of the traveling wheel. The mounting frame and the scraper are rotated by the third rotating shaft, which can provide a basic guarantee for cleaning mud and sand from the surface of the lock bottom plate.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This sensor-based lock bottom plate crack detection device cleverly links the traveling mechanism and the detection mechanism through the intermittent meshing transmission characteristics of incomplete gears, achieving automated alternating operation of equipment movement and crack scanning detection. The equipment can first complete fixed-point displacement through the traveling mechanism, locate the detection area, and then automatically stop moving, triggering the detection mechanism to complete the fan-shaped arc scanning detection. This eliminates the need for repeated manual positioning and equipment adjustment, completely avoiding errors and cumbersome procedures associated with manual operation. Simultaneously, the single displacement combined with a single full-area fan-shaped scan operation mode eliminates blind spots, effectively ensuring the integrity of lock bottom plate detection and significantly improving the efficiency of large-area bottom plate crack detection. 2. This sensor-based lock bottom plate crack detection device operates synchronously with the cleaning machine and the detection mechanism. Before the detection operation, the scraper can be used to clean the surface of the lock bottom plate by reciprocating forward and reverse sweeping, thoroughly cleaning the mud, silt and various impurities attached to it, exposing the complete bottom plate structure. This avoids the problem of missed detection and false detection caused by impurities obscuring cracks. At the same time, the scraper is equipped with an elastic adaptive structure that can closely fit the bottom plate surface, adapting to the working conditions of slightly uneven bottom plate, ensuring uniform and thorough cleaning effect. With the double shielding and protection structure of rubber arc baffle and protective cover, it can effectively prevent the mud and sand suspended matter generated during cleaning from adhering to the surface of the ultrasonic detector, continuously ensuring the detection accuracy of the probe and providing a clean working environment for accurate detection. 3. This sensor-based lock bottom plate crack detection device features a detection mechanism equipped with an elastic adaptive adjustment structure. Through the sliding cooperation of a second spring, ball bearings, vertical rod, and swing rod, the ultrasonic detector can adapt to changes in the flatness of the lock bottom plate in real time, consistently maintaining the distance between the detector and the bottom plate within the optimal detection range of 0.5cm-1.5cm. This completely solves the problems of uncontrollable probe distance and poor contact in traditional detection equipment. Simultaneously, the design of the ball bearings being flush with the bottom surface of the traveling wheels reduces frictional resistance during equipment movement and scanning, preventing probe wear and tear. This ensures consistent detection distance and improves equipment operational stability, effectively guaranteeing the accuracy and reliability of crack detection data. Attached Figure Description

[0017] Figure 1 This is a frontal three-dimensional structural diagram of the vehicle body of the present invention; Figure 2This is a three-dimensional structural diagram of the vehicle body of the present invention viewed from below; Figure 3 This is a three-dimensional structural diagram of the vehicle body of the present invention, viewed from the front. Figure 4 This is a frontal three-dimensional structural diagram of the drive mechanism and the walking mechanism of the present invention; Figure 5 This is a bottom-view three-dimensional structural diagram of the drive mechanism and the walking mechanism of the present invention; Figure 6 This is a bottom-view three-dimensional structural diagram of the detection mechanism of the present invention; Figure 7 This is a frontal three-dimensional structural diagram of the drive mechanism and cleaning mechanism of the present invention; Figure 8 This is a frontal cross-sectional three-dimensional structural diagram of the mounting bracket of the present invention.

[0018] In the diagram: 1. Vehicle body; 101. Battery; 102. Communication module; 103. Control module; 104. Searchlight; 105. Camera; 2. Lifting ring; 3. Drive mechanism; 301. Electric telescopic rod; 302. Movable platform; 303. Guide rail; 304. Gear motor; 305. Drive gear; 306. Incomplete gear; 4. Walking mechanism; 401. First rotating shaft; 402. Walking wheel; 403. Driven gear; 404. Gear block; 405. First spring; 406. Movable rod; 407. Support plate; 408. Bracket; 409. Inclined block; 5. Testing mechanism; 501, reciprocating lead screw; 502, first gear; 503, movable block; 504, slide bar; 505, slide groove plate; 506, second rotating shaft; 507, swing arm; 508, vertical rod; 509, protective cover; 510, second spring; 511, ball bearing; 512, ultrasonic detector; 6, cleaning mechanism; 601, convex shaft; 602, movable frame; 603, guide block; 604, convex tooth plate; 605, second gear; 606, third rotating shaft; 607, mounting bracket; 608, round rod; 609, third spring; 610, scraper; 7, arc-shaped baffle. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1-8This invention provides a technical solution: a sensor-based lock bottom plate crack detection device, comprising a vehicle body 1, a lifting ring 2 fixed on the upper surface of the vehicle body 1, a drive mechanism 3 fixed inside the vehicle body 1, the drive mechanism 3 being interconnected with a walking mechanism 4 mounted on the vehicle body 1, the drive mechanism 3 being used to drive the walking mechanism 4 to perform continuous or intermittent movement, the drive mechanism 3 being interconnected with a detection mechanism 5 mounted on the vehicle body 1, the drive mechanism 3 driving the detection mechanism 5 to perform arc-shaped scanning detection when the walking mechanism 4 stops moving, the drive mechanism 3 being interconnected with a cleaning mechanism 6 mounted on the vehicle body 1, the cleaning mechanism 6 being used to clean sludge and impurities from the surface of the lock bottom plate, an arc-shaped baffle 7 fixed on the lower surface of the vehicle body 1 being provided between the cleaning mechanism 6 and the detection mechanism 5, with the convex side of the arc-shaped baffle 7 facing the cleaning mechanism 6, and the arc-shaped baffle 7 being made of rubber.

[0021] A battery 101 is fixed inside the vehicle body 1, and a communication module 102 and a control module 103 are also fixed inside the vehicle body 1. A searchlight 104 and a camera 105 are also fixed on the outside of the vehicle body 1. The drive mechanism 3 includes an electric telescopic rod 301 fixed inside the vehicle body 1, and a movable platform 302 is fixed to the output end of the electric telescopic rod 301. The movable platform 302 is slidably connected to the guide rail 303 fixed on the vehicle body 1. A reduction motor 304 is fixed on the movable platform 302, and a drive gear 305 and an incomplete gear 306 are fixed to the output end of the reduction motor 304. The walking mechanism 4 includes a first rotating shaft 401 connected to the vehicle body 1 by a bearing, and a walking mechanism is fixed on the first rotating shaft 401. The first rotating shaft 401 is fixed with a driven gear 403, which meshes with the driving gear 305 or the incomplete gear 306 to achieve transmission. The driven gear 403 is engaged with the toothed block 404, and a first spring 405 is fixed between the toothed block 404 and the support plate 407. The support plate 407 is fixed inside the vehicle body 1. A movable rod 406 is also fixed on the toothed block 404. The movable rod 406 is slidably connected to the support plate 407, and is slidably connected to the bracket 408 and the inclined block 409. The inclined block 409 is fixed to the bracket 408, and the bracket 408 is fixed to the movable platform 302. When using this sensor-based lock bottom plate crack detection device, such as Figures 1-8 As shown, first, the traction rope is tied to the lifting ring 2, so that the entire device can be lowered into the lock from above until the traveling wheel 402 contacts the bottom plate of the lock. At this time, the driven gear 403 and the incomplete gear 306 are in a meshing state, and the arc-shaped baffle 7, scraper 610 and ball bearing 511 simultaneously contact the bottom plate of the lock. The searchlight 104 is used for underwater illumination, and the underwater environment can be detected by the camera 105. When the position of the device needs to be adjusted, simply control the extension of the electric telescopic rod 301, thereby driving the movable platform 302 to move. The sliding action between the movable platform 302 and the guide rail 303 ensures the stability of the movable platform 302's movement. The movement of the movable platform 302 synchronously drives the reduction motor 304, the drive gear 305, and the incomplete gear 306, thereby adjusting the positions of the drive gear 305 and the incomplete gear 306. This causes the incomplete gear 306 to disengage from the driven gear 403 until the driven gear 403 meshes with the drive gear 305. Furthermore, as the movable platform 302 moves, it simultaneously drives the bracket 408 and the inclined block 409 to move. When the inclined block 409 contacts and slides against the movable rod 406... At this time, the movable rod 406 is subjected to force and moves upward relative to the support plate 407, thereby driving the locking block 404 to move upward, so that the locking block 404 separates from the driven gear 403, releasing the elastic locking effect of the driven gear 403. When the driven gear 403 meshes with the driving gear 305, the locking block 404 is in a separated state from the driven gear 403, and the incomplete gear 306 is in a separated state from the first gear 502. By starting the reduction motor 304, the driving gear 305 and the incomplete gear 306 are driven to rotate. With the meshing transmission between the driven gear 403 and the driving gear 305, the first rotating shaft 401 and the traveling wheel 402 can be continuously rotated, thereby driving the vehicle body 1 to move continuously until the vehicle body 1 moves to the position to be detected. The cleaning mechanism 6 includes a cam shaft 601 fixed on the incomplete gear 306, and the cam shaft 601 is slidably connected to the movable frame 602. The movable frame 602 is also slidably connected to the guide block 603 fixed in the vehicle body 1. A toothed plate 604 is also fixed on the movable frame 602. The toothed plate 604 meshes with the second gear 605. The second gear 605 is fixed on the third rotating shaft 606, and the third rotating shaft 606 is connected to the vehicle body 1 by a bearing. A mounting bracket 607 is also fixed at equal angles on the third rotating shaft 606. A round rod 608 is slidably connected on the mounting bracket 607. A third spring 609 is fixed between the round rod 608 and the mounting bracket 607. A scraper 610 is also fixed on the round rod 608. The lower end face of the scraper 610 is flush with the lower end face of the traveling wheel 402. When the geared motor 304 drives the drive gear 305 and the incomplete gear 306 to rotate, such as Figures 1-8As shown, the rotation of the incomplete gear 306 synchronously drives the cam shaft 601 to rotate. Combined with the sliding action between the cam shaft 601 and the movable frame 602, the movable frame 602 can move left and right in an orderly manner under force. The sliding guidance action between the movable frame 602 and the guide block 603 ensures the stability of the movable frame 602's movement. Furthermore, when the movable frame 602 reciprocates, it synchronously drives the toothed plate 604 to reciprocate. Combined with the meshing transmission action between the toothed plate 604 and the second gear 605, the third rotating shaft 606, the mounting frame 607, and the scraper 610 can rotate in an orderly forward and reverse direction. The rotating scraper 610 cleans the mud and sand on the surface of the lock bottom plate, ensuring its cleanliness for subsequent testing. During the cleaning process, the sliding action between the round rod 608 and the mounting bracket 607, along with the elastic action of the third spring 609, ensures close contact between the scraper 610 and the lock bottom plate, guaranteeing the cleaning effect. Furthermore, the suspended mud and sand generated by the scraper 610 are effectively reduced by the shielding effect of the arc-shaped baffle 7 and the protective cover 509, thus ensuring the normal operation of subsequent testing. The testing mechanism 5 includes a reciprocating screw 501 with a bearing connected to the vehicle body 1, and a first gear 502 fixed on the reciprocating screw 501, with the first gear 502 meshing with the incomplete gear 306; the reciprocating screw 501 drives the movable block 503 to reciprocate back and forth, and a slide rod 504 is fixed on the movable block 503, with the slide rod 504 slidingly connected to the slide plate 505, while the slide plate 505 is fixed to one end of the second rotating shaft 506, the second rotating shaft 506 being bearing connected to the vehicle body 1, and the second rotating shaft... The other end of 506 is fixed with a swing rod 507; the swing rod 507 and the vertical rod 508 are slidably connected, and the vertical rod 508 and the protective cover 509 are fixed to each other. A second spring 510 is fixed between the protective cover 509 and the swing rod 507. Meanwhile, rolling balls 511 are evenly installed on the lower end face of the protective cover 509. The balls 511 are flush with the lower end face of the traveling wheel 402. An ultrasonic detector 512 is fixed inside the protective cover 509, and the distance between the ultrasonic detector 512 and the lower end face of the balls 511 is 0.5cm-1.5cm. When vehicle 1 moves to the position that needs to be detected, such as Figures 1-8 As shown, by controlling the retraction of the electric telescopic rod 301, the incomplete gear 306 meshes with the driven gear 403, and the driven gear 403 separates from the driving gear 305. At this time, the incomplete gear 306 is in position with the first gear 502 to facilitate subsequent transmission. At the same time, the inclined block 409 separates from the movable rod 406. Under the elastic action of the first spring 405, the locking block 404 and the driven gear 403 are in an elastic locking and limiting state. During the testing process, the reduction motor 304 drives the drive gear 305 and the incomplete gear 306 to rotate. When the incomplete gear 306 meshes with the driven gear 403, it drives the first rotating shaft 401 and the traveling wheel 402 to rotate, causing the vehicle body 1 to move a certain distance. During the rotation of the driven gear 403, due to the elastic action of the first spring 405, the rotation of the driven gear 403 can exert a force on the locking block 404, causing the locking block 404 to move upward and separate from the driven gear 403, ensuring the normal rotation of the driven gear 403. When the incomplete gear 306 separates from the driven gear 403, under the elastic action of the first spring 405, the locking block 404 engages with the driven gear 403 to achieve positioning, thereby achieving the positioning function of the vehicle body 1. When the incomplete gear 306 disengages from the driven gear 403, and when the incomplete gear 306 meshes with the first gear 502, the reciprocating screw 501 is rotated, thereby driving the movable block 503 to move. When the incomplete gear 306 disengages from the first gear 502 and meshes with the driven gear 403, the movable block 503 completes one reciprocating motion. As the movable block 503 moves, it synchronously drives the slide rod 504 to move. Combined with the sliding action between the slide rod 504 and the slide plate 505, the swing rod 507 is oscillated, thereby driving the second rotating shaft 506. The swing arm 507 swings, which in turn moves the protective cover 509 and the ultrasonic detector 512 to achieve a single fan-shaped detection. During the swing detection process of the ultrasonic detector 512, the sliding action between the swing arm 507 and the vertical rod 508 and the elastic action of the second spring 510 ensure that the ball bearing 511 is in contact with the lock bottom plate, thereby automatically adjusting the height of the protective cover 509 and the ultrasonic detector 512 to ensure that the distance between the ultrasonic detector 512 and the lock bottom plate remains consistent during detection, thus ensuring the accuracy of the detection data. In summary, through the intermittent meshing transmission between the incomplete gear 306, the driven gear 403, and the first gear 502, the vehicle body 1 can move intermittently. After the vehicle body 1 has moved, it is scanned by the ultrasonic detector 512, thereby realizing the automatic control of movement and scanning and ensuring the comprehensiveness of the detection.

[0022] It should be noted that, in this document, 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 process, method, article, or apparatus.

[0023] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A sensor-based device for detecting cracks in the bottom plate of a lock, comprising a vehicle body (1), characterized in that: A hanging ring (2) is fixed on the upper end face of the vehicle body (1). A drive mechanism (3) is fixed inside the vehicle body (1). The drive mechanism (3) is connected to the walking mechanism (4) installed on the vehicle body (1). The drive mechanism (3) is used to drive the walking mechanism (4) to perform continuous or intermittent movement. The drive mechanism (3) is connected to the detection mechanism (5) installed on the vehicle body (1). The drive mechanism (3) drives the detection mechanism (5) to perform arc scanning detection when the walking mechanism (4) stops walking. The drive mechanism (3) is connected to the cleaning mechanism (6) installed on the vehicle body (1). The cleaning mechanism (6) can achieve the cleaning of mud and impurities on the surface of the lock bottom plate. An arc-shaped baffle (7) is fixed on the lower end face of the vehicle body (1) between the cleaning mechanism (6) and the detection mechanism (5). The convex side of the arc-shaped baffle (7) faces the cleaning mechanism (6). The arc-shaped baffle (7) is made of rubber.

2. The sensor-based lock bottom plate crack detection device according to claim 1, characterized in that: The vehicle body (1) is equipped with a battery (101), a communication module (102) and a control module (103), and a searchlight (104) and a camera (105) are also fixed inside the vehicle body (1).

3. The sensor-based lock bottom plate crack detection device according to claim 2, characterized in that: The drive mechanism (3) includes an electric telescopic rod (301) fixed inside the vehicle body (1), and a movable platform (302) is fixed at the output end of the electric telescopic rod (301). The movable platform (302) is slidably connected to the guide rail (303) fixed on the vehicle body (1). Meanwhile, a reduction motor (304) is fixed on the movable platform (302), and a drive gear (305) and an incomplete gear (306) are fixed at the output end of the reduction motor (304).

4. The sensor-based lock bottom plate crack detection device according to claim 3, characterized in that: The walking mechanism (4) includes a first shaft (401) with a bearing connected to the vehicle body (1), and a walking wheel (402) is fixed on the first shaft (401). A driven gear (403) is also fixed on the first shaft (401). The driven gear (403) meshes with the driving gear (305) or the incomplete gear (306) to achieve transmission.

5. A sensor-based lock bottom plate crack detection device according to claim 4, characterized in that: The driven gear (403) and the toothed block (404) are engaged, and a first spring (405) is fixed between the toothed block (404) and the support plate (407). The support plate (407) is fixed inside the vehicle body (1). At the same time, a movable rod (406) is also fixed on the toothed block (404). The movable rod (406) and the support plate (407) are slidably connected. The movable rod (406) is slidably connected to the bracket (408) and the inclined block (409). The inclined block (409) and the bracket (408) are fixed to each other. At the same time, the bracket (408) is fixed on the movable platform (302).

6. A sensor-based lock bottom plate crack detection device according to claim 5, characterized in that: The detection mechanism (5) includes a reciprocating screw (501) with a bearing connected to the vehicle body (1), and a first gear (502) is fixed on the reciprocating screw (501), and the first gear (502) and the incomplete gear (306) are meshed.

7. A sensor-based lock bottom plate crack detection device according to claim 6, characterized in that: The reciprocating screw (501) drives the movable block (503) to reciprocate back and forth. A slide rod (504) is fixed on the movable block (503), and the slide rod (504) is slidably connected to the slide plate (505). At the same time, the slide plate (505) is fixed to one end of the second rotating shaft (506). The second rotating shaft (506) is connected to the vehicle body (1) by a bearing, and a swing rod (507) is fixed to the other end of the second rotating shaft (506).

8. A sensor-based lock bottom plate crack detection device according to claim 7, characterized in that: The swing arm (507) and the vertical rod (508) are slidably connected, and the vertical rod (508) and the protective cover (509) are fixed to each other. A second spring (510) is fixed between the protective cover (509) and the swing arm (507). Meanwhile, rolling balls (511) are evenly installed on the lower end face of the protective cover (509). The balls (511) are flush with the lower end face of the walking wheel (402). An ultrasonic detector (512) is fixed inside the protective cover (509), and the distance between the ultrasonic detector (512) and the lower end face of the balls (511) is 0.5cm-1.5cm.

9. A sensor-based lock bottom plate crack detection device according to claim 8, characterized in that: The cleaning mechanism (6) includes a cam shaft (601) fixed on an incomplete gear (306), and the cam shaft (601) is slidably connected to the movable frame (602), and the movable frame (602) is slidably connected to the guide block (603) fixed in the vehicle body (1). At the same time, a toothed plate (604) is also fixed on the movable frame (602), and the toothed plate (604) meshes with the second gear (605). The second gear (605) is fixed on the third rotating shaft (606), and the third rotating shaft (606) is bearing connected to the vehicle body (1).

10. A sensor-based lock bottom plate crack detection device according to claim 9, characterized in that: The third rotating shaft (606) is also fixed with a mounting bracket (607) at equal angles, and a round rod (608) is slidably connected to the mounting bracket (607). A third spring (609) is fixed between the round rod (608) and the mounting bracket (607). At the same time, a scraper (610) is also fixed on the round rod (608). The lower end face of the scraper (610) is flush with the lower end face of the walking wheel (402).

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