Acousto-optic image acquisition device and support structure for apparent defect detection of underwater pile structure of bridge

Abstract

The utility model relates to be used for bridge underwater pile pier structure apparent defect detection's acousto-optic image acquisition device and support structure, wherein acousto-optic image acquisition device includes joint support (1), the joint support (1) includes the upper support and lower support (13) of distribution along up-down direction and can be connected with underwater robot bottom, the upper support is used for fixed mounting sonar, the upper support has at least two, multiple the upper support is spaced apart distribution along the length direction of sonar, the lower support (13) is used for fixed mounting optical camera, the sonar of upper support installation is perpendicular with the optical camera of lower support (13) installation each other, this device combines organically with optical imaging unit and acoustic imaging unit, has high resolution and strong environmental adaptability, can realize to bridge underwater structure apparent defect's efficient, intuitive and safe detection.

Description

Technical Field

[0001] This utility model relates to the field of underwater detection technology, and in particular to an acoustic and optical image acquisition device and a support structure. Background Technology

[0002] In recent years, with the rapid development of my country's transportation infrastructure construction, the number of bridges nationwide has exceeded one million, and is increasing by tens of thousands every year. A considerable number of these bridges have entered the aging stage, especially underwater piers that are constantly subjected to water erosion, sediment abrasion, and seawater corrosion. These piers are more prone to cracks, spalling, voids, and erosion, posing a serious threat to the durability and operational safety of the bridges. Therefore, regular inspection and maintenance of underwater structures has become an important part of bridge maintenance work.

[0003] Currently, traditional manual diving exploration remains the most common detection method, but this method has obvious shortcomings: its detection results rely on the diver's experience, and it is difficult to obtain disease information intuitively and completely; at the same time, it requires high physical fitness and professional skills from divers, poses great safety risks, and is subject to many environmental conditions such as water flow velocity, water quality and visibility, making it difficult to guarantee detection efficiency and accuracy.

[0004] With the development of detection technology, optical imaging and acoustic imaging have been gradually introduced into underwater bridge inspection. However, single optical methods are severely affected by light attenuation and scattering by suspended matter in turbid water, often resulting in low image clarity, short effective viewing distance, and difficulty in stable operation in complex environments. While single acoustic methods have strong penetration and are not sensitive to water turbidity, their imaging resolution is limited, making it difficult to accurately depict subtle surface defects such as cracks and spalling. Therefore, relying on only one single detection method is insufficient to meet the comprehensive requirements for detecting surface defects in underwater bridge structures. However, optical and acoustic imaging have a natural complementarity in detection capabilities: optics can provide high-resolution detailed information, while acoustics can ensure a wider range and stronger environmental adaptability. Existing related devices are mostly deployed with single sensors, lacking a reasonable integration and layout structure, making it difficult to accommodate the installation and setup of both types of information acquisition equipment. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of this utility model is to provide an acoustic-optical image acquisition device and support structure for detecting apparent defects in underwater bridge pier structures. This device organically combines an optical imaging unit and an acoustic imaging unit, and has both high resolution and strong environmental adaptability, enabling efficient, intuitive and safe detection of apparent defects in underwater bridge structures.

[0006] The present invention relates to an acoustic-optical image acquisition device for detecting apparent defects in underwater bridge pier structures. The device is characterized in that it includes a combined support (1), which comprises an upper support and a lower support (13) distributed along the vertical direction and capable of being connected to the bottom of an underwater robot. The upper support is used to fix and install a sonar. There are at least two upper supports, and multiple upper supports are distributed at intervals along the length direction of the sonar. The lower support (13) is used to fix and install an optical camera. The sonar installed on the upper support and the optical camera installed on the lower support (13) are perpendicular to each other.

[0007] Preferably, the upper support includes four steel plates connected in sequence, which enclose a receiving space. An isolation steel plate is provided in the receiving space to divide the receiving space into an upper receiving space and a lower receiving space. The sonar is placed in the lower receiving space.

[0008] Preferably, the upper support includes a first upper support (11) and a second upper support (12), the first upper support (11) and the second upper support (12) are spaced apart along the length of the sonar, the sonar is placed in the lower accommodating space of the first upper support (11) and the second upper support (12), and the lower support (13) is connected below the first upper support (11).

[0009] Preferably, the sonar installed in the lower accommodating space is locked and fixed by screws passing through the isolation steel plate and the steel plate. The screws pass through the threaded holes in the isolation steel plate or the steel plate, and the inner end of the screw abuts against the outer surface of the sonar.

[0010] Preferably, the upper support is connected to the bottom of the underwater robot by screws passing through its upper steel plate.

[0011] Preferably, the lower bracket (13) includes a first mounting plate (131) and a second mounting plate (132). The first mounting plate (131) and the second mounting plate (132) are arranged parallel to each other in the vertical direction. The optical camera is located between the first mounting plate (131) and the second mounting plate (132). The first mounting plate (131) and the second mounting plate (132) are connected by a plurality of elongated connectors (133). The elongated connectors (133) are located around the optical camera.

[0012] A support structure for supporting an acoustic-optical image acquisition device is characterized in that it includes a support base (2), the support base (2) includes a movable frame (21) for supporting a sonar below and a fixed frame (22), the lower part of the movable frame (21) being movably connected to the fixed frame (22) in the vertical direction.

[0013] Preferably, the aforementioned movable frame (21) includes two sets of crossbars (211) and two uprights (212) that are welded and fixed above the two sets of crossbars and spaced apart. The sonar is placed on the crossbars (211), and the two uprights (212) are located on both sides of the sonar. Screws are threaded through the two uprights (212), and the inner ends of the screws are pressed against the outer surface of the sonar.

[0014] Preferably, two lifting screws (213) are welded and fixed below the two sets of crossbars (211). The fixed frame (22) is a cuboid frame with channels at the four corners of the fixed frame (22). The lifting screws (213) are inserted into the channels.

[0015] Preferably, the threaded connection on the lifting screw (213) can abut against the nut at the upper end of the channel. By adjusting the installation position of the nut on the lifting screw (213), the height position of the moving frame (21) relative to the fixed frame (22) can be adjusted.

[0016] The beneficial effects of this invention compared to existing technologies are as follows: In the acquisition device of this invention, the modular and portable combined support frame, with its carefully positioned arrangement, ensures that the mounted sonar and optical camera do not interfere with each other, thus preventing interference with detection. The upper support frame, when mounted on an underwater robot, enables smooth underwater detection, saving costs and maximizing operational safety. The supporting base allows for support, debugging, and maintenance of specially structured acoustic-optical image acquisition devices when not in use. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the audio-visual image acquisition device of this utility model;

[0018] Figure 2 This is a schematic diagram of the support structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the supporting structure for the acoustic-optical image acquisition device. Detailed Implementation

[0020] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0021] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and claims of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0022] The directional terms such as "up," "down," "left," "right," "front," "back," "top," and "bottom" (if present) used in the specification and claims of this utility model are defined according to the position of the structures in the drawings and the relative positions of the structures, and are only for the purpose of clarity and convenience in expressing the technical solution. It should be understood that the use of directional terms should not limit the scope of protection claimed by this utility model.

[0023] This utility model provides an acoustic-optical image acquisition device for detecting apparent defects in underwater bridge pier structures, such as... Figure 1 As shown, the acquisition device includes a combined support 1, which includes an upper support and a lower support 13 distributed in the vertical direction. There are at least two upper supports, which are used to fix and install the sonar A. Multiple upper supports are distributed at intervals along the length direction of the sonar. For example, the upper support includes a first upper support 11 and a second upper support 12, which are distributed at intervals along the length direction of the sonar.

[0024] The lower bracket 13 is connected to the lower part of the first upper bracket 11. The lower bracket 13 is used to fix the optical camera B. The sonar installed on the upper bracket and the optical camera installed on the lower bracket 13 can be perpendicular to each other.

[0025] In the detection device of this utility model, by setting up a modular and portable joint bracket 1, the distribution of the positions of each bracket ensures that the mounted sonar and optical camera will not interfere with each other and affect the detection; the upper bracket can be mounted on an underwater robot to carry out underwater detection smoothly, saving costs and ensuring work safety to the greatest extent; by setting up a support base 2, the overall device can be stabilized better, and the overall length of the support base 2 is adjustable, so that the detection equipment can perform detection at a specified height.

[0026] The modular joint support 1 is divided into an upper support and a lower support 13, which facilitates disassembly and carrying (i.e., it is easy to carry after disassembly). The optical camera and sonar used for detection are arranged in the following relative positions on the modular portable joint support 1: Considering that the optical view of the sonar and the optical camera is not obstructed, the optical camera is placed below the sonar, and the two are perpendicular to each other.

[0027] In the installation and placement of sonar and optical cameras, if the optical camera is placed on top of the sonar, the position of the joint bracket 1 will restrict the optical camera's shooting action. Furthermore, this increases the difficulty of connecting the upper bracket to the underwater robot. If the optical camera is placed in front of or behind the sonar and both face the same direction, according to the working principle of sonar (the sonar device emits a series of sound waves, which propagate in water at a certain speed; when these sound waves encounter underwater objects, they are reflected back, forming echoes; the receiving part of the sonar device, usually a hydrophone, captures these echoes; by analyzing the time delay of the echo (the time it takes for the sound wave to travel from emission to reception) and the speed of the sound wave, the distance to the object can be calculated), the range of the sonar probe's emitted sound waves will inevitably be blocked or interfered with by the camera. Therefore, the most suitable placement for the optical camera is below the sonar. Furthermore, placing the part that fixes the optical camera below the first upper bracket 11 is to ensure that the target's position is as close as possible in both modal images, reducing the difficulty of subsequent data processing.

[0028] In one embodiment, the upper support includes a first upper support 11 and a second upper support 12, which are spaced apart along the length of the sonar. A lower support 13 is fixedly connected to the first upper support 11. The upper support is used to fix the sonar, and the initial purpose of this acquisition device is to support an underwater robot for remote bridge inspection. Therefore, the layout of the first upper support 11 and the second upper support 12, and the connection with the underwater robot, all take this purpose into consideration. To ensure stability during underwater operation after mounting, the layout of the first upper support 11 and the second upper support 12 must consider the center of gravity during joint operation. Therefore, considering the length and weight of the sonar, and the bottom width of the first upper support 11 and the second upper support 12, the optimal arrangement is determined to be a spaced arrangement of the first upper support 11 and the second upper support 12 along the length (left-right) of the sonar. Furthermore, adjustments can be made based on the actual space of the underwater robot chassis, which will not be elaborated here.

[0029] In this embodiment, the first upper support 11 and the second upper support 12 have roughly the same overall structure. Taking the first upper support 11 as an example, the first upper support 11 is formed by connecting four steel plates in sequence. The enclosed space in the middle is used for the sonar to pass through and be placed therein. An isolation steel plate is set in the enclosed space to divide the enclosed space into two parts, namely, an upper enclosed space and a lower enclosed space. The sonar passes through the lower enclosed space.

[0030] The upper accommodating space serves as the connecting part of the upper part of the first upper support 11. Considering the diversity of underwater robots, the upper end of the first upper support 11 is made of smooth steel plate. Subsequently, depending on the type of underwater robot chassis, drilling, bolting, or direct threaded connection can be used to achieve underwater mounting. Specifically, the sonar passes through the lower accommodating space and is placed within it. The steel plate enclosing the lower accommodating space is provided with mounting holes (threaded holes). The sonar can be fixed by adjusting with bolts or screws (i.e., the bolts or screws are screwed into the mounting holes, and the inner end of the bolts or screws abuts against the outer surface of the sonar). This installation method is simple to operate and convenient to store. Such disassembly will not damage the original equipment. In addition, the inner end of the bolt or screw in contact with the equipment can be smoothly polished and shims (such as rubber shims) can be added. The addition of rubber shims can increase the friction force between the joint support 1 and the equipment, increase the stability of the connection, and reduce the wear on the outer surface of the sonar.

[0031] like Figure 2 As shown, the lower bracket 13 for mounting the optical camera is generally rectangular. The lower bracket 13 includes a first mounting plate 131 and a second mounting plate 132. The first mounting plate 131 and the second mounting plate 132 are arranged parallel to each other in the vertical direction and are connected in the middle by multiple elongated connecting pieces (specifically, the elongated connecting pieces can be screws, with nuts screwed to both ends of the screws, passing through through holes in the mounting plates, and then further secured with additional nuts screwed to the ends of the screws). The optical camera is mounted between the first mounting plate 131 and the second mounting plate 132. The first mounting plate 131 is fixedly connected to the first upper bracket 11 by bolts or other fasteners. The lower bracket 13 has an overall hollow design.

[0032] The lower bracket 13 serves as the fixed part of the optical camera. Its structure is designed to achieve coarse alignment of the audio-visual image during acquisition and to control the orientation of the fixed part of the optical camera. Furthermore, to allow the lower bracket 13 to rotate relative to the first upper bracket 11, thus changing the shooting angle, a rotating shaft can be installed between the surfaces of the lower bracket 13 and the first upper bracket 11 that are in contact with each other. (The upper end of the rotating shaft is fixed to the lower surface of the first upper bracket 11, the lower part of the rotating shaft passes through a through hole in the first mounting plate 131, and the lower end of the rotating shaft has an outer flange with a diameter larger than the through hole. This structure allows the lower bracket 13 and the first upper bracket 11 to rotate relative to each other.) Multiple ball bearings can be provided between the surfaces of the lower bracket 13 and the first upper bracket 11 that are in contact with each other. This design not only effectively shortens the distance between the lower bracket 13 and the overall structure but also significantly reduces the system's weight, thereby improving the portability and adjustment flexibility of the device. In addition, this structure can be directly lubricated with lubricating oil to further reduce frictional resistance and enhance the smoothness and durability of rotation. To facilitate the disassembly of the optical camera, the lower bracket 13 has mounting holes (threaded holes) for fixed connection. Fasteners such as nuts and bolts pass through the mounting holes, with the bolt ends abutting against the outer surface of the optical camera to secure it. The optical camera can be disassembled by adjusting the tightness of the bolts. The vertical supports (elongated connectors 133) around the lower bracket 13 can fix the optical camera's sliding movement, while the hollow design reduces the overall weight.

[0033] In this embodiment, the adjustable parts use a uniform type of internal hex bolt, so when used outdoors, all adjustments can be made with just one internal hex wrench.

[0034] When the audio-visual image acquisition device is placed flat on the ground, such as Figure 2 The right side shown is suspended and prone to tipping over, which could damage the sonar. Therefore, this utility model also provides a support structure for supporting the above-mentioned acoustic and optical image acquisition device. This support structure can support, debug, and maintain the acoustic and optical image acquisition device with a special structure when it is not in use.

[0035] Specifically, the support structure includes a support base 2, which includes a movable frame 21 and a fixed frame 22 for supporting the sonar below. The lower part of the movable frame 21 is movably connected to the fixed frame 22 in the vertical direction, that is, the lower part of the movable frame 21 can slide up and down relative to the fixed frame 22.

[0036] The movable frame 21 includes two sets of crossbars 211 and two uprights 212 that are welded and fixed above the two sets of crossbars and spaced apart. The sonar is placed on the crossbars 211 and the two uprights 212 are located on both sides of the sonar. Screws are inserted through the two uprights 212 and the inner ends of the screws are pressed against the outer surface of the sonar.

[0037] Two lifting screws 213 are welded and fixed to the bottom of the two sets of crossbars 211 respectively. The fixed frame 22 is a cuboid frame with grooves at the four corners. The lifting screws 213 are inserted into the grooves. The lifting screws 213 are threadedly connected to nuts that can abut against the upper end of the groove. By adjusting (i.e., rotating) the installation position of the nuts on the lifting screws 213, the height position of the moving frame 21 relative to the fixed frame 22 can be adjusted.

[0038] In use, rotate the nut to adjust the installation position of the nut on the lifting screw 213. After adjustment, insert the four lifting screws 213 into the slots of the fixed frame 22 respectively. Make a fine adjustment when there is a gap between one of the four nuts and the upper end of the slot. Then, support the sonar of the above-mentioned audio-visual image acquisition device on the crossbar 211 and tighten it with the screws installed on the upright 212 to achieve support and fixation of the audio-visual image acquisition device.

[0039] In this embodiment, the lifting screw in the movable frame 21 is set to 30cm, which can achieve an adjustment of 30cm up and down. Of course, those skilled in the art can also set the length of the screw according to the actual situation, such as 20cm, 22cm, 25cm, 28cm, 32cm, 34cm, 35cm, 40cm, etc., and no unique limitation is made here.

[0040] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. An acoustic-optical image acquisition device for detecting apparent defects in underwater bridge pier structures, characterized in that: The system includes a combined support (1), which includes an upper support and a lower support (13) that are distributed in the vertical direction and can be connected to the bottom of the underwater robot. The upper support is used to fix and install a sonar. There are at least two upper supports, and multiple upper supports are distributed at intervals along the length direction of the sonar. The lower support (13) is used to fix and install an optical camera. The sonar installed on the upper support and the optical camera installed on the lower support (13) are perpendicular to each other.

2. The acoustic-optical image acquisition device for detecting apparent defects in underwater bridge pier structures according to claim 1, characterized in that: The upper support includes four steel plates connected in sequence, which enclose a space. An isolation steel plate is provided in the space to divide the space into an upper space and a lower space. The sonar is placed in the lower space.

3. The acoustic-optical image acquisition device for detecting apparent defects in underwater bridge pier structures according to claim 2, characterized in that: The upper support includes a first upper support (11) and a second upper support (12). The first upper support (11) and the second upper support (12) are distributed at intervals along the length of the sonar. The sonar is placed in the lower accommodating space of the first upper support (11) and the second upper support (12). The lower support (13) is connected to the lower part of the first upper support (11).

4. The acoustic-optical image acquisition device for detecting apparent defects in underwater bridge pier structures according to claim 3, characterized in that: The sonar installed in the lower accommodating space is locked and fixed by screws passing through the isolation steel plate and the steel plate. The screws pass through the threaded holes in the isolation steel plate or the steel plate, and the inner end of the screw abuts against the outer surface of the sonar.

5. The acoustic-optical image acquisition device for detecting apparent defects in underwater bridge pier structures according to claim 4, characterized in that: The upper support is connected to the bottom of the underwater robot by screws passing through its upper steel plate.

6. The acoustic-optical image acquisition device for detecting apparent defects in underwater bridge pier structures according to claim 1, 2, 3, 4, or 5, characterized in that: The lower bracket (13) includes a first mounting plate (131) and a second mounting plate (132). The first mounting plate (131) and the second mounting plate (132) are arranged parallel to each other in the vertical direction. The optical camera is located between the first mounting plate (131) and the second mounting plate (132). The first mounting plate (131) and the second mounting plate (132) are connected by a plurality of long strip connectors (133). The long strip connectors (133) are arranged around the optical camera.

7. A support structure for supporting the acoustic-optical image acquisition device according to any one of claims 1-6, characterized in that: It includes a support base (2), which includes a movable frame (21) for supporting the sonar below and a fixed frame (22), the lower part of which is movably connected to the fixed frame (22) in the vertical direction.

8. The support structure according to claim 7, characterized in that: The movable frame (21) includes two sets of crossbars (211) and two uprights (212) that are welded and fixed above the two sets of crossbars and spaced apart. The sonar is placed on the crossbars (211) and the two uprights (212) are located on both sides of the sonar. Screws are inserted through the two uprights (212) and the inner ends of the screws are pressed against the outer surface of the sonar.

9. The support structure according to claim 8, characterized in that: Two lifting screws (213) are welded and fixed below the two sets of crossbars (211). The fixed frame (22) is a cuboid frame with channels at the four corners of the fixed frame (22). The lifting screws (213) are inserted into the channels.

10. The support structure according to claim 9, characterized in that: The lifting screw (213) is threaded with a nut that can abut against the upper end of the channel. By adjusting the installation position of the nut on the lifting screw (213), the height position of the moving frame (21) relative to the fixed frame (22) can be adjusted.

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