CN113155830A - Pier underwater structure detection device and method integrated with self-propelled fixed platform - Google Patents

Pier underwater structure detection device and method integrated with self-propelled fixed platform Download PDF

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CN113155830A
CN113155830A CN202110341623.5A CN202110341623A CN113155830A CN 113155830 A CN113155830 A CN 113155830A CN 202110341623 A CN202110341623 A CN 202110341623A CN 113155830 A CN113155830 A CN 113155830A
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module
detection
pier
fixed platform
self
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CN113155830B (en
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赵海洋
崔荣鹏
韩冰
罗佳捷
谷天枢
何迪
何纤纤
甘进
郑成
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00—Structural or constructional details of bridges
    • E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
    • E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/02—Mechanical
    • G01N2201/021—Special mounting in general
    • G01N2201/0212—Liquid borne; swimming apparatus

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Acoustics & Sound (AREA)
  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

The invention discloses a pier underwater structure detection device integrated with a self-propelled fixed platform and a method. The self-propelled fixed platform can carry the detection device to control and navigate in water to go to a water area near a target pier, so that the pier is surrounded in the device; the pier detection carrying module is provided with a track and carries an omnibearing detection module, so that omnibearing detection can move around the pier; the omnibearing detection module can be provided with an acoustic optical detection module and can detect apparent bridge pier diseases; the detection device control module is used for controlling the movement of each module of the bridge pier detection device. The method solves the problem of detecting the bridge pier underwater framework diseases of the large bridge in the water areas with high water flow speed, low water quality definition and the like, and realizes the omnibearing detection of the bridge pier underwater structure diseases.

Description

Pier underwater structure detection device and method integrated with self-propelled fixed platform
Technical Field
The invention relates to the field of underwater structure detection, in particular to a pier underwater structure detection device and method integrated with a self-propelled fixed platform.
Background
In the last decade, under the promotion of rapid development of national economy, the number of Chinese bridges is increased by 3 ten thousand every year, and the total number of bridges in the whole country reaches 100 ten thousand at present. Due to the huge number of bridges, the aging of a large number of bridges, particularly the corrosion of the underwater structure of the bridge by flowing water and the like becomes a hidden danger threatening the traffic safety of the bridge. The detection means of the bridge underwater structure is different from the above-water structure, and the technical difficulties of difficult coverage of a detection range, difficult lowering of detection equipment, difficult evaluation of detection information and the like exist.
The existing detection methods mainly comprise: ROV robot detection method: the underwater detection robot is used for detecting the underwater structure of the pier, but has the following defects: the device is not suitable for the conditions of rapid flow and detection by being close to a pier, and is easy to be washed away by water flow; the fixation performance is poor, and manual auxiliary operation is needed. 2. Diving exploration method: the method is the most commonly applied method at present, and needs a diver to dive into water to detect an underwater foundation; the method has the disadvantages that the disease information can not be intuitively acquired, the requirement on the personal occupational quality of the diver is very high, the personal safety of the diver is difficult to guarantee, the diver can only detect in water with the flow rate lower than 0.5m/s, the early-stage preparation work is more, and the continuous probing time is short. 3. A cofferdam method: a water-resisting strip with a certain area is formed by surrounding nearby piers by adopting a dam construction method, water in the water-resisting strip is discharged, the underwater ground is exposed, equipment is directly arranged for detection, but the water-resisting strip is only suitable for a region with a shallow water area, and the cost is too high in a region with a deep water area; the construction risk is high, and the safety of personnel is difficult to be perfectly guaranteed; ships cannot pass through, and traffic transportation above and below the bridge is greatly influenced; the cofferdam method has higher working cost and causes resource waste.
To the relevant problem that pier underwater structure detected, relevant personnel also provided some improvement schemes: according to the underwater bridge pier detection device of application number CN202022177413.0, the clitellum subassembly is overlapped on the pier from the circumference, and underwater robot is movably set up on the clitellum subassembly, and flexible subassembly is installed on the clitellum subassembly to be located between clitellum subassembly and the pier, flexible subassembly is used for propping up the clitellum subassembly and fix on the pier. This design can solve the problem of simple positioning of the underwater robot, but still has the following disadvantages: 1. the vertical thruster cannot realize accurate positioning and stopping in the vertical direction, and then cannot realize omnibearing detection in the vertical direction of the bridge pier; 2. the old bridge pier is often accompanied by the apparent diseases such as concrete cracking, and secondary damage can be caused to the apparent diseases such as bridge pier concrete cracking and peeling if the detection mode of the patent is used; 3. the frequent stretching of clitellum can lead to the track to take place to warp, and then influences underwater robot's on-orbit motion stability, influences the detection precision.
Disclosure of Invention
The invention aims to provide a pier underwater structure detection device and method integrated with a self-propelled fixed platform, which solve the problem of pier underwater framework disease detection of large bridges in water areas with high water flow speed, low water quality definition and the like and realize omnibearing detection of pier underwater structure appearance and internal diseases.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides an integrated pier underwater structure detection device from formula of navigating fixed platform which characterized in that: the device comprises a self-propelled fixed platform, a bridge pier detection carrying module, a bridge pier omnibearing detection module and a detection device control module.
As a preferable technical scheme: the self-propelled fixed platform comprises an airbag ship module, a detachable fixed platform module and a vertical lifting module; the air bag ship module comprises a ship power propulsion unit and a U-shaped air bag; the opening end of the U-shaped air bag is a bow, the arc end is a stern, and the marine power propulsion unit is arranged at the stern; the detachable fixed platform module comprises a fixed platform frame, a same-diameter fixing clamp, a vertical lifting fixed module and a friction pad; the same-diameter fixing frame, the vertical lifting fixing module and the friction pad are provided with round holes with the same diameter and the same distance in the vertical direction, and the round holes are installed and fastened on the fixing platform frame through bolts; the detachable fixed platform module is arranged on the U-shaped air bag, and the shape of the detachable fixed platform module is matched with that of the arc-shaped end shell of the U-shaped air bag.
As a preferable technical scheme: the bridge pier detection carrying module comprises a track, a track fixing group, a line bundling module, a limiting wheel group module and an angle compensation module; the rail and rail fixing group comprises two I-shaped rails, six C-shaped rail connecting pieces and two rail fixing pieces, wherein the I-shaped rails are distributed in an up-down symmetrical mode and are connected through the C-shaped rail connecting pieces; and the six C-shaped track connecting pieces are fixedly connected by the two track fixing pieces. The line bundling module comprises a line slot and a tank chain, wherein the line slot is positioned between the two I-shaped tracks and is fixedly connected with the C-shaped track connecting piece through six clamping plates with screw holes; the tank chain main body is located inside the wire casing. The limiting wheel set modules are arranged at two ends of each C-shaped track connecting piece; the angle compensation module comprises a detection supporting rod, a bearing, a support and a detection and illumination function module; four bearings are arranged and are respectively symmetrically arranged at two ends of the rail fixing piece; the support is arranged on the outer side of the outermost C-shaped track connecting piece; the detection support rod is fixed with the bearing through a circular hole and is placed on the support; the detection and illumination function module is arranged on the mounting platform on the detection supporting rod.
As a preferable technical scheme: the all-directional bridge pier detection module comprises a detection part fixing platform and a detection function module; the detection part fixing platform comprises a track connecting group and a functional module carrying platform; the upper end and the lower end of the rail connecting group are connected with the I-shaped rails through four groups of pulleys, and the upper end and the lower end of the rail connecting group are connected with the upper end and the lower end of the functional module carrying platform through bolt screw holes; and the detection functional module is fixed on the functional module carrying platform through a steel hoop.
As a preferable technical scheme: the detection device control module comprises a fixed platform navigation control module, a detection module lifting control module and a detection functional component movement module. The fixed platform navigation control module controls the navigation direction of the self-propelled fixed platform; the detection module lifting control module controls the lifting motion of the pier detection carrying module; and the detection functional component movement module controls the all-dimensional bridge pier detection module to move along the I-shaped track.
As a preferable technical scheme: the fixed platform frame comprises a U-shaped fixed frame, a transverse end optical axis, a triangular rod clamp fixed group and a lateral rod clamp; the U-shaped fixed frame is divided into an upper layer and a lower layer which are in supporting connection through the same-diameter fixed clamp; the transverse end optical axis is connected with the U-shaped fixed frame through the lateral rod clamp and is fixed through the triangular rod clamp fixing group; the two friction pads are respectively and symmetrically arranged at the middle of the transverse end optical axis and at the position opposite to the U-shaped fixed frame, and the inner side of each friction pad is in an arc shape fitting the shape of the outer side of the pier; the distance between the two friction pads is the distance of the longer side of the pier, so that the inner sides of the friction pads are tightly attached to the outer surface of the pier.
As a preferable technical scheme: the number of the vertical lifting modules is three, one of the vertical lifting modules is arranged in the middle of the upper portion of the U-shaped air bag at the stern, and the other two vertical lifting modules are symmetrically arranged on the vertical lifting fixing module and are located at the position which is far away from the opening end 1/3 of the U-shaped fixing frame.
As a preferable technical scheme: the six C-shaped track fixing pieces are symmetrically distributed at the port of the I-shaped track, the position which is far away from the port 1/2 and the position which is 60 degrees away from the circular section respectively; the track fixing piece is vertically symmetrical to the C-shaped track connecting pieces and is connected with six C-shaped track connecting pieces simultaneously.
As a preferable technical scheme: the tank chain is located inside the wire casing, one end of the tank chain is connected with the detection function module, and the circuit of the detection function module is bundled inside the tank chain.
As a preferable technical scheme: the detection and illumination function module comprises an illumination device, an acoustic detection module and an optical detection module; the detection function module comprises a propeller, a lighting device, an acoustic detection module and an optical detection module; different detection modules can be selected according to detection requirements when the target pier is detected.
As a preferable technical scheme: a detection method for an underwater pier structure of an integrated self-propelled fixed platform is characterized by comprising the following steps: the operator controls from the formula of navigating by oneself fixed platform of fixed platform navigation control module and sails along the rivers direction, makes the pier press close to through surrounding the pier from the pier minor face U-shaped gasbag and friction pad, this moment the operator to U-shaped gasbag one side is removed the horizontal end optical axis, and is extremely the inboard close pier of pasting of friction pad, then the operator will angle compensation module is fixed the completion promptly. After fixed completion, the operator passes through detection module lift control module control pier detection device and transfers, transfers to detect and illumination function module is by the water logging not stop, and the operator is through control this moment detect the control of function part motion module pier all-round detection module rotates to the track other end along the track, in the motion, detect and illumination function module with detect the function module and begin to detect work, in the testing process after, the operator controls pier detection device and every 1m transfers, pier all-round detection module just rotates to the track other end along the track, detect and illumination function module with detect the function module and begin to detect work, and the structure under water of pier detects and finishes until the pier.
Compared with the prior art, the invention has the beneficial effects that:
1. can be unfolded and operated under the condition of a water area with high water flow velocity: the whole device system is modularized, and is firstly fixed on the surface of a pier through a self-propelled waterborne fixed platform, and then the detection device is lowered. The pier detection carrying module is provided with a limiting wheel set module so as to ensure that the device is smoothly and stably placed. The pier omnibearing detection module adopts the propeller as a propeller to control the motion of the pier omnibearing detection module, and the detection device adopts a truss structure to reduce the impact force of water flow, thereby overcoming the difficulty of operation under the condition of a water area with higher water flow speed and enabling the pier omnibearing detection module to stably move and detect;
2. can apply to the pier of variable cross section and expand the operation: the overwater fixed platform is fixed by adopting a U-shaped fixed frame, firstly, pier pillars are placed in the U-shaped fixed frame by utilizing water flow and a power propulsion unit thereof, then, the pier pillars are further fixed by utilizing a friction pad on the other surface, and in the process of lowering the pier detection device, the pier detection device can be adjusted by a limiting wheel set module, so that the pier detection range is expanded;
3. can realize the all-round detection of pier underwater structure disease: the detection of the bridge pier is completed by the bridge pier omnibearing detection module and the detection device fixed on the angle compensation module. The acoustic optical detection module is loaded on the omnibearing pier detection module, the detection of the pier is realized when the omnibearing pier detection module moves around the U-shaped orbit, the omnibearing pier detection module stops after being moved around for a circle by utilizing the vertical lifting module to transfer the device for a certain distance, and the detection device moves around the U-shaped orbit again to further complete the detection of the whole pier. The detection of the area outside the track is completed by a detection device fixed on the angle compensation module;
4. the detection of the variable-diameter bridge pier can be realized; the angle compensation module is connected with the angle compensation module through the I-shaped track, the angle compensation module comprises a bearing fixedly connected with the I-shaped track, a support and a detection support rod, the detection support rod is connected with the bearing and the support in a sliding manner, and the detection support rod is connected with a detection functional component module; when the detection is started, the detection supporting rods at two ends rotate inwards to wrap the bridge pier inside, and the detection supporting rods and the omnibearing bridge pier detection module form 360-degree detection in a plane.
Drawings
FIG. 1 is a view showing an overall structure of a pier underwater structure detection device of a self-propelled fixed platform according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a self-propelled fixed platform (with bridge piers) according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a self-propelled fixed platform according to an embodiment of the present invention;
FIG. 4 is a schematic view of an airbag boat module in an embodiment of the invention;
FIG. 5 is a schematic view of a detachable fixed platform module and a vertical lifting module according to an embodiment of the present invention
FIG. 6 is a schematic view of a fixed platen frame in an embodiment of the present invention;
FIG. 7 is a schematic view of a bridge pier detection carrying module according to an embodiment of the invention;
FIG. 8 is a schematic view of a rail and a rail fixing module according to an embodiment of the invention;
FIG. 9 is a schematic diagram of an angle compensation module according to an embodiment of the present invention;
FIG. 10 is a schematic view of an omnibearing bridge pier detection module according to an embodiment of the present invention;
FIG. 11 is a schematic view of a mounting platform for a test element in an embodiment of the invention;
FIG. 12 is a schematic diagram of a control module of the detecting device according to the embodiment of the present invention;
fig. 13 is a flowchart of a bridge pier detecting method applied to the apparatus according to an embodiment of the present invention;
in the figure: 1. a self-propelled fixed platform; 101. an airbag boat module; 1011. a power propulsion unit; 1012. a U-shaped air bag; 102. a detachable fixed module; 1021. a fixed platform frame; 1021-1, U-shaped fixed frame; 1021-2, transverse end optical axis; 1021-3, triangle rod clip fixing group; 1021-4, a lateral bar clamp; 1022. fixing clips with the same diameter; 1023. a vertical lifting fixing module; 1024. a friction pad; 103. a vertical lifting module; 2. a pier detection carrying module; 201. a rail and a rail fixing module; 202. a line bundling module; 2011. an I-shaped rail; 2012. a C-shaped track connector; 204. an angle compensation module; 2041. detecting the supporting rod; 2042. a bearing; 2043. a support; 3. the omnibearing detection module of the pier; 301. a detection component fixing platform; 3011. a track connection group; 3012. a functional module mounting platform; 302. a detection function component module; 4. a detection device control module; 401. a fixed platform navigation control module; 402. the detection module is used for controlling the lifting of the module; 403. a detect feature motion module.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", "horizontal", "vertical", and the like indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
As shown in fig. 1, the present embodiment provides a pier underwater structure detection device forming a self-propelled fixed platform, which includes a self-propelled fixed platform 1, a pier detection carrying module 2, a pier omnibearing detection module 3, and a detection device control module 4, where the self-propelled fixed platform 1 provides power and buoyancy for the navigation of the whole device, and simultaneously plays a role in relative positions of a fixing device and a pier; the pier detection carrying module 2 is connected with the vertical lifting module 103 to realize the vertical movement of the detection device; the pier detection carrying module 2 carries the pier omnibearing detection module 3 through the I-shaped rail 2011, the pier omnibearing detection module 3 moves around a pier in a rail to realize 270-degree detection, and meanwhile, the angle compensation module 204 is combined to realize a detection range of 2 x 45 degrees, so that the pier-encircling detection of 360 degrees in a plane is realized; the omnibearing detection module 3 of the pier is matched with the angle compensation module 204 to realize 360 degrees of pier winding in a plane, and meanwhile, the omnibearing detection of a target detection area of the pier is realized through the vertical direction movement realized by the vertical lifting module 103.
As shown in fig. 2 and fig. 3, the airbag ship module 101 provides power and buoyancy for the navigation movement of the whole device, and the detachable fixed module 102 can be fixed according to the shape of the bridge pier, so that the relative position between the bridge pier and the device is kept stable; the vertical lifting module 103 is fixed to the detachable fixed module 102, connected with the pier detection carrying module 2, and used for ensuring detection in the vertical direction.
Specifically, as shown in the schematic structural diagram of the airbag ship module in fig. 4, the power propulsion unit 1011 uses a propeller as a power device, which can reduce energy loss and improve energy conversion efficiency under the condition of relatively large load; the U-shaped airbag 1012 has a small notch at each of both sides for the vertical lifting module 103 lifting device to move up and down, and the U-shaped airbag 1012 has a protrusion part corresponding to the fixing platform frame 1021 at an arc section for fixing the fixing platform frame 1021, facilitating the installation thereof, and preventing the fixing platform frame 1021 from sliding to the inside.
Specifically, as shown in a schematic diagram of a detachable fixed platform, a module and a vertical lifting module shown in fig. 5, the fixed platform frame 1021 is provided with an upper layer and a lower layer, and in order to prevent the device from damaging the frame due to a large torque generated by waves and other factors on the fixed platform frame 1021 in a detection process, reinforcing ribs are arranged at corners to resist bending moment; the same-diameter fixing clamp 1022 is provided with an upper round hole and a lower round hole according to the size of the fixed platform frame 1021, so that the frame is fixed, and the capability of resisting vertical load and torque of the frame is increased; the vertical lifting fixing module 1023 is positioned at two sides of the fixing platform frame 1021, and a screw hole and a lifting rod moving hole position are arranged on the vertical lifting fixing module 1023 according to the screw hole position of the vertical lifting module 103; the vertical lifting modules 103 are three and are respectively positioned on the inner side arc of the friction pad 1024 and the outer side surface of the pier, the underwater structure of the pier of the large bridge is in a variable cross-section shape with a narrow upper part and a wide lower part, and the friction pad 1024 does not move vertically and downwards when the relative position of the pier is fixed, so that the stability of the detection device is ensured.
Furthermore, as shown in the schematic view of the fixed platform frame shown in fig. 6, the U-shaped fixed frame 1021-1 adopts a solid optical axis with a diameter of 30mm, and can bear large torque and vertical load; the friction pad 1024 is arranged on the transverse end optical axis 1021-2, can be fixed on the U-shaped fixed frame through the lateral rod clamp 1021-4 and can move according to the length of a bridge pier; the triangular rod clamp fixing group 1021-3 fixes the lateral rod clamp 1021-4 through a triangular rod clamp and an M30 spring group, and further fixes the transverse end optical axis 1021-2.
As shown in the schematic diagram of the pier detection embarkation module shown in fig. 7, the rail and rail fixing module 201 provides the pier omnibearing detection module 3 with a rail for detecting around a pier, so that the pier omnibearing detection module 3 performs 270-degree detection around the pier detection rail in a plane; the line bundling module 202 bundles the lines in the detection functional component module 302, so that the problem of winding and kinking of the device in the detection process is avoided; in the process of lowering the device, the limit wheel set module 203 not only ensures that the omnibearing detection module 3 of the pier is close enough to a target pier, can overcome water turbidity to obtain a clear image, but also can effectively separate the device from the pier, and avoids the collision between the detection carrying module 2 of the pier and the pier in the lowering process to cause secondary damage to the pier; the angle compensation module 204 is matched with the omnibearing pier detection module 3 to form 360-degree coplanar detection.
Specifically, as shown in the schematic diagram of the track and the track fixing module shown in fig. 8, the i-shaped track 2011 serves as a moving track of the pier omnibearing detection module 3, and has the functions of limiting and supporting; the protruding part in the C-shaped track connecting piece 2012 faces outwards, so that the problem of interference on the omnibearing pier detection module 3 in the movement process is effectively reduced; the track and the track fixing module 201 are of a steel frame structure, so that the resistance of the pier detection carrying module 2 in water can be effectively reduced, the pier detection carrying module is more stable in a water area with a higher water flow speed, and the detection effect is better.
Specifically, as shown in the schematic view of the angle compensation module in fig. 9, the bearing 2042 limits the detecting support rod 2041 to only rotate and move in a front-rear part range, and the support 2043 limits the detecting support rod 2041 to only move in an outer part range of a bridge pier, and both cooperate to enable the detecting support rod 2041 to rotate upward with the support 2043 as a platform; before the detection starts, the detection support rod 2041 is arranged with the rod end upward, and when the detection starts, the detection support rod 2041 rotates inwards to wrap the pier inside, so that the detection module 3 forms 360-degree detection in a plane.
As shown in fig. 10, in the omnibearing detection module diagram of a bridge pier, the detection component fixing platform 301 provides a carrying template for the detection functional component module 302, and an operator mounts different detection functional component modules 302 on the detection component fixing platform as required; the detection function module 302 mainly comprises a searchlight, an optical detection device and an acoustic detection device; detecting apparent diseases of the bridge piers by using optical detection equipment, and detecting internal diseases of the bridge piers by using acoustic detection equipment;
specifically, as shown in the schematic view of the detection component fixed platform shown in fig. 11, the track connection group 3011 is connected to the pier omnibearing detection module 3, and provides a sufficient turning radius for the pier omnibearing detection module 3 through a combination of a bent plate and a wheel axle; the functional module carrying platform 3012 is made of standard aluminum profiles and can carry different detection devices according to needs.
As shown in fig. 12, the detection device control module is a schematic diagram, an operator controls the navigation direction of the self-propelled fixed platform 1 through the fixed platform navigation control module 401; controlling the lifting motion of the pier detection carrying module 2 through the detection module lifting control module 402; the detection functional component movement module 403 controls the pier omnibearing detection module 3 to move along the I-shaped track 2011.
As shown in fig. 13, in the flow chart of the pier detection method applicable to the apparatus, when the transverse end optical axis 1021-2 of the self-propelled fixed platform 1 is adaptively adjusted according to the length of the pier, and the installation of the self-propelled fixed platform 1 apparatus is completed, the self-propelled fixed platform transmits a closure signal to an onshore operator, the onshore operator observes the surrounding environment again after receiving the closure signal, and if the environmental condition is roughly determined to be allowable, the onshore operator transmits a start signal to the detection apparatus, and the entire detection apparatus starts to operate. The pier detection carrying module 2 carries the pier omnibearing detection module 3 to descend from the water surface by 1m each time, after the descending is finished, a distance sensor of the pier omnibearing detection module 3 checks whether the detection device shakes by more than 15cm, if the detection device shakes by more than 15cm, the state of the detection device is too unstable, and a transmission line sends an alarm signal to an onshore computer and stops working immediately. If the omnibearing detection module 3 of the pier does not shake obviously, the omnibearing detection module starts to move to the other end of the track along the track, and the transmission route transmits the obtained information to the onshore computer. And repeating the processes until the all-round bridge pier detection module 3 reaches the bottom of the water area, and after the detection is finished, the all-round bridge pier detection module 3 ascends. And the computer analyzes the possibly diseased position of the bridge according to the information, generates a result processing analysis report file and stores the result processing analysis report file in a designated folder.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The pier underwater structure detection device integrated with the self-propelled fixed platform is characterized by comprising the self-propelled fixed platform (1), wherein the self-propelled fixed platform (1) comprises
The airbag ship module (101) is used for providing power and buoyancy for navigation of the whole detection device;
the detachable fixing module (102) is used for fixing according to the shape of the pier so as to keep the relative position of the pier and the device stable;
the vertical lifting module (103), the vertical lifting module (103) is fixedly connected with the detachable fixed module (102);
the self-propelled fixed platform (1) is provided with a detection device control module (4), the self-propelled fixed platform (1) is connected with a pier detection carrying module (2) through the vertical lifting module (103), and the pier detection carrying module (2) is connected with an all-directional pier detection module (3);
the pier detection carrying module (2) comprises a track and track fixing module (201) and an angle compensation module (204) movably connected with the track and track fixing module (201).
2. The pier underwater structure detection device of the integrated self-propelled fixed platform as claimed in claim 1, wherein the rail and rail fixing module (201) comprises an i-shaped rail (2011) arranged around the center of a pier by 270 °; angle compensation module (204) include with bearing (2042), support (2043) and detection bracing piece (2041) that I-shaped track (2011) is connected, detection bracing piece (2041) with bearing (2042) support (2043) sliding connection, detection bracing piece (2041) is connected with the detection functional component.
3. The pier underwater structure detection device integrated with the self-propelled fixed platform as claimed in claim 1, wherein the airbag ship module (101) comprises a U-shaped airbag (1012) and a power propulsion unit (1011) connected with the U-shaped airbag (1012), and both sides of the U-shaped airbag (1012) are respectively provided with a notch for installing the vertical lifting module (103).
4. The pier underwater structure detection device of the integrated self-propelled fixed platform of claim 1, wherein a detachable fixed module (102) comprises a fixed platform frame (1021) with an upper layer and a lower layer and a same-diameter fixed clamp (1022) connecting the upper layer and the lower layer of the fixed platform frame (1021), vertical lifting fixed modules (1023) are fixedly arranged on two sides of the fixed platform frame (1021), and the vertical lifting fixed modules (1023) are fixedly connected with the vertical lifting modules (103) through bolts.
5. The pier underwater structure detection device integrated with the self-propelled fixed platform as claimed in claim 4, wherein the fixed platform frame (1021) comprises a U-shaped fixed frame (1021-1) and a transverse end optical axis (1021-2) connected with the U-shaped fixed frame (1021-1), both ends of the transverse end optical axis (1021-2) are connected with the U-shaped fixed frame (1021-1) through fastening mechanisms, and a friction pad (1024) is arranged on the transverse end optical axis (1021-2).
6. The pier underwater structure detection device integrated with the self-propelled fixed platform as claimed in claim 2, wherein the rail and rail fixing module (201) comprises a C-shaped rail connecting piece (2012) connected with the i-shaped rail (2011), and two ends of the C-shaped rail connecting piece (2012) are connected with limiting wheel set modules (203).
7. The pier underwater structure detection device integrated with the self-propelled fixed platform is characterized in that the pier all-directional detection module (3) comprises a detection component fixed platform (301) and a detection functional component module (302) connected with the detection component fixed platform (301), and the detection functional component module (302) comprises a searchlight, an optical detection device and an acoustic detection device.
8. The pier underwater structure detection device integrated with the self-propelled fixed platform as claimed in claim 7, wherein the detection component fixed platform (301) comprises a track connection group (3011) connected with the pier detection carrying module (2) and a function module carrying platform (3012) connected with the track connection group (3011).
9. The pier underwater structure detection device integrated with the self-propelled fixed platform as claimed in claim 1, wherein the detection device control module (4) comprises a fixed platform sailing control module (401) for controlling the sailing direction of the self-propelled fixed platform (1), a detection module lifting control module (402) for controlling the lifting motion of the pier detection carrying module (2), and a detection function part motion module (403) for controlling the motion of the pier omnibearing detection module (3).
10. The method for detecting the underwater structure of pier of integrated self-propelled fixed platform according to any one of claims 1 to 9,
s1: the transverse end optical axis (1021-2) of the self-propelled fixed platform (1) is adaptively adjusted according to the length of a pier, and is folded with the U-shaped fixed frame (1021-1), and after the folding is finished, a folding signal is transmitted to an operator on the shore; after receiving the closure signal, the shore personnel send a starting signal to the detection device, and the whole detection device starts to work;
s2: the pier detection carrying module (2) carries the pier omnibearing detection module (3) to descend from the water surface by 1m each time, after the pier detection carrying module descends, a distance sensor of the pier omnibearing detection module (3) checks whether the detection device shakes by more than 15cm, if the detection device shakes by more than 15cm, a transmission line sends an alarm signal to an onshore computer, and the operation is stopped immediately;
s3: if the omnibearing detection module (3) of the pier does not shake obviously, the omnibearing detection module starts to move to the other end of the track along the track, and the transmission route transmits the obtained information to the onshore computer;
s4: repeating the steps from S2 to S3 until the pier omnibearing detection module (3) reaches the bottom of the water area;
s5: after the detection is finished, the pier omnibearing detection module (3) rises, the computer analyzes the possibly diseased position of the bridge according to the information, generates a result processing analysis report file and stores the result processing analysis report file in a designated folder.
CN202110341623.5A 2021-03-30 Bridge pier underwater structure detection device and method integrated with self-propelled fixed platform Active CN113155830B (en)

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