CN108411955A - Underwater pile complete appearance detecting system and detection method - Google Patents
Underwater pile complete appearance detecting system and detection method Download PDFInfo
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- CN108411955A CN108411955A CN201810450537.6A CN201810450537A CN108411955A CN 108411955 A CN108411955 A CN 108411955A CN 201810450537 A CN201810450537 A CN 201810450537A CN 108411955 A CN108411955 A CN 108411955A
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- 238000001514 detection method Methods 0.000 title claims abstract description 85
- 230000003287 optical effect Effects 0.000 claims abstract description 48
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 43
- 238000012545 processing Methods 0.000 claims abstract description 19
- 239000002344 surface layer Substances 0.000 claims abstract description 10
- 230000007547 defect Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 17
- 238000004458 analytical method Methods 0.000 claims description 8
- 239000011521 glass Substances 0.000 claims description 8
- 239000012528 membrane Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims 1
- 238000010835 comparative analysis Methods 0.000 abstract description 2
- 238000004445 quantitative analysis Methods 0.000 abstract description 2
- 238000003384 imaging method Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000000476 body water Anatomy 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention discloses a kind of underwater pile complete appearance detecting system and detection methods, including：Acoustic detecting device, optical detection apparatus, mechanical movement means, Comprehensive Control processing system and it is connected and fixed external member.The present invention generates underwater pile three-dimensional point cloud image, and by section comparative analysis pile foundation complete appearance, solve pile foundation appearance detection problem under the conditions of muddy water by the combination application of high-resolution one dimensional linear array sonar and mechanical movement means.On this basis, Application Optics detection device makes up the Acoustic detections such as water surface layer blind area defect.The present invention also discloses that the detection method of underwater pile complete appearance simultaneously.The present invention has pushed the detection of underwater pile appearance to judge to stride forward to what scientific quantitative analysis detected from empirical.
Description
Technical field
The present invention relates to a kind of underwater pile complete appearance detecting system and its detection methods, belong to submerged structure detection
Field.
Background technology
Pile foundation has high capacity as the important foundation form of the Water-related Projects such as bridge, harbour, settles small, construction party
Just the advantages that, in China using very extensive.But underwater pile is since itself durability is relatively poor, along with throughout the year by flow
It washes away, the unfavorable factors effect such as chemical attack, is easy to happen damaged deterioration.Underwater pile detection at present is with the underwater naked eyes of diver
Based on observing and feeling, all kinds of corrupt practices creep in for this method tool：（1）Diver's Underwater Navigation is difficult, and the system that cannot carry out comprehensively is examined
It surveys；（2）Under the conditions of muddy water, underweater vision and tactile error are big, and testing result reliability is not high；（3）Severe hydrologic condition
It can threaten to the life security of diver.In addition to artificial feel, Underwater Camera is also applied, but this method equally by
Water quality impact is very big, is suitable for the limpid environment of water quality, and can only carry out local detection, is unable to get completely underwater pile
Appearance images.Therefore a kind of underwater pile appearance detecting system suitable for muddy water condition is researched and developed, the presentation of complete display is underwater
Pile foundation visual condition, is of great practical significance.
Invention content
Problem is detected in order to solve pile foundation appearance under the conditions of muddy water, more science is accurately presented and evaluated outside underwater pile
It sees, the present invention provides a kind of underwater pile complete appearance detecting system and detection methods.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of underwater pile complete appearance detecting system is provided, the system comprises acoustic detecting device, optical detection apparatus,
Mechanical movement means, Comprehensive Control processing system and it is connected and fixed external member.
The acoustic detecting device is led to based on the high-resolution sonar 101 based on vertical one dimensional linear array wave beam
The reserving installation hole position crossed on mounting plate 306 is connect with Sloped rotating holder 301.101 bonding machine of high-resolution sonar
The level of holder and Sloped rotating obtain pile foundation appearance three-dimensional point cloud image in tool telecontrol equipment.
The optical detection apparatus includes high-definition camera 201, secondary light source 202, preposition membrane type clear water cover 203
, fill water draw-off 204, optical detection apparatus based on high-definition camera 201, surrounding match secondary light source 202；High definition is taken the photograph
As being preposition membrane type clear water cover 203 before head 201, surrounding is transparent organic glass 203（ 2）With high-definition camera
201 shells are linked together；Its front end is transparent rubber film 203（1）, expand outward after water-filling, after-contraction of drawing water is into organic glass
In glass, high-definition camera is connected 204 with miniature filling water draw-off by water hole 205.
The mechanical movement means include Sloped rotating holder 301, rotate horizontally holder 302, vertical flexible machinery
Arm 303, transversal stretching mechanical arm 304,305 harmony of firm banking/optical detection apparatus mounting plate 306, the machine
The holder top of tool telecontrol equipment is firm banking 305, when installation with the levelling connector that is connected and fixed in external member
402 connections, 305 lower section of firm banking are that T-shape rotates horizontally holder 302, which can realize 360 ° of horizontal rotations,
Lower section is Sloped rotating holder 301 again, it is connected with the horizontal edge for rotating horizontally holder 302, under Sloped rotating holder 301
The mounting plate 306 of side reserves sound/optical detection apparatus mounting hole position, and sound/optical detection apparatus is revolved with inclination after installation is complete
Turn holder 301 to move synchronously, vertical telescopic mechanical arm 303 and transversal stretching mechanical arm 304 are an integral structure；Vertically stretch
Contracting mechanical arm 303 passes through fixing bolt 402 (1）It is connect with levelling connector 402.Transversal stretching mechanical arm 304 passes through spiral shell
Bolt is connect with pile body fixed frame 401.
Sloped rotating holder 301 and horizontal rotation holder 302 in the mechanical movement means meet sonar one dimensional line
The three-dimensional of array beam, which is swept, surveys covering demand；Transversal stretching mechanical arm 304 meets the minimum test distance requirement of Acoustic detection equipment
The full test required distance 1m of 0.5m and optical detection apparatus, vertical telescopic mechanical arm 303 meet pile body different height position
The detection demand set.
It is described be connected and fixed between pile body fixed frame 401, holder and the mechanical arm that external member includes different size model can
Leveling connector 402；Levelling connector 402 is divided to two chassis up and down, and top bottom-disc is by fixing bolt 402-1 and erects
It is connected to telescopic mechanical arm 303, low bottom-disc passes through fixing bolt 402 (1）It is connect with holder 302 is rotated horizontally；Upper bottom
Pass through three leveling spirals 402 (2 between disk）Connection, and air-bubble level 402 (3 is installed on low bottom-disc）, leveling spiral 402
(2）With air-bubble level 402 (3）For the initial installation position leveling of sound/optical detection apparatus.
The Comprehensive Control processing system includes sonar acquisition control module, camera acquisition control module, fills the control that sluices
Molding block, mechanical movement control module（Four degree of freedom）, at optical detection picture and mechanical movement coordinate data time synchronization
Manage module, Acoustic detection data and mechanical movement coordinate data time synchronizing module, acoustics point cloud data denoising module, sound
Learn point cloud data fractograph analysis module.
The underwater pile complete appearance detecting system application method, includes the following steps：
A. detection device hardware connects；
B. the initial installation position leveling of sound/optical detection apparatus；
C. optical detection apparatus is adjusted to water surface layer suitable position, zero coordinate of corresponding mechanical movement means；
D. optical detection apparatus water-filling, mechanical movement means coordinate high-definition camera to carry out the underwater appearance shooting of water surface layer pile body,
Coordinate data is synchronized to camera picture；
E. mechanical movement means are adjusted to sonar detection position；
F. successively at different depth and different angle, PTZ level rotatable engagement sonar sweeps survey, obtains within the scope of each section
Pile body point cloud data；
G. Comprehensive Control processing system is repeatedly swept the point cloud data measured, has been formed according to vertical coordinate and inclination angle, splicing
Whole pile body point cloud chart；
H. pile body section point cloud chart vertically is intercepted every a distance, itself and design section is compared and analyzed；
I. it to there may be the sections of open defect, is further imaged using optical detection apparatus；
J. comprehensive point cloud fractograph analysis result and underwater camera situation, comprehensive descision is carried out to underwater pile complete appearance.
Underwater pile complete appearance detection method provided by the invention, includes the following steps：
1）Detection device hardware connects；
2）The initial installation position leveling of sound/optical detection apparatus；
3）Optical detection apparatus is adjusted to water surface layer suitable position, zero coordinate of corresponding mechanical movement means；
4）Optical detection apparatus water-filling, mechanical movement means coordinate high-definition camera to carry out the underwater appearance shooting of water surface layer pile body,
Coordinate data is synchronized to camera picture；
5）Mechanical movement means are adjusted to sonar detection position；
6）Successively at different depth and different angle, PTZ level rotatable engagement sonar sweeps survey, obtains within the scope of each section
Pile body point cloud data；
7）Comprehensive Control processing system is repeatedly swept the point cloud data measured, has been formed according to vertical coordinate and inclination angle, splicing
Whole pile body point cloud chart；
8）Pile body section point cloud chart vertically is intercepted every a distance, itself and design section are compared and analyzed；
9）To there may be the sections of open defect, further imaged using optical detection apparatus；
10）Comprehensive point cloud fractograph analysis result and underwater camera situation, comprehensive descision is carried out to underwater pile complete appearance.
Compared with prior art, the advantageous effect of the invention reached is：
1）By the combination application of high-resolution one dimensional linear array sonar and mechanical movement means, underwater pile three-dimensional point cloud atlas is generated
Picture, imaging results are not influenced by underwater turbidity, solve muddy water condition appearance imaging problem.
2）Increase optical detection apparatus on the basis of acoustics imaging, on the one hand compensate for water surface layer acoustics sweep survey it is blind
On the other hand area does complementary verification to the defect suspect areas of Acoustic detection and detects, improves the accuracy of testing result.
3) increase preposition membrane type clear water cover before high-definition camera, by coming into full contact with for preposition film and pile body, exhausted and taken the photograph
As the local muddy water between head and pile body, imaging definition is improved.
4）Sound/optical detection apparatus is fixed on four-dimensional mechanical movement means, enables detection device in optimum position
Realize all standing scanning of pile body.
5）Comprehensive Control processing system is same by the progress time of mechanical movement means coordinate data harmony/optical detection data
Step processing, imparts sound/optical detection Data Position coordinate.On this basis by Point-clouds Registration, complete water is obtained
Lower pile foundation three-dimensional point cloud atlas, it is as a result more visual in image.
6）Pile body point cloud cross-section diagram is compared and analyzed with design section, realizes the quantitative detection of science.
Description of the drawings
Fig. 1 is the overall structure figure of underwater pile complete appearance detecting system of the present invention；
Fig. 2 is the optical detection apparatus drawing of underwater pile complete appearance detecting system；
Fig. 3 is the holder drawing of underwater pile complete appearance detecting system；
Fig. 4 is underwater pile complete appearance detecting system levelling connector drawing.
In figure：101- acoustic detecting devices；201- high-definition cameras；202- secondary light sources；The preposition membrane type clear water covers of 203-；
203 (1)-transparent rubber film；203 (2)-transparent organic glass；The miniature filling water draw-offs of 204-；205- water holes；301- is tilted
Rotary head；302- rotates horizontally holder；The vertical telescopic mechanical arms of 303-；304- is to telescopic mechanical arm；305- firm bankings；
306- sound/optical detection apparatus mounting plate；401- body fixed frames；402- levelling connectors；402 (1)-fixing bolt；402
(2)-leveling spiral；402 (3)-air-bubble level.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Embodiment 1
As shown in Figure 1, the underwater pile complete appearance detecting system of the present invention, including：Acoustic detecting device, optical detection dress
It sets, mechanical movement means, Comprehensive Control processing system and be connected and fixed external member.Acoustic detecting device includes high-resolution sonar
101 .Optical detection apparatus includes high-definition camera 201, secondary light source 202, preposition membrane type clear water cover 203, miniature filling
Water draw-off 204.Mechanical movement means include Sloped rotating holder 301, rotate horizontally holder 302, vertical telescopic machine
Tool arm 303, transversal stretching mechanical arm 304.Be connected and fixed pile body fixed frame 401 that external member includes different size model,
Levelling connector 402 between holder and mechanical arm.
Acoustic detecting device is to pass through peace based on the high-resolution sonar 101 based on vertical one dimensional linear array wave beam
Reserving installation hole position in loading board 306 is connect with Sloped rotating holder 301.High-resolution sonar 101 combines machinery to transport
The level of holder and Sloped rotating obtain pile foundation appearance three-dimensional point cloud image in dynamic device.
As shown in Fig. 2, the optical detection apparatus of the present invention, based on high-definition camera 201, surrounding matches secondary light source
202, increase underwater image sharpness.201 front of high-definition camera is preposition membrane type clear water cover 203, and surrounding is transparent
Organic glass 203（2）It is linked together with 201 shell of high-definition camera；Its front end is transparent rubber film 203（1）, after water-filling
Expansion outward, can be with pile body close contact, and after-contraction of drawing water does not interfere with sonar and sweep survey into organic glass.High-definition camera
It is connected 204 with miniature filling water draw-off by water hole 205.
As shown in figure 3, the holder top of mechanical movement means of the present invention is firm banking 305, when installation with it is adjustable
Flushconnection part 402 connects.305 lower section of firm banking is that T-shape rotates horizontally holder 302, which can realize 360 °
It rotates horizontally, then lower section is Sloped rotating holder 301, it is connected with the horizontal edge for rotating horizontally holder 302.Sloped rotating cloud
The mounting plate 306 of 301 lower section of platform, reserves sound/optical detection apparatus mounting hole position, sound/optical detection dress after installation is complete
It sets and is moved synchronously with Sloped rotating holder 301.Vertical telescopic mechanical arm 303 and transversal stretching mechanical arm 304 are integral type
Structure.Vertical telescopic mechanical arm 303) it is connect with levelling connector 402 by fixing bolt 402 (1).Transversal stretching machine
Tool arm 304 is connect by bolt with pile body fixed frame 401.
As shown in figure 4, the present invention is connected and fixed the levelling connector 402 of external member, it is divided to two chassis up and down, top bottom-disc
It is connect with vertical telescopic mechanical arm 303 by fixing bolt 402-1, low bottom-disc passes through fixing bolt 402 (1）It is revolved with level
Turn the connection of holder 302.Pass through three leveling spirals 402 (2 between upper low bottom-disc）Connection, and air-bubble is installed on low bottom-disc
Level 402 (3）, leveling spiral 402 (2）With air-bubble level 402 (3）For the initial installation position leveling of sound/optical detection apparatus.
Comprehensive Control processing system of the present invention includes sonar acquisition control module, camera acquisition control module, fills sluicing
Control module, mechanical movement control module（Four degree of freedom）, optical detection picture and mechanical movement coordinate data time synchronization
Processing module, Acoustic detection data and mechanical movement coordinate data time synchronizing module, acoustics point cloud data denoising module,
Acoustics point cloud data fractograph analysis module.Control process system carries out system control and data processing to all hardware of the present invention.
Embodiment 2
The specific detection method of underwater pile complete appearance detecting system of the present invention is as follows：
1）Device hardware connects：
It is sequentially connected pile body --- II connectors --- mechanical-stretching arm --- I connectors --- rotary head --- optics
Detection device/acoustic detecting device；
2）The initial installation position leveling of sound/optical detection apparatus：
By air-bubble level and leveling serew to the initial installation position leveling of sonar；
3）Detect zero Coordinate Adjusting：
Four degree of freedom adjustment of mechanical movement means, make Underwater Camera close to pile body level course and face pile body, four freedom
Degrees of data returns to zero, this position is zero coordinate of initial measurement
4）Optical detection：
Optical detection apparatus water-filling, clear water cover and pile body close contact, high-definition camera shoot pile body water surface layer visual condition, machine
Tool telescopic arm and holder need to adjust length and angle according to shooting.Comprehensive Control processing system, will be mechanical by time synchronization
Telescopic arm coordinate data inputs camera picture.
5）Acoustic detection prepares：
The transverse extension of mechanical-stretching arm meets acoustic detecting device work minimal distance requirement, PTZ level rotation to maximum distance
Turn 180 °, makes acoustic detecting device face pile body.
6）Acoustic detection：
Acoustic detecting device works asynchronously with PTZ level rotation, and Comprehensive Control processing system passes through time synchronization and acoustic data
Processing module obtains the point cloud data within the scope of section.Mechanical-stretching arm vertical extension is successively increased, is repeated at different depth
It carries out sonar horizontal rotation and sweeps survey.After mechanical-stretching arm reaches maximum vertical length, adjustment tilts holder different angle, repeats
It carries out sonar horizontal rotation and sweeps survey.
7）Point Cloud Processing
Comprehensive Control processing system repeatedly sweeps the point cloud data measured according to vertical coordinate and inclination angle, splicing, is formed complete
Pile body point cloud chart.
8）Pile body point cloud fractograph analysis
Pile body section point cloud chart vertically is intercepted every a distance, itself and design section are compared and analyzed.
9）Optics supplement detection
To there may be the sections of open defect, further imaged using optical detection apparatus.
10）Pile body integrity judges
Comprehensive point cloud fractograph analysis result and underwater camera situation, comprehensive descision is carried out to underwater pile complete appearance.
The present invention generates underwater pile three by the combination application of high-resolution one dimensional linear array sonar and mechanical movement means
Point cloud chart picture is tieed up, and by section comparative analysis complete appearance, solves pile foundation appearance detection problem under the conditions of muddy water.Herein
On the basis of, Application Optics detection device makes up the optical detections such as water surface layer blind area defect.The present invention has pushed underwater pile appearance
Detection judges to stride forward to what scientific quantitative analysis detected from empirical.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. underwater pile complete appearance detecting system, it is characterised in that the system comprises acoustic detecting device, optical detections
Device, mechanical movement means, Comprehensive Control processing system and it is connected and fixed external member, by the time synchronization of multiple device data,
Pile foundation appearance three-dimensional point cloud image and the local underwater camera picture containing coordinate position can be obtained.
2. requiring the underwater pile complete appearance detecting system according to right 1, which is characterized in that the acoustic detecting device
It is the high-resolution sonar based on vertical one dimensional linear array wave beam（101）Based on, pass through mounting plate（306）On reserved installation
Kong Weiyu Sloped rotating holders（301）Connection, high-resolution sonar（101）In conjunction in mechanical movement means holder level and incline
Tiltedly rotation obtains pile foundation appearance three-dimensional point cloud image.
3. underwater pile complete appearance detecting system according to claim 1, which is characterized in that the optical detection apparatus
Including high-definition camera（201）, secondary light source（202）, preposition membrane type clear water cover（203）, fill water draw-off（204）, optics inspection
Device is surveyed with high-definition camera（201）Based on, surrounding matches secondary light source（202）；High-definition camera（201）Front is preposition membrane type
Clear water cover（203）, surrounding is transparent organic glass（203（2））With high-definition camera（201）Shell is linked together；Its front end
For transparent rubber film（203（1））, expand outward after water-filling, into organic glass, high-definition camera passes through water delivery for after-contraction of drawing water
Hole（205）It is connected with miniature filling water draw-off（204）.
4. underwater pile complete appearance detecting system according to claim 1, which is characterized in that the mechanical movement means
Including Sloped rotating holder（301）, rotate horizontally holder（302）, vertical telescopic mechanical arm（303）, transversal stretching mechanical arm
（304）, firm banking（305）Harmony/optical detection apparatus mounting plate（306）, the holder top of the mechanical movement means
For firm banking（305）, when installation with the levelling connector that is connected and fixed in external member（402）Connection, firm banking（305）Under
Side is that T-shape rotates horizontally holder（302）, which can realize 360 ° of horizontal rotations, then lower section is Sloped rotating holder
（301）, it with rotate horizontally holder（302）Horizontal edge be connected, Sloped rotating holder（301）The mounting plate of lower section（306）, reserve
Sound/optical detection apparatus mounting hole position, sound/optical detection apparatus and Sloped rotating holder after installation is complete（301）It moves synchronously,
Vertical telescopic mechanical arm (303) and transversal stretching mechanical arm（304）It is an integral structure；Vertical telescopic mechanical arm (303) passes through
Fixing bolt 402 (1）With levelling connector（402）Connection, transversal stretching mechanical arm（304）Pass through bolt and pile body fixed frame
（401）Connection.
5. underwater pile complete appearance detecting system according to claim 4, which is characterized in that the mechanical movement means
In Sloped rotating holder（301）With horizontal rotation holder（302）The three-dimensional for meeting sonar one dimensional linear array wave beam sweeps survey covering need
It asks；Transversal stretching mechanical arm（304）Meet the minimum test distance requirement of Acoustic detection equipment（0.5m）And optical detection apparatus
Full test required distance（1m）, vertical telescopic mechanical arm（303）Meet the detection demand of pile body different height position.
6. underwater pile complete appearance detecting system according to claim 1, which is characterized in that described to be connected and fixed external member
Pile body fixed frame including different size model（401）, levelling connector between holder and mechanical arm（402）；Levelling
Connector（402）, upper and lower two chassis, top bottom-disc is divided to pass through fixing bolt（402-1）With vertical telescopic mechanical arm（303）Even
It connects, low bottom-disc passes through fixing bolt 402 (1）With horizontal rotation holder（302）Connection；Pass through three leveling spiral shells between upper low bottom-disc
Rotation 402 (2）Connection, and air-bubble level 402 (3 is installed on low bottom-disc）, leveling spiral 402 (2）With air-bubble level 402
(3）For the initial installation position leveling of sound/optical detection apparatus.
7. underwater pile complete appearance detecting system according to claim 1, which is characterized in that the Comprehensive Control processing
System includes sonar acquisition control module, camera acquisition control module, fills sluicing control module, mechanical movement control module
（Four degree of freedom）, optical detection picture and mechanical movement coordinate data time synchronizing module, Acoustic detection data and machine
Tool coordinates of motion data time synchronous processing module, acoustics point cloud data denoising module, acoustics point cloud data fractograph analysis module.
8. underwater pile complete appearance detecting system application method, includes the following steps described in claim 1：
A. detection device hardware connects；
B. the initial installation position leveling of sound/optical detection apparatus；
C. optical detection apparatus is adjusted to water surface layer suitable position, zero coordinate of corresponding mechanical movement means；
D. optical detection apparatus water-filling, mechanical movement means coordinate high-definition camera to carry out the underwater appearance shooting of water surface layer pile body,
Coordinate data is synchronized to camera picture；
E. mechanical movement means are adjusted to sonar detection position；
F. successively at different depth and different angle, PTZ level rotatable engagement sonar sweeps survey, obtains within the scope of each section
Pile body point cloud data；
G. Comprehensive Control processing system is repeatedly swept the point cloud data measured, has been formed according to vertical coordinate and inclination angle, splicing
Whole pile body point cloud chart；
H. pile body section point cloud chart vertically is intercepted every a distance, itself and design section is compared and analyzed；
I. it to there may be the sections of open defect, is further imaged using optical detection apparatus；
J. comprehensive point cloud fractograph analysis result and underwater camera situation, comprehensive descision is carried out to underwater pile complete appearance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810450537.6A CN108411955A (en) | 2018-05-11 | 2018-05-11 | Underwater pile complete appearance detecting system and detection method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810450537.6A CN108411955A (en) | 2018-05-11 | 2018-05-11 | Underwater pile complete appearance detecting system and detection method |
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| Publication Number | Publication Date |
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| CN108411955A true CN108411955A (en) | 2018-08-17 |
Family
ID=63138937
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|---|---|---|---|
| CN201810450537.6A Pending CN108411955A (en) | 2018-05-11 | 2018-05-11 | Underwater pile complete appearance detecting system and detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109537649A (en) * | 2018-12-20 | 2019-03-29 | 九江职业技术学院 | A kind of pile's integrity testing small strain detection robot |
| CN113026828A (en) * | 2021-03-04 | 2021-06-25 | 北京百度网讯科技有限公司 | Underwater pile foundation flaw detection method, device, equipment, storage medium and program product |
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| CN106353833A (en) * | 2016-08-30 | 2017-01-25 | 上海大学 | Underwater detection device for turbid water area |
| CN107201754A (en) * | 2017-05-26 | 2017-09-26 | 河海大学 | A kind of fixed underwater pile foundation integrality acoustic detecting device and application method |
| CN107764833A (en) * | 2017-11-17 | 2018-03-06 | 上海遨拓深水装备技术开发有限公司 | A kind of apparatus and method that defects detection is washed away for dam underwater vertical face |
| CN208329018U (en) * | 2018-05-11 | 2019-01-04 | 中设设计集团股份有限公司 | Underwater pile complete appearance detection system |
-
2018
- 2018-05-11 CN CN201810450537.6A patent/CN108411955A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106353833A (en) * | 2016-08-30 | 2017-01-25 | 上海大学 | Underwater detection device for turbid water area |
| CN107201754A (en) * | 2017-05-26 | 2017-09-26 | 河海大学 | A kind of fixed underwater pile foundation integrality acoustic detecting device and application method |
| CN107764833A (en) * | 2017-11-17 | 2018-03-06 | 上海遨拓深水装备技术开发有限公司 | A kind of apparatus and method that defects detection is washed away for dam underwater vertical face |
| CN208329018U (en) * | 2018-05-11 | 2019-01-04 | 中设设计集团股份有限公司 | Underwater pile complete appearance detection system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109537649A (en) * | 2018-12-20 | 2019-03-29 | 九江职业技术学院 | A kind of pile's integrity testing small strain detection robot |
| CN113026828A (en) * | 2021-03-04 | 2021-06-25 | 北京百度网讯科技有限公司 | Underwater pile foundation flaw detection method, device, equipment, storage medium and program product |
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